version: 66.04
glider: 33
mission: 7
dive: 5
start: 10 7 109 6 10 44
data:
$ID,33
$MISSION,7
$DIVE,5
$D_SURF,2
$D_FLARE,3
$D_TGT,2400
$D_ABORT,4005
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,800
$T_MISSION,830
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-169457.48
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1917
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,2024
$VBD_DBAND,2
$VBD_CNV,-0.36790001
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,151
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.421526
$PRESSURE_SLOPE,0.00046800601
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,99
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,060507,4658.766,-12508.434,27,1.3,28,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-58.6
$GPS2,060955,4658.705,-12508.451,14,1.5,14,18.4
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.263,0.018
$KALMAN_X,8596.8,425.6,418.1,-20129.3,12423.2
$KALMAN_Y,-7722.5,271.3,291.5,4424.6,-13164.3
$MHEAD_RNG_PITCHd_Wd,255.5,216690,-18.1,-10.000
$D_GRID,2400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.39,-146.6,0.0,0.0,0,88,0.00,0.00,-72.70,0.000,2,0.000,0.000,18,2060,1441
$GC,90,-1.39,-146.6,3.7,-5.6,7,145,9.12,2.55,-38.50,0.000,4,0.226,0.117,1610,3461,2423
$GC,307,-1.39,-146.6,45.4,-18.6,29,313,0.00,2.40,0.00,0.000,6,0.000,0.082,1610,2037,2423
$GC,645,-1.39,-146.6,116.1,-18.7,75,649,0.00,2.42,0.00,0.000,4,0.000,0.114,1610,644,2424
$GC,712,-1.39,-146.6,127.6,-16.9,81,716,0.00,2.35,0.00,0.000,6,0.000,0.084,1610,2056,2424
$GC,1036,-1.39,-146.6,184.9,-17.8,103,1040,0.00,2.50,0.00,0.000,4,0.000,0.124,1610,3461,2424
$GC,1079,-1.39,-146.6,192.6,-17.4,105,1084,0.00,2.40,0.00,0.000,6,0.000,0.084,1610,2045,2424
$GC,1407,-1.39,-146.6,252.3,-18.4,121,1411,0.00,2.53,0.00,0.000,4,0.000,0.124,1610,3452,2424
$GC,1422,-1.39,-146.6,255.1,-18.2,122,1426,0.00,2.35,0.00,0.000,6,0.000,0.087,1610,2048,2424
$GC,1753,-1.39,-146.6,313.8,-18.3,137,1757,0.00,2.45,0.00,0.000,4,0.000,0.122,1610,644,2424
$GC,1795,-1.39,-146.6,322.2,-20.4,138,1800,0.00,2.38,0.00,0.000,6,0.000,0.099,1610,2042,2424
$GC,2119,-1.39,-146.6,381.9,-18.7,149,2123,0.00,2.55,0.00,0.000,4,0.000,0.132,1610,3463,2425
$GC,2180,-1.39,-146.6,393.1,-17.5,151,2184,0.00,2.38,0.00,0.000,6,0.000,0.099,1610,2050,2424
$GC,2520,-1.39,-146.6,454.9,-18.3,162,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2050,2424
$GC,2826,-1.39,-146.6,513.8,-19.1,172,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2050,2424
$GC,3132,-1.39,-146.6,573.2,-19.8,182,3136,0.00,2.58,0.00,0.000,4,0.000,0.134,1610,3463,2424
$GC,3153,-1.39,-146.6,577.3,-19.8,182,3160,0.00,2.42,0.00,0.000,6,0.000,0.094,1610,2047,2424
$GC,3465,-1.39,-146.6,637.9,-19.5,193,3469,0.00,2.47,0.00,0.000,4,0.000,0.127,1610,637,2424
$GC,3514,-1.39,-146.6,647.6,-19.2,194,3519,0.00,2.40,0.00,0.000,6,0.000,0.097,1610,2049,2425
$GC,3832,-1.39,-146.6,706.7,-18.3,205,3836,0.00,2.55,0.00,0.000,4,0.000,0.139,1610,3457,2424
$GC,3875,-1.39,-146.6,714.9,-18.1,206,3880,0.00,2.42,0.00,0.000,6,0.000,0.107,1610,2046,2424
$GC,4200,-1.39,-146.6,775.8,-19.2,217,4204,0.00,2.58,0.00,0.000,4,0.000,0.139,1610,3457,2424
$GC,4226,-1.39,-146.6,781.1,-20.4,218,4230,0.00,2.40,0.00,0.000,6,0.000,0.109,1610,2043,2424
$GC,4566,-1.39,-146.6,844.0,-18.0,229,4570,0.00,2.58,0.00,0.000,4,0.000,0.139,1610,3459,2424
$GC,4597,-1.39,-146.6,850.0,-17.7,230,4603,0.00,2.42,0.00,0.000,6,0.000,0.104,1610,2051,2424
$GC,4932,-1.39,-146.6,908.7,-17.9,241,4936,0.00,2.55,0.00,0.000,4,0.000,0.142,1610,3456,2424
$GC,4946,-1.39,-146.6,911.6,-17.6,241,4951,0.00,2.42,0.00,0.000,6,0.000,0.097,1610,2047,2424
$GC,5270,-1.39,-146.6,970.7,-19.0,252,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2047,2424
$GC,5577,-1.39,-146.6,1031.0,-20.3,262,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2047,2424
$GC,5882,-1.39,-146.6,1094.8,-20.5,272,5886,0.00,2.60,0.00,0.000,4,0.000,0.144,1610,3456,2424
$GC,5949,-1.39,-146.6,1108.4,-20.2,274,5953,0.00,2.40,0.00,0.000,6,0.000,0.102,1610,2053,2423
$GC,6289,-1.39,-146.6,1174.4,-19.0,285,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2052,2424
$GC,6595,-1.39,-146.6,1229.7,-18.0,295,6599,0.00,2.60,0.00,0.000,4,0.000,0.146,1610,3463,2424
$GC,6615,-1.39,-146.6,1233.7,-18.9,295,6622,0.00,2.45,0.00,0.000,6,0.000,0.102,1610,2051,2424
$STATE,6652,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6652,begin apogee
$GC,6656,-0.33,0.0,1240.1,18.1,297,6774,1.15,0.00,113.90,1.743,6,0.174,0.000,1840,1900,2024
$STATE,6775,end apogee,CONTROL_FINISHED_OK
$STATE,6775,begin climb
$GC,6776,1.39,146.6,1245.9,0.0,301,6900,1.70,0.00,117.32,1.686,6,0.097,0.000,2210,1900,1625
$GC,7205,1.66,369.6,1246.4,-0.2,315,7402,0.28,0.00,191.95,1.671,6,0.087,0.000,2279,1900,1019
$GC,7696,1.67,374.9,1209.5,9.8,331,7709,0.00,2.83,6.45,1.246,4,0.000,0.144,2279,3312,1003
$GC,7765,1.67,374.9,1202.0,11.1,333,7770,0.00,2.60,0.00,0.000,6,0.000,0.107,2279,1897,1003
$GC,8094,1.67,374.9,1165.4,11.8,344,8099,0.00,2.70,0.00,0.000,4,0.000,0.144,2279,3306,1004
$GC,8155,1.67,374.9,1158.0,11.5,346,8159,0.00,2.53,0.00,0.000,6,0.000,0.109,2279,1895,1003
$GC,8489,1.67,374.9,1122.1,10.5,357,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1895,1003
$GC,8795,1.67,374.9,1090.6,10.2,367,8799,0.00,2.65,0.00,0.000,4,0.000,0.144,2279,3312,1003
$GC,8919,1.67,375.5,1077.6,10.0,370,8925,0.00,2.50,0.00,0.000,6,0.000,0.112,2279,1891,1003
$GC,9230,1.67,380.0,1046.6,9.8,381,9236,0.00,0.00,4.93,1.112,6,0.000,0.000,2278,1891,991
$GC,9537,1.67,380.0,1015.2,10.7,391,9541,0.00,2.67,0.00,0.000,4,0.000,0.144,2279,3313,991
$GC,9647,1.67,380.0,1002.8,11.3,394,9651,0.00,2.50,0.00,0.000,6,0.000,0.109,2279,1902,991
$GC,9970,1.67,380.0,969.0,10.7,405,9975,0.00,2.60,0.00,0.000,4,0.000,0.142,2279,3306,991
$GC,10025,1.67,380.0,962.4,12.6,406,10032,0.00,2.47,0.00,0.000,6,0.000,0.107,2279,1901,991
$GC,10338,1.67,380.0,927.6,11.5,417,10343,0.00,2.60,0.00,0.000,4,0.000,0.142,2279,3306,991
$GC,10392,1.67,380.0,920.8,11.7,418,10400,0.00,2.50,0.00,0.000,6,0.000,0.109,2279,1900,991
$GC,10706,1.67,380.0,883.5,12.5,429,10711,0.00,2.60,0.00,0.000,4,0.000,0.142,2279,3306,991
$GC,10777,1.67,380.0,874.0,13.9,431,10782,0.00,2.45,0.00,0.000,6,0.000,0.107,2279,1907,990
$GC,11106,1.67,380.0,832.3,12.7,442,11111,0.00,2.58,0.00,0.000,4,0.000,0.142,2279,3306,991
$GC,11195,1.67,380.0,820.6,14.1,444,11202,0.00,2.47,0.00,0.000,6,0.000,0.109,2279,1897,991
$GC,11508,1.67,380.0,783.0,11.9,455,11513,0.00,2.60,0.00,0.000,4,0.000,0.142,2279,3306,991
$GC,11551,1.67,380.0,777.5,12.2,456,11556,0.00,2.47,0.00,0.000,6,0.000,0.107,2279,1900,991
$GC,11876,1.67,380.0,742.7,10.5,467,11881,0.00,2.60,0.00,0.000,4,0.000,0.139,2279,3314,991
$GC,11971,1.67,380.0,732.3,10.0,470,11975,0.00,2.45,0.00,0.000,6,0.000,0.107,2279,1892,991
$GC,12306,1.69,390.0,699.8,9.5,481,12320,0.00,2.62,9.02,1.242,4,0.000,0.144,2279,3306,964
$GC,12359,1.73,422.7,694.4,8.5,482,12390,0.00,2.50,25.85,1.361,6,0.000,0.107,2278,1898,874
$GC,12709,1.73,422.7,657.1,10.7,494,12713,0.00,2.65,0.00,0.000,4,0.000,0.139,2279,3313,873
$GC,12762,1.73,422.7,650.3,12.5,495,12770,0.00,2.50,0.00,0.000,6,0.000,0.104,2279,1904,874
$GC,13076,1.73,422.7,613.9,11.7,506,13081,0.00,2.62,0.00,0.000,4,0.000,0.137,2279,3314,873
$GC,13113,1.73,422.7,608.9,12.4,507,13118,0.00,2.50,0.00,0.000,6,0.000,0.109,2279,1906,873
$GC,13444,1.73,422.7,573.5,10.6,518,13448,0.00,2.60,0.00,0.000,4,0.000,0.137,2279,3312,874
$GC,13476,1.73,424.6,570.0,9.9,519,13480,0.00,2.50,0.00,0.000,6,0.000,0.102,2279,1897,874
$GC,13812,1.73,427.4,536.4,9.9,530,13819,0.00,0.00,5.22,0.968,6,0.000,0.000,2279,1897,862
$GC,14118,1.74,430.1,506.6,9.9,540,14127,0.00,2.62,3.75,0.780,4,0.000,0.139,2279,3302,855
$GC,14184,1.74,430.1,499.3,11.2,542,14189,0.00,2.45,0.00,0.000,6,0.000,0.104,2279,1894,855
$GC,14519,1.74,430.1,463.0,11.1,553,14523,0.00,2.55,0.00,0.000,4,0.000,0.137,2278,486,855
$GC,14528,1.74,430.1,461.8,11.3,553,14533,0.00,2.45,0.00,0.000,6,0.000,0.097,2278,1903,855
$GC,14852,1.74,430.1,424.1,12.0,564,14856,0.00,2.55,0.00,0.000,4,0.000,0.137,2279,3305,855
$GC,14913,1.74,430.1,416.2,12.8,566,14918,0.00,2.42,0.00,0.000,6,0.000,0.102,2279,1898,855
$GC,15254,1.74,430.1,376.1,12.1,577,15258,0.00,2.55,0.00,0.000,4,0.000,0.134,2279,3310,855
$GC,15314,1.74,430.1,368.5,11.5,579,15318,0.00,2.42,0.00,0.000,6,0.000,0.109,2279,1900,855
$GC,15654,1.74,430.1,324.4,13.1,590,15658,0.00,2.55,0.00,0.000,4,0.000,0.132,2279,3310,855
$GC,15680,1.74,430.1,320.6,13.5,591,15684,0.00,2.42,0.00,0.000,6,0.000,0.099,2279,1892,855
$GC,16011,1.74,430.1,280.7,11.5,604,16015,0.00,2.55,0.00,0.000,4,0.000,0.132,2278,3309,855
$GC,16065,1.74,430.1,274.4,11.3,606,16073,0.00,2.45,0.00,0.000,6,0.000,0.099,2279,1898,855
$GC,16381,1.74,430.1,237.2,12.1,622,16385,0.00,2.53,0.00,0.000,4,0.000,0.132,2279,3305,855
$GC,16447,1.74,430.1,228.7,11.9,625,16451,0.00,2.42,0.00,0.000,6,0.000,0.099,2279,1902,855
$GC,16773,1.74,430.1,187.3,12.8,641,16778,0.00,2.53,0.00,0.000,4,0.000,0.129,2279,3310,855
$GC,16822,1.74,430.1,181.0,12.5,643,16827,0.00,2.42,0.00,0.000,6,0.000,0.097,2279,1901,855
$GC,17145,1.74,430.1,140.2,11.7,662,17149,0.00,2.50,0.00,0.000,4,0.000,0.129,2279,3305,855
$GC,17206,1.74,430.1,133.7,10.7,667,17210,0.00,2.40,0.00,0.000,6,0.000,0.097,2278,1893,855
$GC,17536,1.78,465.3,101.6,8.4,698,17570,0.10,2.60,26.15,0.983,4,0.104,0.132,2306,3305,758
$GC,17630,1.83,511.2,93.3,7.9,706,17669,0.00,2.45,33.40,0.956,6,0.000,0.094,2306,1904,634
$GC,17998,1.83,511.2,53.8,11.0,760,18004,0.00,2.58,0.00,0.000,4,0.000,0.127,2307,3312,634
$GC,18082,1.83,511.2,44.2,11.8,775,18089,0.00,2.45,0.00,0.000,6,0.000,0.094,2306,1894,634
$GC,18409,1.83,511.2,6.6,11.4,809,18413,0.00,2.55,0.00,0.000,4,0.000,0.127,2306,3307,634
$STATE,18451,end climb,SURFACE_DEPTH_REACHED
$STATE,18451,begin surface coast
$FINISH,0.5,1.024418
$STATE,18464,end surface coast,CONTROL_FINISHED_OK
$STATE,18464,begin surface
$SM_CCo,18542,0.00,0.000,0,0,633,511.75
$SM_GC,1.87,9.52,0.00,0.00,0.077,0.000,0.000,25,2041,633,-8.65,-0.25,511.75
$IRIDIUM_FIX,4644.93,-12505.47,010199,000002
$TT8_MAMPS,0.021476
$HUMID,2127
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,18.40
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.5,20.3
$ALTIM_BOTTOM_PING,1202.1,57.1
$24V_AH,22.5,2.266
$10V_AH,10.7,0.491
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.875,200.875,537.950,0.000,0.000,27.822,31.827,142.307,14.000,0.000,0.000,14.128,1577.241,14258.274,684.397,1999.868,304.484,33.342,1768.881,0.000,1851.336,0.000,75.580,0.000
$DEVICE_MAMPS,225.953,146.497,1743.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.506,1237.099,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41116,813
$CAP_FILE_SIZE,142368,0
$CFSIZE,260280320,258220032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,071009,112101,4658.058,-12512.993,43,1.5,43,18.4