version: 66.04
glider: 33
mission: 6
dive: 9
start: 9 10 109 0 52 26
data:
$ID,33
$MISSION,6
$DIVE,9
$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,-167828.98
$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,12
$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
$GPS1,004416,4807.578,-12223.602,12,4.5,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-62.4
$GPS2,005133,4807.631,-12223.699,14,5.5,33,18.3
$SPEED_LIMITS,0.100,0.444
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.315,-0.313
$KALMAN_X,-2837.3,-261.9,-8.7,1869.6,-714.8
$KALMAN_Y,4003.7,919.5,-25.4,-5324.3,624.1
$MHEAD_RNG_PITCHd_Wd,116.5,1455,-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,13,-1.21,-488.8,0.0,0.0,0,124,0.00,0.00,-108.05,0.000,2,0.000,0.000,24,1964,1608
$GC,126,-1.21,-488.8,3.2,-4.4,20,203,9.93,2.50,-57.58,0.000,4,0.231,0.104,1762,548,3081
$GC,215,-1.15,-488.8,15.0,-12.2,36,221,0.00,2.33,0.00,0.000,6,0.000,0.074,1762,1976,3081
$GC,292,-1.08,-488.8,24.3,-12.3,47,293,0.15,0.00,0.00,0.000,6,0.137,0.000,1794,1976,3082
$GC,419,-1.06,-488.8,38.0,-10.5,59,423,0.00,2.47,0.00,0.000,4,0.000,0.107,1793,543,3082
$GC,439,-1.03,-488.8,40.8,-12.2,60,446,0.00,2.30,0.00,0.000,6,0.000,0.074,1793,1946,3082
$GC,573,-0.99,-488.8,56.2,-12.3,73,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1946,3082
$GC,700,-0.95,-488.8,71.9,-12.3,85,705,0.12,2.42,0.00,0.000,4,0.134,0.109,1818,540,3082
$GC,717,-0.92,-488.8,73.6,-11.8,86,722,0.00,2.28,0.00,0.000,6,0.000,0.077,1819,1948,3082
$GC,851,-0.92,-488.8,87.6,-10.5,98,852,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,1948,3082
$GC,977,-0.92,-488.8,101.0,-10.6,110,981,0.00,2.42,0.00,0.000,4,0.000,0.112,1818,544,3082
$GC,992,-0.92,-488.8,102.6,-10.5,111,1000,0.00,2.30,0.00,0.000,6,0.000,0.077,1819,1947,3082
$STATE,1019,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1019,begin apogee
$GC,1022,-0.33,0.0,105.2,10.0,114,1383,0.60,0.00,354.40,0.857,6,0.117,0.000,1954,1947,1750
$STATE,1384,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1385,1.21,488.8,118.8,0.0,150,1746,1.45,2.65,346.85,0.819,4,0.077,0.117,2295,545,421
$GC,1847,1.13,488.8,86.1,11.3,194,1851,0.00,2.40,0.00,0.000,6,0.000,0.087,2295,1950,423
$GC,1980,1.05,488.8,71.5,11.0,206,1985,0.17,2.53,0.00,0.000,4,0.127,0.122,2259,3352,423
$GC,2012,1.06,521.2,68.1,9.6,208,2042,0.00,2.42,24.70,0.770,6,0.000,0.089,2259,1951,332
$GC,2177,1.13,599.6,52.7,8.9,224,2218,0.00,0.00,38.12,0.777,6,0.000,0.000,2259,1951,186
$GC,2344,1.13,599.6,36.7,10.2,240,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,1952,186
$GC,2472,1.17,630.2,24.3,9.6,252,2474,0.10,0.00,0.00,0.000,6,0.097,0.000,2288,1951,185
$GC,2606,1.13,630.2,10.3,10.1,272,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1952,185
$GC,2678,1.26,739.1,3.9,8.5,285,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1951,185
$STATE,2704,end climb,SURFACE_DEPTH_REACHED
$STATE,2704,begin surface coast
$FINISH,0.4,1.018576
$STATE,2728,end surface coast,CONTROL_FINISHED_OK
$STATE,2728,begin surface
$SM_CCo,2803,0.00,0.000,0,0,185,575.76
$SM_GC,1.31,9.38,0.00,0.00,0.074,0.000,0.000,24,1950,185,-9.18,0.00,575.76
$IRIDIUM_FIX,4751.72,-12226.29,051298,000006
$TT8_MAMPS,0.021476
$HUMID,2203
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.7
$ALTIM_BOTTOM_PING,80.8,38.9
$24V_AH,24.4,5.642
$10V_AH,10.8,1.691
$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,21.900,29.025,764.075,0.000,0.000,61.258,50.850,173.566,1.500,0.000,0.000,34.150,401.159,1162.833,777.022,583.412,333.319,33.343,1195.919,0.000,521.937,0.000,10.185,0.000
$DEVICE_MAMPS,230.919,121.667,856.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.708,447.979,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15921,294
$CAP_FILE_SIZE,45761,0
$CFSIZE,260280320,258334720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100909,014006,4807.325,-12223.543,11,1.5,27,18.3