version: 66.04
glider: 33
mission: 6
dive: 8
start: 9 9 109 23 57 24
data:
$ID,33
$MISSION,6
$DIVE,8
$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,500
$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,-167794.2
$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,0.02
$PITCH_ADJ_DBAND,1
$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,19
$R_STBD_OVSHOOT,11
$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
$GPS1,235208,4807.839,-12223.633,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-62.5
$GPS2,235631,4807.870,-12223.694,14,1.6,31,18.3
$SPEED_LIMITS,0.100,0.444
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.271,-0.352
$KALMAN_X,-1960.6,-296.1,-23.0,1053.4,-656.0
$KALMAN_Y,3283.8,890.8,103.1,-4271.1,758.4
$MHEAD_RNG_PITCHd_Wd,124.1,1825,-9.1,-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,-1.21,-488.8,0.0,0.0,0,108,0.00,0.00,-91.72,0.000,2,0.000,0.000,25,1957,1421
$GC,110,-1.21,-488.8,3.0,-3.3,17,198,9.88,2.47,-70.53,0.000,4,0.228,0.109,1760,541,3081
$GC,221,-1.12,-488.8,16.8,-14.5,37,227,0.12,2.33,0.00,0.000,6,0.151,0.077,1783,1968,3081
$GC,297,-1.08,-488.8,26.6,-12.2,46,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1969,3081
$GC,488,-1.02,-488.8,50.3,-13.1,64,493,0.10,2.45,0.00,0.000,4,0.146,0.107,1803,540,3081
$GC,526,-1.02,-488.8,54.0,-9.4,66,530,0.00,2.28,0.00,0.000,6,0.000,0.077,1803,1950,3081
$GC,852,-0.99,-488.8,91.2,-11.5,82,856,0.00,2.42,0.00,0.000,4,0.000,0.112,1803,541,3081
$GC,872,-0.96,-488.8,93.6,-10.9,83,877,0.00,2.30,0.00,0.000,6,0.000,0.077,1803,1945,3081
$STATE,983,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,983,begin apogee
$GC,986,-0.33,0.0,106.3,11.4,91,1347,0.68,0.00,354.33,0.857,6,0.117,0.000,1955,1946,1750
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1349,1.21,488.8,119.0,0.0,127,1706,1.42,2.67,346.40,0.822,4,0.074,0.119,2295,538,421
$GC,1812,1.12,488.8,83.8,13.0,165,1819,0.08,2.42,0.00,0.000,6,0.146,0.084,2278,1942,423
$GC,2127,1.06,488.8,50.7,10.1,181,2132,0.00,2.53,0.00,0.000,4,0.000,0.124,2278,3356,425
$GC,2171,1.00,488.8,45.8,11.0,184,2178,0.10,2.40,0.00,0.000,6,0.139,0.089,2254,1957,425
$GC,2368,1.15,628.4,27.8,8.1,203,2432,0.12,0.00,61.20,0.787,6,0.089,0.000,2289,1957,186
$GC,2631,1.34,780.4,4.3,7.9,243,2637,0.15,2.47,0.00,0.000,4,0.084,0.117,2333,542,186
$STATE,2653,end climb,SURFACE_DEPTH_REACHED
$STATE,2653,begin surface coast
$FINISH,0.2,1.017448
$STATE,2672,end surface coast,CONTROL_FINISHED_OK
$STATE,2672,begin surface
$SM_CCo,2750,0.00,0.000,0,0,186,575.76
$SM_GC,1.05,9.68,0.00,0.00,0.077,0.000,0.000,24,1959,186,-9.18,0.25,575.76
$IRIDIUM_FIX,4748.51,-12221.84,041298,232315
$TT8_MAMPS,0.021476
$HUMID,2214
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.8,18.6
$ALTIM_BOTTOM_PING,81.7,39.4
$24V_AH,24.4,5.449
$10V_AH,10.8,1.660
$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,22.325,29.150,761.925,0.000,0.000,28.065,29.937,122.563,1.500,0.000,0.000,31.112,330.968,1193.512,753.850,534.809,219.450,33.348,1147.789,0.000,481.276,0.000,10.185,0.000
$DEVICE_MAMPS,228.436,124.150,856.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,158.999,380.419,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12813,250
$CAP_FILE_SIZE,37258,0
$CFSIZE,260280320,258371584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100909,004416,4807.578,-12223.602,12,4.5,31,18.3