version: 66.04
glider: 33
mission: 6
dive: 11
start: 9 10 109 2 52 0
data:
$ID,33
$MISSION,6
$DIVE,11
$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,-167874.83
$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,20
$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,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
$GPS1,024511,4807.375,-12223.798,9,2.0,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-65.2
$GPS2,025108,4807.426,-12223.869,14,1.9,14,18.3
$SPEED_LIMITS,0.067,0.380
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.321,-0.204
$KALMAN_X,-5558.4,-99.2,-35.2,4248.7,-1653.1
$KALMAN_Y,5923.6,712.8,-276.1,-7173.1,1070.7
$MHEAD_RNG_PITCHd_Wd,104.1,1334,-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,14,-0.93,-488.8,0.0,0.0,0,93,0.00,0.00,-76.50,0.000,2,0.000,0.000,30,1937,1467
$GC,95,-0.93,-488.8,3.4,-2.7,14,184,10.35,2.47,-72.53,0.000,4,0.233,0.107,1822,543,3081
$GC,201,-0.96,-488.8,12.9,-10.3,33,207,0.00,2.30,0.00,0.000,6,0.000,0.074,1822,1957,3081
$GC,280,-1.05,-488.8,21.8,-11.1,46,284,0.00,2.42,0.00,0.000,4,0.000,0.112,1822,3348,3080
$GC,330,-1.14,-488.8,27.9,-11.1,50,335,0.17,2.33,0.00,0.000,6,0.107,0.082,1782,1943,3081
$GC,464,-1.18,-488.8,43.6,-12.4,62,468,0.00,2.40,0.00,0.000,4,0.000,0.109,1781,543,3081
$GC,480,-1.21,-488.8,45.9,-12.0,63,484,0.00,2.28,0.00,0.000,6,0.000,0.074,1781,1953,3081
$GC,613,-1.25,-488.8,62.0,-12.2,75,618,0.10,2.40,0.00,0.000,4,0.097,0.112,1749,3351,3081
$GC,630,-1.27,-488.8,64.0,-12.4,76,634,0.00,2.30,0.00,0.000,6,0.000,0.082,1749,1951,3081
$GC,767,-1.27,-488.8,81.0,-12.4,88,771,0.00,2.40,0.00,0.000,4,0.000,0.112,1748,547,3081
$GC,805,-1.20,-488.8,86.6,-12.7,91,809,0.00,2.25,0.00,0.000,6,0.000,0.077,1749,1949,3081
$STATE,815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,815,begin apogee
$GC,818,-0.33,0.0,88.2,13.4,92,1179,0.93,0.00,354.38,0.847,6,0.107,0.000,1960,1953,1750
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1180,begin climb
$GC,1181,0.93,488.8,116.7,0.0,128,1540,1.20,2.65,348.10,0.814,4,0.094,0.117,2230,548,421
$GC,1595,0.84,488.8,93.6,11.1,167,1603,0.00,2.40,0.00,0.000,6,0.000,0.079,2230,1940,422
$GC,1729,0.84,488.8,81.2,9.8,180,1733,0.00,2.53,0.00,0.000,4,0.000,0.119,2230,3350,423
$GC,1802,0.76,488.8,74.3,8.9,186,1807,0.17,2.38,0.00,0.000,6,0.144,0.087,2198,1954,423
$GC,1936,0.79,488.8,63.5,8.4,198,1940,0.00,2.47,0.00,0.000,4,0.000,0.117,2198,541,423
$GC,2012,0.77,488.8,57.1,7.4,204,2019,0.00,2.35,0.00,0.000,6,0.000,0.079,2197,1949,422
$GC,2146,0.80,488.8,47.0,7.7,217,2150,0.00,2.47,0.00,0.000,4,0.000,0.117,2198,3356,422
$GC,2166,0.80,488.8,45.3,7.6,218,2173,0.00,2.38,0.00,0.000,6,0.000,0.087,2198,1957,423
$GC,2300,0.84,488.8,34.9,8.2,231,2304,0.00,2.45,0.00,0.000,4,0.000,0.117,2198,544,422
$GC,2388,0.84,488.8,27.7,8.5,239,2392,0.00,2.33,0.00,0.000,6,0.000,0.082,2198,1964,422
$GC,2524,0.89,488.8,15.8,9.3,255,2530,0.12,2.42,0.00,0.000,4,0.089,0.119,2236,3352,422
$GC,2547,0.89,488.8,13.4,9.9,259,2553,0.00,2.33,0.00,0.000,6,0.000,0.087,2236,1950,422
$GC,2621,0.89,488.8,7.1,8.7,272,2627,0.00,2.42,0.00,0.000,4,0.000,0.117,2236,541,421
$GC,2688,0.95,538.5,2.4,6.2,284,2707,0.00,2.30,13.85,0.742,2,0.000,0.079,2236,1958,373
$STATE,2708,end climb,SURFACE_DEPTH_REACHED
$STATE,2708,begin surface coast
$FINISH,0.3,1.018824
$STATE,2752,end surface coast,CONTROL_FINISHED_OK
$STATE,2752,begin surface
$SM_CCo,2827,0.00,0.000,0,0,373,506.97
$SM_GC,1.52,9.18,0.00,0.00,0.074,0.000,0.000,28,1967,373,-9.17,0.48,506.97
$IRIDIUM_FIX,4751.72,-12223.57,051298,020218
$TT8_MAMPS,0.021476
$HUMID,2182
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.1
$ALTIM_BOTTOM_PING,81.0,36.3
$24V_AH,24.3,6.018
$10V_AH,10.8,1.756
$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,22.225,57.425,716.325,0.000,0.000,24.916,31.451,229.952,1.250,0.000,0.000,14.123,436.656,1087.548,730.520,609.521,334.241,33.317,1175.450,0.000,565.480,0.000,10.176,0.000
$DEVICE_MAMPS,233.402,119.184,846.703,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.120,448.845,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16008,295
$CAP_FILE_SIZE,51162,0
$CFSIZE,260280320,258269184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100909,034006,4807.378,-12223.812,13,1.0,29,18.3