version: 66.04
glider: 33
mission: 7
dive: 3
start: 10 6 109 20 20 29
data:
$ID,33
$MISSION,7
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,1200
$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,400
$T_MISSION,430
$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,-169430.02
$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,9
$R_STBD_OVSHOOT,36
$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
$GPS1,201608,4659.710,-12501.736,11,1.4,11,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-60.1
$GPS2,201943,4659.698,-12501.762,12,1.4,17,18.4
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.264,-0.003
$KALMAN_X,-169.0,-124.5,-186.1,-1772.5,362.4
$KALMAN_Y,-467.7,-526.6,-428.5,525.1,94.2
$MHEAD_RNG_PITCHd_Wd,250.9,225126,-18.1,-10.000
$D_GRID,1200
$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,13,-1.39,-146.6,0.0,0.0,0,83,0.00,0.00,-67.97,0.000,2,0.000,0.000,27,2071,1576
$GC,85,-1.39,-146.6,3.9,-6.2,7,132,8.98,2.42,-31.98,0.000,4,0.228,0.114,1610,3446,2424
$GC,171,-1.39,-146.6,20.5,-20.8,15,175,0.00,2.35,0.00,0.000,6,0.000,0.082,1610,2037,2425
$GC,512,-1.39,-146.6,82.4,-19.0,66,516,0.00,2.40,0.00,0.000,4,0.000,0.112,1610,643,2425
$GC,584,-1.39,-146.6,96.0,-18.3,72,591,0.00,2.33,0.00,0.000,6,0.000,0.082,1611,2034,2425
$GC,919,-1.39,-146.6,153.9,-16.1,103,923,0.00,2.53,0.00,0.000,4,0.000,0.124,1610,3460,2425
$GC,985,-1.39,-146.6,164.5,-15.2,106,989,0.00,2.35,0.00,0.000,6,0.000,0.087,1610,2047,2425
$GC,1312,-1.39,-146.6,216.5,-16.6,122,1316,0.00,2.50,0.00,0.000,4,0.000,0.122,1610,3453,2426
$GC,1338,-1.39,-146.6,221.5,-17.8,123,1342,0.00,2.35,0.00,0.000,6,0.000,0.089,1610,2044,2425
$GC,1658,-1.39,-146.6,279.1,-17.7,139,1662,0.00,2.53,0.00,0.000,4,0.000,0.127,1610,3453,2425
$GC,1674,-1.39,-146.6,282.0,-17.6,140,1679,0.00,2.35,0.00,0.000,6,0.000,0.092,1610,2051,2425
$GC,1993,-1.39,-146.6,336.7,-16.9,152,1997,0.00,2.45,0.00,0.000,4,0.000,0.122,1610,636,2425
$GC,2064,-1.39,-146.6,349.3,-17.3,154,2073,0.00,2.35,0.00,0.000,6,0.000,0.092,1610,2045,2425
$GC,2395,-1.39,-146.6,407.1,-18.5,165,2400,0.00,2.53,0.00,0.000,4,0.000,0.132,1610,3459,2425
$GC,2461,-1.39,-146.6,419.0,-18.0,167,2466,0.00,2.40,0.00,0.000,6,0.000,0.104,1610,2052,2425
$GC,2797,-1.39,-146.6,478.9,-18.0,178,2801,0.00,2.53,0.00,0.000,4,0.000,0.132,1610,3455,2426
$GC,2835,-1.39,-146.6,486.2,-19.3,179,2838,0.00,2.38,0.00,0.000,6,0.000,0.104,1610,2051,2425
$GC,3163,-1.39,-146.6,547.7,-17.6,190,3167,0.00,2.47,0.00,0.000,4,0.000,0.127,1610,636,2425
$GC,3205,-1.39,-146.6,555.7,-18.5,191,3210,0.00,2.38,0.00,0.000,6,0.000,0.094,1610,2046,2425
$GC,3529,-1.39,-146.6,613.8,-17.4,202,3533,0.00,2.55,0.00,0.000,4,0.000,0.137,1610,3462,2425
$GC,3606,-1.39,-146.6,627.1,-16.6,204,3611,0.00,2.42,0.00,0.000,6,0.000,0.102,1610,2057,2425
$GC,3929,-1.39,-146.6,683.7,-17.1,215,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2057,2425
$GC,4236,-1.39,-146.6,737.1,-17.6,225,4240,0.00,2.50,0.00,0.000,4,0.000,0.129,1610,635,2425
$GC,4284,-1.39,-146.6,746.0,-17.1,226,4289,0.00,2.40,0.00,0.000,6,0.000,0.099,1611,2048,2425
$GC,4603,-1.39,-146.6,801.0,-17.2,237,4608,0.00,2.58,0.00,0.000,4,0.000,0.144,1610,3463,2425
$GC,4640,-1.39,-146.6,807.4,-16.5,238,4645,0.00,2.45,0.00,0.000,6,0.000,0.104,1610,2051,2425
$STATE,4910,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4910,begin apogee
$GC,4914,-0.33,0.0,854.1,18.0,247,5030,1.12,0.00,110.55,1.472,6,0.166,0.000,1838,1898,2024
$STATE,5031,end apogee,CONTROL_FINISHED_OK
$STATE,5031,begin climb
$GC,5032,1.39,146.6,863.1,0.0,251,5156,1.83,2.83,112.72,1.425,4,0.132,0.144,2212,495,1625
$GC,5161,1.66,372.6,863.0,-0.3,255,5351,0.30,2.55,181.30,1.395,6,0.102,0.099,2277,1905,1010
$GC,5679,1.66,372.6,820.2,10.6,272,5683,0.00,2.67,0.00,0.000,4,0.000,0.137,2277,487,1010
$GC,5699,1.66,372.7,817.9,10.0,272,5706,0.00,2.50,0.00,0.000,6,0.000,0.102,2277,1893,1010
$GC,6011,1.66,372.7,783.6,10.5,283,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,1893,1010
$GC,6319,1.68,385.4,753.2,9.4,293,6335,0.00,2.67,10.93,1.212,4,0.000,0.146,2277,3312,975
$GC,6367,1.68,385.4,748.3,10.0,294,6372,0.00,2.53,0.00,0.000,6,0.000,0.104,2277,1903,975
$GC,6685,1.68,385.4,715.9,10.6,305,6689,0.00,2.60,0.00,0.000,4,0.000,0.137,2277,3306,975
$GC,6734,1.68,385.4,710.1,11.5,306,6739,0.00,2.50,0.00,0.000,6,0.000,0.109,2277,1900,975
$GC,7052,1.68,385.4,675.3,10.8,317,7056,0.00,2.60,0.00,0.000,4,0.000,0.139,2277,3314,975
$GC,7123,1.68,385.4,667.5,11.0,319,7128,0.00,2.50,0.00,0.000,6,0.000,0.114,2276,1901,975
$GC,7453,1.68,385.4,633.5,10.7,330,7457,0.00,2.58,0.00,0.000,4,0.000,0.139,2277,3306,975
$GC,7514,1.68,385.4,627.0,11.7,332,7518,0.00,2.45,0.00,0.000,6,0.000,0.117,2277,1898,975
$GC,7854,1.68,385.4,591.6,10.6,343,7859,0.00,2.58,0.00,0.000,4,0.000,0.137,2277,3308,975
$GC,7903,1.68,385.4,585.9,11.6,344,7908,0.00,2.47,0.00,0.000,6,0.000,0.109,2277,1901,975
$GC,8222,1.71,408.3,555.7,9.0,355,8247,0.00,2.65,17.65,1.232,4,0.000,0.139,2277,3305,914
$GC,8269,1.73,426.2,550.8,9.2,356,8290,0.00,2.50,15.20,1.184,6,0.000,0.104,2277,1901,864
$GC,8625,1.73,426.2,510.1,12.4,368,8629,0.00,2.60,0.00,0.000,4,0.000,0.139,2277,487,864
$GC,8634,1.73,426.2,508.8,12.8,368,8638,0.00,2.47,0.00,0.000,6,0.000,0.097,2277,1903,864
$GC,8957,1.73,426.2,468.4,12.2,379,8961,0.00,2.58,0.00,0.000,4,0.000,0.139,2277,3308,864
$GC,9011,1.73,426.2,461.5,12.2,380,9019,0.00,2.47,0.00,0.000,6,0.000,0.102,2277,1900,864
$GC,9324,1.73,426.2,426.0,11.2,391,9328,0.00,2.58,0.00,0.000,4,0.000,0.134,2277,3315,864
$GC,9390,1.73,426.2,418.7,11.3,393,9394,0.00,2.47,0.00,0.000,6,0.000,0.102,2277,1900,864
$GC,9726,1.73,426.2,384.4,10.1,404,9730,0.00,2.58,0.00,0.000,4,0.000,0.134,2277,3315,864
$GC,9768,1.73,426.2,379.7,11.3,405,9773,0.00,2.47,0.00,0.000,6,0.000,0.109,2277,1896,864
$GC,10093,1.73,426.2,347.0,10.5,416,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,1896,864
$GC,10398,1.73,426.2,313.8,10.8,426,10402,0.00,2.53,0.00,0.000,4,0.000,0.132,2277,3310,864
$GC,10493,1.73,426.2,302.6,11.4,429,10497,0.00,2.42,0.00,0.000,6,0.000,0.102,2277,1891,864
$GC,10815,1.73,426.2,263.1,11.9,444,10819,0.00,2.55,0.00,0.000,4,0.000,0.132,2277,3311,864
$GC,10881,1.73,426.2,254.9,13.1,447,10885,0.00,2.40,0.00,0.000,6,0.000,0.099,2277,1899,864
$GC,11212,1.73,426.2,217.2,10.7,463,11216,0.00,2.53,0.00,0.000,4,0.000,0.129,2277,3313,864
$GC,11255,1.73,426.2,212.2,11.8,465,11260,0.00,2.42,0.00,0.000,6,0.000,0.097,2277,1905,864
$GC,11582,1.75,443.9,180.0,9.2,481,11604,0.00,2.58,13.70,0.996,4,0.000,0.134,2277,3307,816
$GC,11660,1.75,443.9,172.1,11.0,484,11663,0.00,2.42,0.00,0.000,6,0.000,0.099,2277,1897,816
$GC,11982,1.75,443.9,138.8,10.9,504,11986,0.00,2.53,0.00,0.000,4,0.000,0.129,2277,3314,817
$GC,12077,1.75,443.9,128.1,10.6,512,12081,0.00,2.40,0.00,0.000,6,0.000,0.097,2277,1900,816
$GC,12407,1.80,481.5,93.9,8.3,543,12440,0.12,2.60,27.25,0.971,4,0.102,0.129,2308,3307,714
$GC,12637,1.80,481.5,63.9,12.3,573,12643,0.00,2.42,0.00,0.000,6,0.000,0.097,2308,1901,714
$GC,12980,1.81,489.9,28.1,9.6,624,12992,0.00,2.60,7.50,0.812,4,0.000,0.129,2308,484,692
$GC,12997,1.83,505.4,26.5,9.3,625,13015,0.00,2.42,12.45,0.862,6,0.000,0.092,2308,1902,650
$STATE,13247,end climb,SURFACE_DEPTH_REACHED
$STATE,13247,begin surface coast
$FINISH,0.4,1.024563
$STATE,13258,end surface coast,CONTROL_FINISHED_OK
$STATE,13258,begin surface
$SM_CCo,13334,0.00,0.000,0,0,649,505.86
$SM_GC,1.88,9.57,0.00,0.00,0.077,0.000,0.000,26,2056,649,-8.65,0.14,505.86
$IRIDIUM_FIX,4629.23,-12438.93,311298,202046
$TT8_MAMPS,0.021476
$HUMID,2177
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,18.40
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,854.1,9.7
$24V_AH,23.4,1.710
$10V_AH,10.7,0.332
$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,21.925,155.225,509.250,0.000,0.000,0.000,0.000,0.000,10.000,0.000,0.000,17.346,1241.624,9905.445,607.140,1578.626,67.653,31.422,1478.739,0.000,1465.079,0.000,53.196,0.000
$DEVICE_MAMPS,228.436,146.497,1472.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.780,988.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34860,650
$CAP_FILE_SIZE,126883,0
$CFSIZE,260280320,258371584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,071009,000355,4659.304,-12504.558,41,1.5,41,18.4