version: 66.04
glider: 33
mission: 6
dive: 10
start: 9 10 109 1 56 13
data:
$ID,33
$MISSION,6
$DIVE,10
$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,75
$T_MISSION,100
$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,-167860.08
$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,20
$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,30
$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
$GPS1,014006,4807.325,-12223.543,11,1.5,27,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.5
$GPS2,015522,4807.421,-12223.807,10,2.2,29,18.3
$SPEED_LIMITS,0.067,0.380
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.321,-0.203
$KALMAN_X,-3920.8,-224.9,-27.8,2806.4,-1029.9
$KALMAN_Y,4641.5,927.0,-121.1,-6264.6,583.0
$MHEAD_RNG_PITCHd_Wd,103.9,1266,-4.9,-6.667
$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,-0.93,-488.8,0.0,0.0,0,119,0.00,0.00,-103.38,0.000,2,0.000,0.000,24,1949,1615
$GC,121,-0.93,-488.8,3.3,-3.6,19,199,10.27,0.00,-62.75,0.000,6,0.226,0.000,1823,1950,3080
$GC,268,-1.02,-488.8,18.5,-11.8,45,274,0.00,2.45,0.00,0.000,4,0.000,0.107,1823,3358,3080
$GC,317,-1.13,-488.8,24.6,-11.5,50,325,0.15,2.35,0.00,0.000,6,0.104,0.079,1785,1951,3080
$GC,452,-1.19,-488.8,39.7,-11.1,63,456,0.00,2.40,0.00,0.000,4,0.000,0.109,1783,545,3081
$GC,462,-1.24,-488.8,41.2,-11.5,63,469,0.08,2.30,0.00,0.000,6,0.094,0.074,1756,1957,3080
$GC,597,-1.24,-488.8,55.9,-10.9,76,601,0.00,2.42,0.00,0.000,4,0.000,0.107,1756,546,3081
$GC,612,-1.24,-488.8,57.7,-10.4,77,616,0.00,2.25,0.00,0.000,6,0.000,0.074,1756,1947,3080
$GC,751,-1.24,-488.8,73.1,-11.0,90,752,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1946,3080
$GC,878,-1.24,-488.8,87.6,-11.3,102,882,0.00,2.42,0.00,0.000,4,0.000,0.109,1755,544,3080
$GC,893,-1.24,-488.8,89.6,-12.5,103,900,0.00,2.30,0.00,0.000,6,0.000,0.077,1756,1947,3081
$STATE,909,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,909,begin apogee
$GC,912,-0.33,0.0,91.3,11.9,105,1273,0.88,0.00,352.83,0.844,6,0.102,0.000,1960,1947,1750
$STATE,1274,end apogee,CONTROL_FINISHED_OK
$STATE,1274,begin climb
$GC,1275,0.93,488.8,116.6,0.0,141,1633,1.15,2.62,346.50,0.812,4,0.072,0.117,2240,542,421
$GC,1682,0.81,488.8,95.7,9.4,179,1690,0.12,2.42,0.00,0.000,6,0.132,0.082,2212,1938,421
$GC,1815,0.81,488.8,83.6,9.5,192,1820,0.00,2.47,0.00,0.000,4,0.000,0.114,2212,545,423
$GC,1843,0.81,488.8,80.9,10.4,194,1847,0.00,2.38,0.00,0.000,6,0.000,0.082,2212,1961,423
$GC,1983,0.84,488.8,67.5,9.7,207,1987,0.00,2.47,0.00,0.000,4,0.000,0.122,2212,3350,423
$GC,2014,0.79,488.8,64.1,9.8,209,2021,0.00,2.40,0.00,0.000,6,0.000,0.087,2212,1950,422
$GC,2147,0.79,488.8,52.1,8.6,222,2151,0.00,2.47,0.00,0.000,4,0.000,0.119,2212,538,422
$GC,2230,0.75,488.8,45.2,8.6,229,2238,0.08,2.35,0.00,0.000,6,0.137,0.082,2194,1942,422
$GC,2365,0.79,488.8,34.9,7.9,242,2370,0.00,2.47,0.00,0.000,4,0.000,0.119,2194,3355,421
$GC,2415,0.79,488.8,31.0,7.8,246,2419,0.00,2.38,0.00,0.000,6,0.000,0.089,2194,1940,422
$GC,2554,0.84,488.8,19.9,7.7,259,2560,0.00,2.42,0.00,0.000,4,0.000,0.119,2193,538,421
$GC,2644,0.84,488.8,11.4,9.5,275,2650,0.00,2.33,0.00,0.000,6,0.000,0.084,2193,1959,421
$GC,2718,0.91,488.8,5.5,7.6,288,2724,0.15,2.42,0.00,0.000,4,0.097,0.119,2232,3350,422
$GC,2741,0.96,488.8,3.8,7.2,292,2747,0.00,2.35,0.00,0.000,6,0.000,0.089,2232,1939,421
$STATE,2773,end climb,SURFACE_DEPTH_REACHED
$STATE,2774,begin surface coast
$FINISH,0.9,1.018834
$STATE,2809,end surface coast,CONTROL_FINISHED_OK
$STATE,2809,begin surface
$SM_CCo,2884,0.00,0.000,0,0,420,489.31
$SM_GC,1.57,9.18,0.00,0.00,0.082,0.000,0.000,30,1938,420,-9.16,-0.34,489.31
$IRIDIUM_FIX,4751.72,-12221.84,051298,010146
$TT8_MAMPS,0.021476
$HUMID,2183
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,80.0,40.3
$24V_AH,24.4,5.834
$10V_AH,10.8,1.726
$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,22.050,52.875,699.325,0.000,0.000,137.579,129.549,301.298,1.500,0.000,0.000,30.476,439.181,1377.940,738.385,621.984,637.118,33.336,1182.094,0.000,561.583,0.000,10.192,0.000
$DEVICE_MAMPS,225.953,121.667,844.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.884,463.076,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16020,304
$CAP_FILE_SIZE,56376,0
$CFSIZE,260280320,258297856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100909,024511,4807.375,-12223.798,9,2.0,24,18.3