version: 66.04
glider: 33
mission: 6
dive: 6
start: 9 9 109 22 27 30
data:
$ID,33
$MISSION,6
$DIVE,6
$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,250
$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,-167746.39
$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,23
$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
$GPS1,222234,4808.011,-12223.246,12,2.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.9
$GPS2,222637,4808.072,-12223.299,11,1.3,11,18.3
$SPEED_LIMITS,0.100,0.331
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.313
$KALMAN_X,-699.5,-257.8,-95.1,309.7,-244.3
$KALMAN_Y,1746.6,759.5,331.8,-2452.6,538.8
$MHEAD_RNG_PITCHd_Wd,143.0,2019,-13.8,-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,-1.22,-244.4,0.0,0.0,0,76,0.00,0.00,-60.40,0.000,2,0.000,0.000,27,1960,1395
$GC,78,-1.22,-244.4,3.4,-3.7,11,140,9.90,2.45,-45.40,0.000,4,0.228,0.107,1759,3351,2413
$GC,151,-1.22,-244.4,11.3,-10.1,24,157,0.00,2.35,0.00,0.000,6,0.000,0.082,1759,1941,2413
$GC,224,-1.22,-244.4,20.3,-13.1,37,227,0.00,2.40,0.00,0.000,4,0.000,0.109,1759,544,2412
$GC,261,-1.22,-244.4,25.3,-13.4,40,269,0.00,2.33,0.00,0.000,6,0.000,0.074,1759,1953,2412
$GC,459,-1.22,-244.4,50.2,-12.7,59,463,0.00,2.42,0.00,0.000,4,0.000,0.107,1759,543,2412
$GC,497,-1.22,-244.4,55.5,-14.0,61,501,0.00,2.28,0.00,0.000,6,0.000,0.077,1759,1953,2412
$GC,828,-1.22,-244.4,101.1,-13.8,77,829,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1954,2412
$STATE,859,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,859,begin apogee
$GC,862,-0.33,0.0,105.6,13.5,80,1043,0.90,0.00,175.07,0.862,6,0.129,0.000,1956,1955,1750
$STATE,1043,end apogee,CONTROL_FINISHED_OK
$STATE,1043,begin climb
$GC,1045,1.22,244.4,115.8,0.0,98,1231,1.48,2.62,173.77,0.837,4,0.094,0.117,2290,548,1084
$GC,1388,1.23,255.0,99.6,9.7,130,1403,0.00,2.35,9.15,0.720,6,0.000,0.082,2291,1956,1055
$GC,1730,1.28,296.1,69.6,8.9,147,1764,0.00,2.55,29.17,0.804,4,0.000,0.124,2291,3347,945
$GC,1860,1.30,311.2,57.9,9.6,153,1882,0.10,2.38,12.15,0.740,6,0.127,0.089,2310,1950,904
$GC,2196,1.31,320.5,24.7,9.7,181,2211,0.00,2.50,8.30,0.695,4,0.000,0.119,2310,548,878
$GC,2245,1.31,320.5,19.7,10.7,185,2252,0.00,2.35,0.00,0.000,6,0.000,0.084,2310,1949,878
$GC,2454,1.55,515.1,2.3,4.7,222,2467,0.25,0.00,10.45,0.720,2,0.074,0.000,2387,1949,843
$STATE,2467,end climb,SURFACE_DEPTH_REACHED
$STATE,2467,begin surface coast
$FINISH,1.1,1.019797
$STATE,2551,end surface coast,CONTROL_FINISHED_OK
$STATE,2551,begin surface
$SM_CCo,2567,81.68,0.795,0,0,526,450.31
$SM_GC,1.56,0.00,0.00,81.68,0.000,0.000,0.795,29,1951,526,-9.20,0.03,450.31
$IRIDIUM_FIX,4751.72,-12220.85,041298,212117
$TT8_MAMPS,0.021476
$HUMID,2239
$INTERNAL_PRESSURE,8.34993
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,81.3,38.6
$24V_AH,24.5,5.112
$10V_AH,10.8,1.612
$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,22.700,28.975,418.075,81.675,0.000,28.948,29.577,122.212,1.500,0.000,0.000,11.069,383.578,1280.904,531.634,498.199,218.480,33.359,863.612,0.000,469.006,0.000,10.186,0.000
$DEVICE_MAMPS,228.436,124.150,861.601,794.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,156.359,363.609,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12845,239
$CAP_FILE_SIZE,36690,0
$CFSIZE,260280320,258428928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090909,231225,4807.856,-12223.331,9,1.3,14,18.3