version: 66.04
glider: 33
mission: 6
dive: 3
start: 9 9 109 20 14 0
data:
$ID,33
$MISSION,6
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,100
$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,47.599998
$TGT_DEFAULT_LON,-122.3
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-167701.12
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,2030
$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,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,1750
$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,-19.639063
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$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
$GPS1,200950,4808.367,-12223.094,9,1.6,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-57.6
$GPS2,201314,4808.417,-12223.107,16,1.5,16,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,-0.259
$KALMAN_X,-153.2,-113.5,-108.0,-132.4,-130.2
$KALMAN_Y,486.8,354.6,336.8,-158.8,411.6
$MHEAD_RNG_PITCHd_Wd,150.9,2629,-18.1,-10.000
$D_GRID,150
$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,-146.6,0.0,0.0,0,103,0.00,0.00,-87.15,0.000,2,0.000,0.000,23,1943,1402
$GC,105,-1.39,-146.6,3.1,-7.6,16,155,9.38,0.00,-35.65,0.000,6,0.221,0.000,1722,1943,2151
$GC,223,-1.39,-146.6,13.4,-11.1,37,229,0.00,2.40,0.00,0.000,4,0.000,0.102,1722,3352,2151
$GC,279,-1.39,-146.6,19.9,-11.2,47,285,0.00,2.30,0.00,0.000,6,0.000,0.079,1722,1942,2151
$GC,348,-1.39,-146.6,27.8,-11.6,54,352,0.00,2.35,0.00,0.000,4,0.000,0.107,1722,546,2150
$GC,392,-1.39,-146.6,33.3,-12.4,58,396,0.00,2.25,0.00,0.000,6,0.000,0.074,1722,1957,2151
$GC,603,-1.39,-146.6,58.3,-12.2,75,604,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,1957,2151
$STATE,890,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,891,begin apogee
$GC,894,-0.33,0.0,96.8,13.9,89,1003,1.08,0.00,104.60,0.857,6,0.134,0.000,1955,1962,1750
$STATE,1004,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1005,1.39,146.6,101.6,0.0,96,1122,1.62,2.58,104.20,0.832,4,0.097,0.114,2326,3345,1351
$GC,1182,1.53,263.2,100.1,4.7,112,1271,0.12,2.40,82.55,0.819,6,0.119,0.084,2355,1953,1034
$GC,1590,1.53,263.2,56.1,11.6,133,1594,0.00,2.45,0.00,0.000,4,0.000,0.117,2355,539,1034
$GC,1651,1.53,263.2,48.7,13.1,135,1658,0.00,2.33,0.00,0.000,6,0.000,0.082,2355,1936,1034
$GC,1980,1.53,263.2,13.6,10.4,171,1986,0.00,2.40,0.00,0.000,4,0.000,0.114,2355,544,1034
$GC,2002,1.53,263.2,11.2,10.8,175,2009,0.00,2.30,0.00,0.000,6,0.000,0.084,2355,1959,1034
$GC,2076,1.54,270.0,4.5,9.7,188,2088,0.00,2.45,6.15,0.643,4,0.000,0.114,2355,543,1016
$STATE,2103,end climb,SURFACE_DEPTH_REACHED
$STATE,2103,begin surface coast
$FINISH,1.3,1.020011
$STATE,2127,end surface coast,CONTROL_FINISHED_OK
$STATE,2127,begin surface
$SM_CCo,2145,126.18,0.790,0,0,526,450.31
$SM_GC,1.23,0.00,0.00,126.18,0.000,0.000,0.790,25,1958,526,-9.22,0.23,450.31
$IRIDIUM_FIX,4748.51,-12226.29,041298,202018
$TT8_MAMPS,0.021476
$HUMID,2206
$INTERNAL_PRESSURE,8.36946
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.3
$ALTIM_BOTTOM_PING,71.7,38.2
$24V_AH,24.6,4.764
$10V_AH,10.9,1.543
$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,22.175,28.550,297.500,126.175,0.000,0.000,0.000,0.000,1.000,0.000,0.000,16.783,321.651,1101.733,499.266,395.007,20.175,31.414,767.651,0.000,366.108,0.000,8.665,0.000
$DEVICE_MAMPS,220.987,116.701,856.635,789.594,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,128.851,299.565,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9704,197
$CAP_FILE_SIZE,48171,0
$CFSIZE,260280320,258486272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090909,205252,4808.233,-12223.110,9,99.0,28,18.3