version: 66.04
glider: 33
mission: 6
dive: 15
start: 9 10 109 7 0 57
data:
$ID,33
$MISSION,6
$DIVE,15
$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,-167970.16
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,065358,4806.597,-12222.807,14,4.0,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-62.9
$GPS2,070006,4806.570,-12222.782,38,0.9,48,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,0.109
$KALMAN_X,-7702.2,-611.7,-300.1,8503.0,-571.1
$KALMAN_Y,7395.9,4.2,380.0,-10167.8,137.3
$MHEAD_RNG_PITCHd_Wd,6.8,840,-19.0,-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,-1.32,-42.4,0.0,0.0,0,82,0.00,0.00,-65.85,0.000,2,0.000,0.000,29,1812,1443
$GC,84,-1.33,-54.2,3.5,-4.1,12,124,9.88,2.53,-21.52,0.000,4,0.231,0.107,1734,400,1899
$GC,164,-1.31,-54.2,12.7,-11.1,26,170,0.00,2.28,0.00,0.000,6,0.000,0.072,1734,1804,1899
$GC,237,-1.31,-54.2,20.1,-9.9,39,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1812,1899
$GC,364,-1.31,-54.2,33.7,-10.6,51,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1812,1899
$GC,491,-1.31,-54.2,47.6,-11.2,63,495,0.00,2.45,0.00,0.000,4,0.000,0.107,1734,388,1899
$GC,507,-1.31,-54.2,49.5,-11.2,64,511,0.00,2.28,0.00,0.000,6,0.000,0.072,1734,1801,1900
$GC,646,-1.31,-54.2,65.1,-11.7,77,647,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1811,1899
$GC,773,-1.31,-54.2,80.0,-12.0,89,783,0.00,2.38,0.00,0.000,4,0.000,0.107,1734,3194,1899
$GC,787,-1.31,-54.2,81.3,-10.6,90,791,0.00,2.30,0.00,0.000,6,0.000,0.092,1734,1802,1899
$GC,926,-1.31,-54.2,97.7,-11.5,103,927,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1802,1899
$STATE,999,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,999,begin apogee
$GC,1003,-0.33,0.0,106.5,11.6,110,1051,1.02,0.00,40.50,0.867,6,0.134,0.000,1953,1971,1750
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1053,1.33,54.2,109.3,0.0,115,1101,1.60,0.00,40.00,0.847,6,0.094,0.000,2321,1971,1602
$GC,1229,1.49,179.4,115.5,-4.9,132,1325,0.15,2.60,90.03,0.862,4,0.084,0.119,2363,3336,1262
$GC,1577,1.42,179.4,100.4,6.8,163,1584,0.08,2.38,0.00,0.000,6,0.164,0.087,2346,1956,1261
$GC,1711,1.39,179.4,91.6,6.3,176,1715,0.00,2.47,0.00,0.000,4,0.000,0.127,2346,542,1262
$GC,1843,1.33,179.4,82.2,7.3,187,1851,0.10,2.33,0.00,0.000,6,0.156,0.082,2323,1930,1262
$GC,1978,1.33,179.4,74.2,5.6,200,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1930,1262
$GC,2104,1.33,179.4,67.2,5.0,212,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1930,1262
$GC,2231,1.33,179.4,60.2,5.5,224,2236,0.00,2.50,0.00,0.000,4,0.000,0.119,2323,3356,1262
$GC,2327,1.33,183.9,55.1,4.6,232,2338,0.00,2.35,4.90,0.626,6,0.000,0.089,2323,1949,1250
$GC,2465,1.33,183.9,47.5,5.5,245,2469,0.00,2.45,0.00,0.000,4,0.000,0.117,2323,535,1250
$GC,2594,1.31,183.9,39.7,6.4,256,2598,0.00,2.33,0.00,0.000,6,0.000,0.082,2323,1957,1250
$GC,2726,1.31,183.9,32.8,5.0,268,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1957,1250
$GC,2854,1.32,194.3,27.3,4.2,280,2865,0.00,0.00,8.73,0.737,6,0.000,0.000,2323,1957,1221
$GC,2991,1.32,194.3,20.2,5.3,293,2996,0.00,2.45,0.00,0.000,4,0.000,0.119,2323,3355,1221
$GC,3091,1.32,194.3,14.9,5.4,310,3097,0.00,2.35,0.00,0.000,6,0.000,0.089,2323,1938,1221
$GC,3166,1.32,194.3,11.1,5.5,323,3172,0.00,2.40,0.00,0.000,4,0.000,0.117,2323,541,1221
$GC,3424,1.43,280.3,5.8,-1.8,369,3491,0.00,2.28,59.80,0.824,6,0.000,0.082,2323,1953,988
$GC,3560,1.50,299.5,2.1,3.5,393,3568,0.15,0.00,5.22,0.606,2,0.084,0.000,2367,1952,974
$STATE,3569,end climb,SURFACE_DEPTH_REACHED
$STATE,3569,begin surface coast
$FINISH,1.4,1.020168
$STATE,3637,end surface coast,CONTROL_FINISHED_OK
$STATE,3637,begin surface
$SM_CCo,3654,117.25,0.797,0,0,526,450.31
$SM_GC,1.66,0.00,0.00,117.25,0.000,0.000,0.797,28,1793,526,-9.20,-0.20,450.31
$IRIDIUM_FIX,4751.72,-12219.12,051298,050506
$TT8_MAMPS,0.022243
$HUMID,2136
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,19.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,80.4,40.5
$24V_AH,24.4,6.519
$10V_AH,10.8,1.888
$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,23.200,43.600,249.175,117.250,0.000,31.225,32.981,193.241,1.750,0.000,0.000,48.957,683.449,1914.069,445.359,796.998,311.548,33.337,878.440,0.000,710.661,0.000,10.215,0.000
$DEVICE_MAMPS,230.919,126.633,866.567,797.043,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,271.901,617.454,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19089,406
$CAP_FILE_SIZE,56746,0
$CFSIZE,260280320,258129920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100909,080432,4806.690,-12222.608,12,1.3,12,18.3