version: 66.04
glider: 33
mission: 6
dive: 4
start: 9 9 109 20 58 50
data:
$ID,33
$MISSION,6
$DIVE,4
$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,-167717.48
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,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,25
$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
$GPS1,205252,4808.233,-12223.110,9,99.0,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.0
$GPS2,205802,4808.294,-12223.127,15,1.5,15,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.048,-0.259
$KALMAN_X,-241.9,-168.6,-134.2,12.1,-119.3
$KALMAN_Y,774.8,526.3,417.4,-922.8,385.5
$MHEAD_RNG_PITCHd_Wd,151.1,2402,-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,14,-1.39,-146.6,0.0,0.0,0,76,0.00,0.00,-60.20,0.000,2,0.000,0.000,25,1959,1367
$GC,78,-1.39,-146.6,3.3,-5.3,11,130,9.62,2.45,-36.38,0.000,4,0.226,0.104,1721,3351,2150
$GC,152,-1.39,-146.6,10.5,-9.9,24,158,0.00,2.35,0.00,0.000,6,0.000,0.082,1721,1938,2150
$GC,226,-1.39,-146.6,19.7,-12.7,37,232,0.00,2.38,0.00,0.000,4,0.000,0.109,1721,547,2150
$GC,298,-1.39,-146.6,29.1,-12.8,44,305,0.00,2.30,0.00,0.000,6,0.000,0.074,1721,1951,2150
$GC,505,-1.39,-146.6,55.4,-13.0,62,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,1951,2150
$GC,814,-1.39,-146.6,97.8,-14.1,77,817,0.00,2.40,0.00,0.000,4,0.000,0.109,1721,549,2150
$STATE,822,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,823,begin apogee
$GC,828,-0.33,0.0,99.4,14.2,77,940,1.05,0.00,105.05,0.862,6,0.144,0.000,1948,1948,1749
$STATE,940,end apogee,CONTROL_FINISHED_OK
$STATE,940,begin climb
$GC,942,1.39,146.6,105.2,0.0,88,1058,1.67,2.60,104.55,0.834,4,0.099,0.117,2326,3345,1350
$GC,1140,1.52,251.3,103.0,5.2,106,1222,0.12,2.40,74.62,0.824,6,0.117,0.097,2355,1956,1067
$GC,1529,1.52,251.3,62.7,11.2,128,1533,0.00,2.45,0.00,0.000,4,0.000,0.117,2355,542,1067
$GC,1577,1.52,251.3,57.2,11.9,130,1582,0.00,2.33,0.00,0.000,6,0.000,0.082,2355,1940,1067
$GC,1902,1.52,252.0,24.1,10.0,157,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1940,1067
$GC,2101,1.62,340.4,6.6,6.0,189,2173,0.12,2.53,61.97,0.800,4,0.092,0.117,2392,549,824
$STATE,2250,end climb,SURFACE_DEPTH_REACHED
$STATE,2250,begin surface coast
$FINISH,0.3,1.019566
$STATE,2347,end surface coast,CONTROL_FINISHED_OK
$STATE,2347,begin surface
$SM_CCo,2365,77.15,0.792,0,0,526,450.31
$SM_GC,1.10,0.00,0.00,77.15,0.000,0.000,0.792,27,1967,526,-9.21,0.48,450.31
$IRIDIUM_FIX,4742.09,-12247.01,041298,202012
$TT8_MAMPS,0.021476
$HUMID,2256
$INTERNAL_PRESSURE,8.36946
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.7
$ALTIM_BOTTOM_PING,71.8,41.2
$24V_AH,24.6,4.876
$10V_AH,10.8,1.567
$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,22.550,28.850,346.200,77.150,0.000,24.833,35.851,176.030,1.250,0.000,0.000,15.742,361.714,1216.834,458.706,451.708,278.363,32.331,757.301,0.000,419.667,0.000,8.675,0.000
$DEVICE_MAMPS,225.953,116.701,861.601,792.077,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,152.289,354.516,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12813,233
$CAP_FILE_SIZE,35556,0
$CFSIZE,260280320,258478080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090909,214034,4808.139,-12223.130,10,3.0,29,18.3