version: 66.04
glider: 33
mission: 6
dive: 14
start: 9 10 109 5 41 59
data:
$ID,33
$MISSION,6
$DIVE,14
$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,100
$T_MISSION,120
$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,150
$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,-167920.58
$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,1800
$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,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
$GPS1,053610,4807.015,-12223.238,11,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.6
$GPS2,054107,4807.032,-12223.243,14,1.5,14,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.161,-0.130
$KALMAN_X,-6620.7,-874.1,-766.2,7575.9,-870.7
$KALMAN_Y,7062.2,534.4,326.0,-9454.0,760.5
$MHEAD_RNG_PITCHd_Wd,110.7,306,-8.7,-5.000
$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,14,-0.76,-146.6,0.0,0.0,0,104,0.00,0.00,-87.55,0.000,2,0.000,0.000,27,1946,1512
$GC,106,-0.76,-146.6,3.3,-2.3,16,152,10.70,2.20,-28.38,0.000,4,0.233,0.102,1856,3204,2148
$GC,213,-0.76,-146.6,11.8,-5.8,35,220,0.00,2.35,0.00,0.000,6,0.000,0.082,1857,1797,2148
$GC,288,-0.74,-146.6,16.5,-6.3,48,294,0.00,2.42,0.00,0.000,4,0.000,0.112,1857,394,2148
$GC,305,-0.72,-146.6,17.4,-6.2,51,311,0.00,2.30,0.00,0.000,6,0.000,0.072,1857,1819,2148
$GC,377,-0.70,-146.6,22.0,-5.9,61,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1825,2148
$GC,505,-0.67,-146.6,29.8,-6.2,73,507,0.12,0.00,0.00,0.000,6,0.129,0.000,1883,1825,2148
$GC,631,-0.67,-146.6,37.1,-5.6,85,635,0.00,2.35,0.00,0.000,4,0.000,0.107,1883,3192,2149
$GC,675,-0.67,-146.6,39.7,-5.4,89,679,0.00,2.30,0.00,0.000,6,0.000,0.084,1883,1800,2149
$GC,814,-0.67,-146.6,48.0,-5.9,102,815,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1799,2149
$GC,941,-0.67,-146.6,55.4,-5.7,114,945,0.00,2.38,0.00,0.000,4,0.000,0.107,1883,3192,2149
$GC,967,-0.67,-146.6,57.3,-5.9,116,975,0.00,2.33,0.00,0.000,6,0.000,0.082,1883,1804,2149
$GC,1102,-0.67,-146.6,65.7,-6.0,129,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1804,2149
$GC,1228,-0.67,-146.6,73.7,-6.2,141,1232,0.00,2.38,0.00,0.000,4,0.000,0.107,1883,3195,2149
$GC,1255,-0.67,-146.6,75.4,-5.7,143,1262,0.00,2.33,0.00,0.000,6,0.000,0.084,1883,1808,2148
$GC,1388,-0.67,-146.6,84.3,-6.8,156,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1808,2149
$GC,1516,-0.67,-146.6,93.3,-7.1,168,1520,0.00,2.38,0.00,0.000,4,0.000,0.109,1883,3196,2149
$GC,1542,-0.67,-146.6,95.1,-7.7,170,1549,0.00,2.35,0.00,0.000,6,0.000,0.084,1882,1798,2149
$GC,1676,-0.67,-146.6,104.1,-7.0,183,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1798,2149
$STATE,1686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1686,begin apogee
$GC,1689,-0.33,0.0,104.6,6.8,184,1799,0.32,0.00,104.22,0.876,6,0.109,0.000,1956,1965,1750
$STATE,1799,end apogee,CONTROL_FINISHED_OK
$STATE,1799,begin climb
$GC,1801,0.76,146.6,110.0,0.0,195,1911,1.08,0.00,105.97,0.847,6,0.099,0.000,2195,1965,1351
$GC,2038,0.87,269.3,111.2,2.2,218,2133,0.10,2.65,88.28,0.842,4,0.087,0.119,2227,549,1017
$GC,2179,0.80,269.3,103.9,6.4,231,2186,0.12,2.35,0.00,0.000,6,0.142,0.079,2204,1932,1017
$GC,2311,0.77,269.3,96.7,5.3,244,2316,0.00,2.55,0.00,0.000,4,0.000,0.119,2204,3350,1017
$GC,2388,0.75,269.3,91.9,6.2,250,2395,0.00,2.42,0.00,0.000,6,0.000,0.087,2204,1947,1017
$GC,2524,0.73,269.3,84.8,5.6,263,2528,0.00,2.47,0.00,0.000,4,0.000,0.119,2204,542,1017
$GC,2585,0.69,269.3,81.0,6.3,268,2590,0.12,2.35,0.00,0.000,6,0.144,0.082,2180,1961,1017
$GC,2719,0.70,278.1,74.7,4.8,280,2731,0.00,2.53,7.45,0.708,4,0.000,0.119,2180,3352,994
$GC,2753,0.71,282.3,72.7,4.9,283,2765,0.00,2.38,4.82,0.606,6,0.000,0.087,2180,1944,982
$GC,2892,0.71,282.3,65.9,5.2,296,2896,0.00,2.45,0.00,0.000,4,0.000,0.117,2179,542,982
$GC,2952,0.71,282.3,62.2,5.0,301,2956,0.00,2.33,0.00,0.000,6,0.000,0.082,2179,1951,982
$GC,3090,0.71,282.3,55.1,5.2,314,3094,0.00,2.47,0.00,0.000,4,0.000,0.119,2179,3355,982
$GC,3122,0.71,282.3,53.4,5.7,316,3130,0.00,2.38,0.00,0.000,6,0.000,0.087,2180,1955,982
$GC,3256,0.74,310.3,46.8,4.4,329,3282,0.00,2.50,21.10,0.807,4,0.000,0.122,2179,541,905
$GC,3331,0.74,310.3,43.0,5.2,335,3338,0.00,2.38,0.00,0.000,6,0.000,0.079,2179,1952,905
$GC,3465,0.77,310.3,36.2,5.2,348,3469,0.00,2.47,0.00,0.000,4,0.000,0.119,2179,3353,905
$GC,3496,0.80,310.3,34.6,5.2,350,3504,0.08,2.40,0.00,0.000,6,0.099,0.087,2201,1945,905
$GC,3631,0.80,310.3,27.5,5.2,363,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,1946,905
$GC,3757,0.80,310.3,21.0,5.3,375,3761,0.00,2.45,0.00,0.000,4,0.000,0.117,2201,534,905
$GC,3796,0.80,310.3,19.0,5.2,379,3802,0.00,2.33,0.00,0.000,6,0.000,0.082,2201,1957,905
$GC,3870,0.80,310.3,15.0,5.4,392,3876,0.00,2.45,0.00,0.000,4,0.000,0.119,2201,3355,905
$GC,3909,0.80,310.3,13.2,5.0,399,3916,0.00,2.35,0.00,0.000,6,0.000,0.087,2201,1942,905
$GC,3984,0.84,343.1,9.7,4.3,412,4014,0.00,2.47,23.60,0.797,4,0.000,0.119,2201,538,816
$STATE,4149,end climb,SURFACE_DEPTH_REACHED
$STATE,4149,begin surface coast
$FINISH,1.4,1.020290
$STATE,4160,end surface coast,CONTROL_FINISHED_OK
$STATE,4160,begin surface
$SM_CCo,4177,75.40,0.804,0,0,526,450.31
$SM_GC,1.81,0.00,0.00,75.40,0.000,0.000,0.804,29,1810,526,-9.20,0.31,450.31
$IRIDIUM_FIX,4748.51,-12224.57,051298,040448
$TT8_MAMPS,0.022243
$HUMID,2169
$INTERNAL_PRESSURE,8.29133
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.6
$ALTIM_BOTTOM_PING,90.3,29.2
$24V_AH,24.4,6.418
$10V_AH,10.8,1.853
$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,21.750,81.550,355.450,75.400,0.000,25.553,32.813,167.646,1.750,0.000,0.000,14.289,756.645,2155.446,550.167,817.293,285.673,33.325,1043.218,0.000,759.375,0.000,14.554,0.000
$DEVICE_MAMPS,233.402,121.667,876.499,804.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.205,673.746,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22207,443
$CAP_FILE_SIZE,68280,0
$CFSIZE,260280320,258150400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,100909,065358,4806.597,-12222.807,14,4.0,33,18.3