version: 66.04
glider: 33
mission: 6
dive: 5
start: 9 9 109 21 45 32
data:
$ID,33
$MISSION,6
$DIVE,5
$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,-167734.7
$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,13
$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
$GPS1,214034,4808.139,-12223.130,10,3.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-65.7
$GPS2,214443,4808.204,-12223.175,11,1.2,16,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,-0.258
$KALMAN_X,-400.0,-214.2,-128.0,151.2,-133.3
$KALMAN_Y,1247.8,663.6,400.7,-1684.7,423.5
$MHEAD_RNG_PITCHd_Wd,149.5,2240,-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,-146.6,0.0,0.0,0,66,0.00,0.00,-49.67,0.000,2,0.000,0.000,27,1967,1238
$GC,68,-1.39,-146.6,3.0,-5.8,9,128,9.65,0.00,-44.90,0.000,6,0.228,0.000,1720,1969,2149
$GC,196,-1.39,-146.6,15.3,-11.4,32,202,0.00,2.45,0.00,0.000,4,0.000,0.107,1721,541,2149
$GC,279,-1.39,-146.6,26.1,-12.5,43,286,0.00,2.35,0.00,0.000,6,0.000,0.074,1721,1970,2149
$GC,477,-1.39,-146.6,50.7,-12.8,62,481,0.00,2.42,0.00,0.000,4,0.000,0.107,1720,543,2150
$GC,508,-1.39,-146.6,55.2,-13.1,63,516,0.00,2.30,0.00,0.000,6,0.000,0.074,1721,1951,2150
$GC,824,-1.39,-146.6,98.1,-13.7,79,825,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,1951,2150
$STATE,844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,844,begin apogee
$GC,847,-0.33,0.0,101.5,14.2,80,957,1.10,0.00,104.70,0.862,6,0.137,0.000,1956,1951,1750
$STATE,957,end apogee,CONTROL_FINISHED_OK
$STATE,957,begin climb
$GC,959,1.39,146.6,106.6,0.0,91,1075,1.65,2.60,104.93,0.839,4,0.099,0.117,2329,3338,1351
$GC,1113,1.57,294.0,107.0,3.3,105,1224,0.15,2.40,104.80,0.829,6,0.119,0.084,2363,1957,951
$GC,1544,1.57,294.0,56.8,12.7,131,1547,0.00,2.47,0.00,0.000,4,0.000,0.117,2363,539,950
$GC,1575,1.57,294.0,52.5,12.9,132,1581,0.00,2.35,0.00,0.000,6,0.000,0.082,2364,1941,950
$GC,1902,1.57,294.0,13.5,11.3,166,1909,0.00,2.42,0.00,0.000,4,0.000,0.114,2363,541,949
$GC,1987,1.58,300.4,4.9,9.7,181,1999,0.00,2.30,6.05,0.641,6,0.000,0.084,2364,1950,933
$STATE,2020,end climb,SURFACE_DEPTH_REACHED
$STATE,2020,begin surface coast
$FINISH,0.4,1.019133
$STATE,2038,end surface coast,CONTROL_FINISHED_OK
$STATE,2038,begin surface
$SM_CCo,2053,104.40,0.792,0,0,526,450.31
$SM_GC,1.86,0.00,0.00,104.40,0.000,0.000,0.792,27,1960,526,-9.21,0.25,450.31
$IRIDIUM_FIX,4751.72,-12214.67,041298,212151
$TT8_MAMPS,0.021476
$HUMID,2220
$INTERNAL_PRESSURE,8.34993
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.6
$ALTIM_BOTTOM_PING,72.5,42.5
$24V_AH,23.4,4.986
$10V_AH,10.8,1.588
$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,22.175,24.075,320.475,104.400,0.000,24.133,26.784,129.972,1.000,0.000,0.000,16.597,309.121,1051.726,465.101,382.036,215.147,33.326,729.970,0.000,353.468,0.000,9.024,0.000
$DEVICE_MAMPS,228.436,116.701,861.601,792.077,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,123.699,288.920,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9701,190
$CAP_FILE_SIZE,31065,0
$CFSIZE,260280320,258461696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090909,222234,4808.011,-12223.246,12,2.1,31,18.3