version: 66.04
glider: 33
mission: 6
dive: 13
start: 9 10 109 4 43 48
data:
$ID,33
$MISSION,6
$DIVE,13
$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,-167905.67
$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,24
$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
$GPS1,043802,4807.204,-12223.511,13,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.0
$GPS2,044255,4807.235,-12223.548,11,1.1,16,18.3
$SPEED_LIMITS,0.067,0.286
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,-0.175
$KALMAN_X,-6273.5,-774.4,-628.5,6607.3,-1354.0
$KALMAN_Y,6698.1,763.7,95.1,-8707.7,1003.9
$MHEAD_RNG_PITCHd_Wd,109.4,805,-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,-244.4,0.0,0.0,0,98,0.00,0.00,-81.65,0.000,2,0.000,0.000,24,1952,1449
$GC,100,-0.89,-244.4,3.1,-2.0,15,162,10.50,2.47,-44.08,0.000,4,0.233,0.107,1829,3355,2416
$GC,173,-0.84,-244.4,10.1,-6.9,28,179,0.00,2.35,0.00,0.000,6,0.000,0.079,1829,1945,2416
$GC,247,-0.92,-244.4,16.1,-8.2,41,253,0.00,2.42,0.00,0.000,4,0.000,0.109,1829,544,2416
$GC,269,-0.98,-244.4,17.7,-7.8,45,275,0.00,2.30,0.00,0.000,6,0.000,0.074,1829,1961,2416
$GC,346,-1.04,-244.4,23.9,-8.0,55,350,0.12,2.40,0.00,0.000,4,0.087,0.109,1789,3344,2416
$GC,365,-1.04,-244.4,26.0,-9.7,56,373,0.00,2.33,0.00,0.000,6,0.000,0.077,1789,1955,2416
$GC,500,-1.06,-244.4,37.5,-9.0,69,504,0.00,2.40,0.00,0.000,4,0.000,0.109,1789,545,2416
$GC,527,-1.06,-244.4,40.4,-10.3,71,530,0.00,2.28,0.00,0.000,6,0.000,0.074,1789,1957,2417
$GC,667,-1.08,-244.4,53.0,-9.5,84,671,0.00,2.40,0.00,0.000,4,0.000,0.112,1789,3346,2416
$GC,682,-1.08,-244.4,54.6,-8.7,85,686,0.00,2.30,0.00,0.000,6,0.000,0.082,1789,1949,2416
$GC,821,-1.08,-244.4,67.9,-9.6,98,824,0.00,2.40,0.00,0.000,4,0.000,0.112,1788,548,2416
$GC,854,-1.05,-244.4,71.0,-9.3,101,858,0.00,2.28,0.00,0.000,6,0.000,0.077,1789,1956,2416
$GC,986,-1.05,-244.4,84.3,-10.1,113,990,0.00,2.40,0.00,0.000,4,0.000,0.114,1789,3346,2416
$GC,1001,-1.05,-244.4,86.0,-10.1,114,1009,0.00,2.33,0.00,0.000,6,0.000,0.079,1789,1949,2416
$STATE,1028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1028,begin apogee
$GC,1031,-0.33,0.0,88.8,10.5,117,1213,0.75,0.00,177.60,0.852,6,0.117,0.000,1955,1949,1750
$STATE,1213,end apogee,CONTROL_FINISHED_OK
$STATE,1214,begin climb
$GC,1215,0.89,244.4,102.6,0.0,135,1399,1.20,2.60,175.23,0.829,4,0.109,0.117,2217,544,1084
$GC,1602,0.85,265.1,90.3,6.3,170,1624,0.00,2.35,15.38,0.767,6,0.000,0.079,2217,1953,1029
$GC,1752,0.86,309.4,81.3,5.9,184,1794,0.00,2.62,32.42,0.807,4,0.000,0.119,2217,3357,908
$GC,1821,0.83,313.1,76.7,6.6,190,1831,0.00,2.45,4.60,0.561,6,0.000,0.087,2217,1950,898
$GC,1965,0.82,333.9,67.5,6.3,204,1987,0.00,2.53,15.80,0.765,4,0.000,0.117,2217,537,842
$GC,2037,0.79,333.9,62.6,6.8,210,2043,0.00,2.40,0.00,0.000,6,0.000,0.079,2217,1949,842
$GC,2170,0.82,373.6,54.6,5.9,223,2204,0.00,2.60,28.58,0.792,4,0.000,0.119,2218,3349,734
$GC,2237,0.86,407.5,50.3,6.0,229,2270,0.00,2.40,25.15,0.780,6,0.000,0.087,2217,1950,642
$GC,2397,0.86,407.5,39.4,6.9,244,2401,0.00,2.50,0.00,0.000,4,0.000,0.117,2217,541,642
$GC,2439,0.90,441.0,36.3,6.1,247,2469,0.00,2.38,24.65,0.775,6,0.000,0.079,2217,1946,552
$GC,2595,0.90,444.4,26.0,6.6,262,2607,0.00,2.53,4.28,0.539,4,0.000,0.119,2217,3349,542
$GC,2633,0.90,444.4,23.0,8.3,265,2640,0.00,2.40,0.00,0.000,6,0.000,0.084,2217,1956,542
$GC,2772,0.92,456.0,13.6,6.5,286,2790,0.00,2.53,9.95,0.710,4,0.000,0.119,2217,534,509
$GC,2828,0.92,456.0,10.1,7.1,296,2835,0.00,2.35,0.00,0.000,6,0.000,0.079,2217,1951,510
$GC,2902,1.04,529.8,5.8,5.3,309,2963,0.17,2.60,52.42,0.785,4,0.077,0.122,2277,3346,309
$STATE,2967,end climb,SURFACE_DEPTH_REACHED
$STATE,2967,begin surface coast
$FINISH,0.5,1.018514
$STATE,3002,end surface coast,CONTROL_FINISHED_OK
$STATE,3003,begin surface
$SM_CCo,3081,0.00,0.000,0,0,311,529.41
$SM_GC,1.10,9.65,0.00,0.00,0.077,0.000,0.000,27,1950,311,-9.17,0.00,529.41
$IRIDIUM_FIX,4748.51,-12221.84,051298,030357
$TT8_MAMPS,0.021476
$HUMID,2161
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.2
$ALTIM_BOTTOM_PING,81.1,36.9
$24V_AH,24.4,6.302
$10V_AH,10.8,1.816
$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,22.400,72.725,566.050,0.000,0.000,23.859,28.400,169.110,1.250,0.000,0.000,16.483,516.709,1322.051,612.702,667.545,270.713,33.315,1074.283,0.000,617.909,0.000,10.180,0.000
$DEVICE_MAMPS,233.402,121.667,851.669,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.893,498.327,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15985,327
$CAP_FILE_SIZE,55770,0
$CFSIZE,260280320,258207744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100909,053610,4807.015,-12223.238,11,99.0,30,18.3