version: 66.04
glider: 33
mission: 7
dive: 6
start: 10 7 109 11 26 21
data:
$ID,33
$MISSION,7
$DIVE,6
$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,-169475.47
$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,18
$R_STBD_OVSHOOT,17
$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
$GPS1,112101,4658.058,-12512.993,43,1.5,43,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-63.0
$GPS2,112532,4658.000,-12513.061,17,1.4,17,18.4
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.263,0.020
$KALMAN_X,16964.3,-1056.9,-409.3,-31997.5,27889.1
$KALMAN_Y,-8869.8,862.7,144.8,3803.2,-13991.8
$MHEAD_RNG_PITCHd_Wd,255.8,210887,-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,13,begin dive
$GC,14,-1.39,-146.6,0.0,0.0,0,73,0.00,0.00,-57.28,0.000,2,0.000,0.000,25,2039,1395
$GC,75,-1.39,-146.6,3.4,-4.7,6,132,9.10,2.55,-42.47,0.000,4,0.231,0.117,1608,3457,2426
$GC,250,-1.39,-146.6,41.4,-21.3,22,256,0.00,2.38,0.00,0.000,6,0.000,0.082,1608,2047,2426
$GC,591,-1.39,-146.6,110.8,-20.2,70,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2047,2426
$GC,917,-1.39,-146.6,176.4,-20.2,95,921,0.00,2.55,0.00,0.000,4,0.000,0.122,1608,3464,2426
$GC,937,-1.39,-146.6,180.7,-18.7,96,942,0.00,2.40,0.00,0.000,6,0.000,0.084,1608,2048,2426
$GC,1264,-1.39,-146.6,243.0,-19.3,112,1268,0.00,2.45,0.00,0.000,4,0.000,0.117,1608,642,2426
$GC,1312,-1.39,-146.6,252.7,-19.1,114,1316,0.00,2.35,0.00,0.000,6,0.000,0.089,1608,2050,2426
$GC,1642,-1.39,-146.6,320.9,-21.0,129,1646,0.00,2.53,0.00,0.000,4,0.000,0.132,1608,3456,2427
$GC,1712,-1.39,-146.6,335.6,-20.9,131,1717,0.00,2.38,0.00,0.000,6,0.000,0.099,1608,2058,2427
$GC,2043,-1.39,-146.6,404.0,-20.9,142,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2058,2427
$GC,2348,-1.39,-146.6,462.9,-18.5,152,2352,0.00,2.53,0.00,0.000,4,0.000,0.129,1608,3456,2427
$GC,2363,-1.39,-146.6,466.0,-18.4,152,2368,0.00,2.40,0.00,0.000,6,0.000,0.097,1608,2050,2427
$GC,2682,-1.39,-146.6,526.2,-19.0,163,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2050,2427
$GC,2987,-1.39,-146.6,587.4,-20.5,173,2991,0.00,2.55,0.00,0.000,4,0.000,0.134,1608,3454,2427
$GC,3013,-1.39,-146.6,592.9,-22.0,173,3021,0.00,2.40,0.00,0.000,6,0.000,0.094,1608,2051,2427
$GC,3326,-1.39,-146.6,655.9,-19.5,184,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2051,2427
$GC,3632,-1.39,-146.6,715.1,-19.4,194,3636,0.00,2.58,0.00,0.000,4,0.000,0.139,1608,3459,2427
$GC,3647,-1.39,-146.6,718.1,-19.2,194,3652,0.00,2.42,0.00,0.000,6,0.000,0.094,1608,2047,2427
$GC,3967,-1.39,-146.6,779.1,-19.5,205,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2047,2427
$GC,4271,-1.39,-146.6,836.4,-18.3,215,4276,0.00,2.58,0.00,0.000,4,0.000,0.139,1608,3457,2427
$GC,4286,-1.39,-146.6,839.5,-17.9,215,4291,0.00,2.42,0.00,0.000,6,0.000,0.097,1608,2048,2426
$GC,4605,-1.39,-146.6,895.8,-17.5,226,4609,0.00,2.50,0.00,0.000,4,0.000,0.129,1608,635,2427
$GC,4659,-1.39,-146.6,906.2,-18.1,227,4666,0.00,2.40,0.00,0.000,6,0.000,0.102,1608,2042,2427
$GC,4971,-1.39,-146.6,960.4,-17.5,238,4976,0.00,2.58,0.00,0.000,4,0.000,0.144,1608,3456,2427
$GC,5043,-1.39,-146.6,972.9,-17.1,240,5048,0.00,2.42,0.00,0.000,6,0.000,0.099,1608,2052,2427
$GC,5372,-1.39,-146.6,1034.9,-19.6,251,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2051,2427
$GC,5678,-1.39,-146.6,1096.5,-19.9,261,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2051,2427
$GC,5985,-1.39,-146.6,1153.4,-18.4,271,5990,0.00,2.60,0.00,0.000,4,0.000,0.144,1608,3464,2427
$GC,6000,-1.39,-146.6,1156.5,-17.9,271,6005,0.00,2.45,0.00,0.000,6,0.000,0.102,1608,2048,2427
$GC,6318,-1.39,-146.6,1213.4,-17.1,282,6322,0.00,2.60,0.00,0.000,4,0.000,0.144,1608,3463,2427
$GC,6339,-1.39,-146.6,1217.3,-18.5,282,6346,0.00,2.45,0.00,0.000,6,0.000,0.102,1608,2050,2427
$GC,6651,-1.39,-146.6,1270.6,-16.9,293,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2050,2427
$GC,6957,-1.39,-146.6,1324.5,-18.1,303,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2050,2426
$GC,7263,-1.39,-146.6,1380.9,-17.9,313,7268,0.00,2.60,0.00,0.000,4,0.000,0.149,1608,3455,2426
$GC,7278,-1.39,-146.6,1383.9,-17.8,313,7284,0.00,2.45,0.00,0.000,6,0.000,0.104,1608,2051,2426
$GC,7597,-1.39,-146.6,1442.9,-18.9,324,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2051,2426
$GC,7903,-1.39,-146.6,1495.6,-16.6,334,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2051,2426
$STATE,7933,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7933,begin apogee
$GC,7936,-0.33,0.0,1500.9,16.8,335,8056,1.15,0.00,116.65,1.912,6,0.169,0.000,1840,1901,2024
$STATE,8057,end apogee,CONTROL_FINISHED_OK
$STATE,8057,begin climb
$GC,8059,1.39,146.6,1507.6,0.0,339,8190,1.90,2.95,121.05,1.852,4,0.139,0.149,2215,494,1624
$GC,8228,1.72,420.0,1513.7,-2.4,344,8480,0.28,2.70,243.52,1.823,6,0.082,0.104,2290,1901,882
$GC,8786,1.72,420.0,1448.0,15.4,362,8791,0.00,2.75,0.00,0.000,4,0.000,0.139,2290,488,882
$GC,8795,1.72,420.0,1446.3,14.8,362,8800,0.00,2.58,0.00,0.000,6,0.000,0.104,2290,1895,882
$GC,9119,1.72,420.0,1398.3,15.7,373,9123,0.00,2.75,0.00,0.000,4,0.000,0.151,2290,3315,882
$GC,9213,1.72,420.0,1383.8,15.0,376,9218,0.00,2.55,0.00,0.000,6,0.000,0.112,2290,1894,882
$GC,9547,1.72,420.0,1336.8,14.1,387,9551,0.00,2.70,0.00,0.000,4,0.000,0.149,2290,3309,882
$GC,9641,1.72,420.0,1322.4,15.8,390,9645,0.00,2.50,0.00,0.000,6,0.000,0.112,2290,1900,882
$GC,9975,1.72,420.0,1276.0,13.2,401,9979,0.00,2.65,0.00,0.000,4,0.000,0.146,2290,3307,882
$GC,10040,1.72,420.0,1266.9,13.6,403,10045,0.00,2.53,0.00,0.000,6,0.000,0.112,2290,1899,882
$GC,10376,1.72,420.0,1219.4,14.6,414,10381,0.00,2.65,0.00,0.000,4,0.000,0.146,2290,3308,882
$GC,10424,1.72,420.0,1212.3,14.0,415,10429,0.00,2.50,0.00,0.000,6,0.000,0.112,2290,1905,882
$GC,10742,1.72,420.0,1168.6,13.6,426,10746,0.00,2.62,0.00,0.000,4,0.000,0.146,2290,3309,882
$GC,10837,1.72,420.0,1155.0,14.5,429,10841,0.00,2.47,0.00,0.000,6,0.000,0.112,2290,1895,882
$GC,11171,1.72,420.0,1109.3,13.3,440,11175,0.00,2.65,0.00,0.000,4,0.000,0.146,2290,3315,882
$GC,11233,1.72,420.0,1101.2,12.7,442,11237,0.00,2.47,0.00,0.000,6,0.000,0.112,2290,1897,882
$GC,11567,1.72,420.0,1055.7,13.8,453,11572,0.00,2.62,0.00,0.000,4,0.000,0.144,2290,3307,882
$GC,11628,1.72,420.0,1046.8,14.2,455,11633,0.00,2.45,0.00,0.000,6,0.000,0.112,2290,1899,882
$GC,11962,1.72,420.0,1003.2,12.3,466,11966,0.00,2.60,0.00,0.000,4,0.000,0.144,2290,3308,882
$GC,12023,1.72,420.0,995.7,10.7,468,12027,0.00,2.45,0.00,0.000,6,0.000,0.112,2290,1897,882
$GC,12364,1.72,420.0,954.4,12.8,479,12369,0.00,2.62,0.00,0.000,4,0.000,0.144,2290,3312,882
$GC,12435,1.72,420.0,944.7,12.8,481,12440,0.00,2.47,0.00,0.000,6,0.000,0.109,2290,1900,882
$GC,12765,1.72,420.0,903.9,12.5,492,12769,0.00,2.60,0.00,0.000,4,0.000,0.144,2290,3312,882
$GC,12813,1.72,420.0,897.6,12.3,493,12818,0.00,2.50,0.00,0.000,6,0.000,0.107,2290,1897,882
$GC,13131,1.72,420.0,857.4,13.2,504,13135,0.00,2.60,0.00,0.000,4,0.000,0.144,2290,3308,882
$GC,13196,1.72,420.0,848.6,12.2,506,13201,0.00,2.47,0.00,0.000,6,0.000,0.109,2290,1907,882
$GC,13531,1.72,420.0,806.1,13.2,517,13535,0.00,2.58,0.00,0.000,4,0.000,0.142,2290,3308,882
$GC,13618,1.72,420.0,794.3,13.5,519,13626,0.00,2.45,0.00,0.000,6,0.000,0.109,2290,1905,882
$GC,13932,1.72,420.0,754.0,13.1,530,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1905,882
$GC,14237,1.72,420.0,714.9,12.6,540,14242,0.00,2.58,0.00,0.000,4,0.000,0.142,2290,3307,882
$GC,14291,1.72,420.0,708.3,11.1,541,14299,0.00,2.47,0.00,0.000,6,0.000,0.109,2290,1902,882
$GC,14605,1.72,420.0,673.3,10.8,552,14609,0.00,2.58,0.00,0.000,4,0.000,0.139,2290,3308,882
$GC,14659,1.72,420.0,666.7,12.4,553,14666,0.00,2.47,0.00,0.000,6,0.000,0.109,2290,1901,882
$GC,14973,1.72,420.0,630.8,12.0,564,14974,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1901,882
$GC,15278,1.72,420.0,594.8,11.6,574,15282,0.00,2.58,0.00,0.000,4,0.000,0.139,2290,3314,882
$GC,15373,1.72,420.0,583.5,11.4,577,15377,0.00,2.45,0.00,0.000,6,0.000,0.107,2290,1896,882
$GC,15712,1.72,420.0,544.2,11.5,588,15716,0.00,2.58,0.00,0.000,4,0.000,0.139,2291,3312,882
$GC,15807,1.72,420.0,532.7,11.6,591,15811,0.00,2.42,0.00,0.000,6,0.000,0.117,2290,1900,882
$GC,16146,1.72,420.0,493.7,11.4,602,16151,0.00,2.55,0.00,0.000,4,0.000,0.137,2290,3310,882
$GC,16223,1.72,420.0,484.5,12.4,604,16228,0.00,2.45,0.00,0.000,6,0.000,0.114,2290,1905,882
$GC,16548,1.72,420.0,445.4,12.3,615,16553,0.00,2.55,0.00,0.000,4,0.000,0.137,2290,3312,882
$GC,16597,1.72,420.0,438.8,13.4,616,16602,0.00,2.45,0.00,0.000,6,0.000,0.112,2290,1905,882
$GC,16916,1.72,420.0,398.4,13.2,627,16920,0.00,2.55,0.00,0.000,4,0.000,0.134,2290,3316,882
$GC,16970,1.72,420.0,390.9,14.0,628,16977,0.00,2.45,0.00,0.000,6,0.000,0.102,2290,1902,882
$GC,17283,1.72,420.0,351.0,12.5,639,17288,0.00,2.55,0.00,0.000,4,0.000,0.134,2291,3317,882
$GC,17321,1.72,420.0,346.0,12.4,640,17326,0.00,2.45,0.00,0.000,6,0.000,0.099,2290,1899,882
$GC,17651,1.72,420.0,306.9,11.7,651,17652,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,881
$GC,17959,1.72,420.0,270.2,12.0,665,17963,0.00,2.53,0.00,0.000,4,0.000,0.132,2290,3312,882
$GC,18041,1.72,420.0,260.0,11.5,668,18049,0.00,2.42,0.00,0.000,6,0.000,0.099,2290,1905,882
$GC,18357,1.72,420.0,224.0,11.0,684,18358,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1905,882
$GC,18666,1.72,420.0,189.4,11.4,699,18667,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1905,882
$GC,18975,1.72,420.0,152.0,12.6,714,18979,0.00,2.47,0.00,0.000,4,0.000,0.129,2290,3309,882
$GC,19025,1.72,420.0,145.3,12.9,718,19029,0.00,2.38,0.00,0.000,6,0.000,0.099,2290,1900,882
$GC,19355,1.73,429.0,107.5,9.6,749,19370,0.00,2.55,8.43,0.896,4,0.000,0.129,2290,3305,856
$GC,19447,1.73,429.0,98.2,10.2,757,19455,0.00,2.42,0.00,0.000,6,0.000,0.094,2290,1897,856
$GC,19780,1.79,472.6,66.7,8.0,800,19819,0.00,2.60,31.50,0.961,4,0.000,0.132,2290,3314,739
$GC,19847,1.82,496.1,60.4,8.9,812,19870,0.10,2.45,17.83,0.904,6,0.132,0.094,2310,1899,675
$GC,20197,1.87,542.0,23.6,7.9,860,20237,0.00,0.00,33.88,0.906,6,0.000,0.000,2310,1899,549
$STATE,20426,end climb,SURFACE_DEPTH_REACHED
$STATE,20426,begin surface coast
$FINISH,0.0,1.014769
$STATE,20449,end surface coast,CONTROL_FINISHED_OK
$STATE,20450,begin surface
$SM_CCo,20526,0.00,0.000,0,0,548,543.02
$SM_GC,1.19,9.55,0.00,0.00,0.070,0.000,0.000,22,2078,548,-8.66,0.79,543.02
$IRIDIUM_FIX,4641.78,-12510.63,010199,060620
$TT8_MAMPS,0.021476
$HUMID,2135
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,18.50
$XPDR_PINGS,10
$ALTIM_TOP_PING,18.9,18.1
$ALTIM_BOTTOM_PING,1454.4,63.0
$24V_AH,22.0,2.557
$10V_AH,10.7,0.571
$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,22.075,197.475,572.850,0.000,0.000,24.638,27.029,129.754,16.500,0.000,0.000,17.357,1680.863,16005.503,708.867,2105.702,292.490,33.368,1844.435,0.000,1946.778,0.000,91.480,0.000
$DEVICE_MAMPS,230.919,151.463,1911.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.941,1344.488,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44274,884
$CAP_FILE_SIZE,148873,0
$CFSIZE,260280320,258146304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$GPS,071009,170937,4656.575,-12517.895,38,1.2,38,18.4