version: 66.04
glider: 33
mission: 6
dive: 12
start: 9 10 109 3 45 49
data:
$ID,33
$MISSION,6
$DIVE,12
$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,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,-167888.56
$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,25
$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
$GPS1,034006,4807.378,-12223.812,13,1.0,29,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.4
$GPS2,034456,4807.424,-12223.864,12,2.0,12,18.3
$SPEED_LIMITS,0.067,0.286
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.235,-0.162
$KALMAN_X,-6744.2,-212.2,-171.5,5681.1,-2195.9
$KALMAN_Y,6940.3,586.7,-256.9,-8081.5,1564.7
$MHEAD_RNG_PITCHd_Wd,106.2,1326,-8.8,-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,-0.89,-244.4,0.0,0.0,0,93,0.00,0.00,-76.22,0.000,2,0.000,0.000,27,1967,1426
$GC,95,-0.89,-244.4,3.4,-2.9,14,157,10.25,2.53,-46.35,0.000,4,0.226,0.104,1829,543,2415
$GC,163,-0.83,-244.4,9.4,-7.1,26,169,0.00,2.30,0.00,0.000,6,0.000,0.074,1829,1957,2415
$GC,236,-0.89,-244.4,16.1,-8.8,39,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1964,2415
$GC,307,-0.95,-244.4,22.2,-8.7,50,311,0.00,2.45,0.00,0.000,4,0.000,0.104,1829,537,2415
$GC,323,-1.02,-244.4,23.6,-8.8,51,327,0.00,2.30,0.00,0.000,6,0.000,0.074,1829,1957,2415
$GC,455,-1.09,-244.4,34.1,-8.4,63,460,0.17,2.40,0.00,0.000,4,0.079,0.109,1776,3345,2415
$GC,482,-1.09,-244.4,36.9,-9.5,65,486,0.00,2.30,0.00,0.000,6,0.000,0.079,1776,1945,2415
$GC,621,-1.09,-244.4,49.8,-9.4,78,625,0.00,2.40,0.00,0.000,4,0.000,0.109,1775,540,2415
$GC,650,-1.03,-244.4,52.7,-10.2,80,655,0.12,2.28,0.00,0.000,6,0.144,0.074,1800,1957,2415
$GC,783,-0.94,-244.4,66.0,-10.6,92,785,0.12,0.00,0.00,0.000,6,0.137,0.000,1825,1960,2415
$GC,912,-0.89,-244.4,78.2,-9.8,104,913,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1960,2415
$STATE,1036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1037,begin apogee
$GC,1040,-0.33,0.0,90.7,10.3,116,1220,0.60,0.00,176.50,0.857,6,0.127,0.000,1956,1960,1750
$STATE,1221,end apogee,CONTROL_FINISHED_OK
$STATE,1221,begin climb
$GC,1222,0.89,244.4,101.9,0.0,134,1407,1.17,2.62,175.35,0.829,4,0.094,0.112,2222,542,1084
$GC,1497,0.81,244.4,96.8,7.3,160,1501,0.00,2.35,0.00,0.000,6,0.000,0.079,2222,1945,1084
$GC,1635,0.80,276.8,88.3,6.1,173,1665,0.00,0.00,23.88,0.792,6,0.000,0.000,2222,1945,996
$GC,1793,0.75,276.8,77.6,7.0,188,1798,0.15,2.47,0.00,0.000,4,0.127,0.112,2191,547,996
$GC,1836,0.75,276.8,74.7,6.7,191,1843,0.00,2.35,0.00,0.000,6,0.000,0.079,2191,1947,996
$GC,1971,0.83,337.8,67.4,5.6,204,2017,0.00,0.00,43.62,0.809,6,0.000,0.000,2191,1947,831
$GC,2140,0.93,425.1,58.6,5.1,220,2205,0.17,0.00,62.05,0.802,6,0.079,0.000,2241,1947,594
$GC,2329,0.90,425.1,44.7,7.8,238,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1947,595
$GC,2455,0.88,425.1,35.5,7.1,250,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1947,595
$GC,2582,0.85,425.1,26.3,7.2,262,2584,0.12,0.00,0.00,0.000,6,0.124,0.000,2215,1947,595
$GC,2712,0.86,432.9,17.9,6.5,276,2723,0.00,0.00,7.07,0.668,6,0.000,0.000,2214,1947,574
$GC,2792,0.88,450.9,12.9,6.3,290,2809,0.00,0.00,14.00,0.742,6,0.000,0.000,2215,1947,524
$GC,2878,0.97,491.5,7.4,5.9,305,2913,0.12,2.60,29.60,0.775,4,0.079,0.122,2258,3349,413
$GC,2942,1.03,520.6,3.6,6.1,316,2970,0.00,2.38,22.17,0.752,6,0.000,0.087,2258,1954,334
$STATE,2974,end climb,SURFACE_DEPTH_REACHED
$STATE,2974,begin surface coast
$FINISH,0.9,1.018748
$STATE,3015,end surface coast,CONTROL_FINISHED_OK
$STATE,3015,begin surface
$SM_CCo,3090,0.00,0.000,0,0,335,520.58
$SM_GC,1.37,9.60,0.00,0.00,0.079,0.000,0.000,24,1952,335,-9.18,0.06,520.58
$IRIDIUM_FIX,4748.51,-12229.01,051298,020206
$TT8_MAMPS,0.022243
$HUMID,2182
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.1
$ALTIM_BOTTOM_PING,80.1,39.8
$24V_AH,24.4,6.159
$10V_AH,10.8,1.786
$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,22.625,33.725,554.250,0.000,0.000,28.948,26.337,165.844,1.250,0.000,0.000,13.105,514.320,1437.229,582.278,594.717,267.341,33.308,983.337,0.000,553.541,0.000,10.185,0.000
$DEVICE_MAMPS,225.953,121.667,856.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.198,500.288,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15995,329
$CAP_FILE_SIZE,49864,0
$CFSIZE,260280320,258240512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100909,043802,4807.204,-12223.511,13,1.8,13,18.3