version: 66.04
glider: 33
mission: 6
dive: 21
start: 9 10 109 13 45 43
data:
$ID,33
$MISSION,6
$DIVE,21
$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,575.39563
$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,-168131
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,132946,4806.499,-12222.325,9,99.0,28,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.4
$GPS2,134452,4806.390,-12222.342,14,99.0,33,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,0.133
$KALMAN_X,-7814.0,192.8,-427.5,8481.1,173.6
$KALMAN_Y,6622.4,-1380.7,-58.1,-7905.0,283.9
$MHEAD_RNG_PITCHd_Wd,291.6,1393,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-65.65,0.000,2,0.000,0.000,26,1790,1498
$GC,84,-0.76,-146.6,3.3,-3.6,12,125,10.52,2.45,-24.60,0.000,4,0.228,0.099,1857,3199,2151
$GC,214,-0.76,-146.6,16.3,-6.8,35,221,0.00,2.33,0.00,0.000,6,0.000,0.079,1857,1792,2151
$GC,292,-0.82,-146.6,22.0,-7.8,47,296,0.00,2.40,0.00,0.000,4,0.000,0.109,1857,395,2151
$GC,313,-0.86,-146.6,23.6,-7.7,48,320,0.00,2.30,0.00,0.000,6,0.000,0.070,1857,1819,2151
$GC,447,-0.90,-146.6,33.4,-6.8,61,451,0.12,2.35,0.00,0.000,4,0.087,0.102,1817,3189,2151
$GC,500,-0.90,-146.6,38.2,-8.4,65,507,0.00,2.33,0.00,0.000,6,0.000,0.079,1817,1795,2151
$GC,634,-0.90,-146.6,48.2,-8.0,78,637,0.00,2.40,0.00,0.000,4,0.000,0.109,1816,389,2151
$GC,656,-0.88,-146.6,50.0,-8.4,80,661,0.10,2.25,0.00,0.000,6,0.127,0.072,1838,1798,2151
$GC,789,-0.91,-146.6,59.9,-8.0,92,796,0.00,2.38,0.00,0.000,4,0.000,0.107,1838,3195,2151
$GC,846,-0.91,-146.6,64.2,-7.8,97,850,0.00,2.30,0.00,0.000,6,0.000,0.084,1838,1797,2151
$GC,984,-0.94,-146.6,75.2,-7.4,110,988,0.00,2.40,0.00,0.000,4,0.000,0.114,1838,392,2151
$GC,1011,-0.94,-146.6,77.6,-7.6,112,1016,0.00,2.25,0.00,0.000,6,0.000,0.074,1838,1802,2151
$GC,1150,-0.96,-146.6,88.5,-8.1,125,1154,0.00,2.38,0.00,0.000,4,0.000,0.109,1837,3195,2151
$GC,1199,-0.96,-146.6,92.4,-7.7,129,1203,0.00,2.30,0.00,0.000,6,0.000,0.084,1838,1799,2151
$GC,1337,-0.96,-146.6,103.6,-8.1,142,1341,0.00,2.40,0.00,0.000,4,0.000,0.117,1838,396,2151
$GC,1360,-0.96,-146.6,105.3,-8.0,144,1364,0.00,2.25,0.00,0.000,6,0.000,0.077,1838,1804,2151
$STATE,1407,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1407,begin apogee
$GC,1410,-0.33,0.0,109.4,7.9,148,1520,0.52,0.00,105.07,0.869,6,0.114,0.000,1956,1959,1750
$STATE,1521,end apogee,CONTROL_FINISHED_OK
$STATE,1521,begin climb
$GC,1522,0.76,146.6,116.4,0.0,159,1638,1.05,2.60,106.20,0.844,4,0.097,0.114,2194,545,1351
$GC,1789,0.86,282.2,115.7,1.9,183,1893,0.00,2.38,97.72,0.839,6,0.000,0.079,2194,1941,982
$GC,2026,0.88,282.2,101.9,7.2,206,2028,0.12,0.00,0.00,0.000,6,0.082,0.000,2237,1941,982
$GC,2154,0.85,282.2,92.8,7.1,218,2158,0.00,2.47,0.00,0.000,4,0.000,0.112,2237,544,982
$GC,2215,0.77,282.2,88.7,7.0,223,2219,0.20,2.35,0.00,0.000,6,0.142,0.082,2198,1957,981
$GC,2347,0.77,282.2,81.5,5.8,235,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1957,982
$GC,2474,0.77,282.2,74.6,5.2,247,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1957,981
$GC,2603,0.77,282.2,67.8,5.3,259,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1957,981
$GC,2729,0.77,282.2,60.9,5.3,271,2733,0.00,2.45,0.00,0.000,4,0.000,0.112,2197,545,981
$GC,2750,0.77,282.2,59.8,5.1,272,2757,0.00,2.33,0.00,0.000,6,0.000,0.079,2197,1947,981
$GC,2884,0.77,282.2,53.2,5.3,285,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1947,981
$GC,3011,0.77,284.2,47.0,5.0,297,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1947,980
$GC,3139,0.78,294.3,41.2,4.8,309,3150,0.00,0.00,9.40,0.737,6,0.000,0.000,2197,1947,950
$GC,3277,0.78,294.3,34.4,5.5,322,3281,0.00,2.45,0.00,0.000,4,0.000,0.114,2197,544,950
$GC,3293,0.79,298.4,33.6,4.9,323,3305,0.00,2.30,4.93,0.611,6,0.000,0.082,2197,1950,938
$GC,3432,0.79,303.1,26.6,4.9,336,3442,0.00,0.00,5.00,0.613,6,0.000,0.000,2197,1950,925
$GC,3568,0.79,303.1,19.3,5.4,350,3575,0.00,2.45,0.00,0.000,4,0.000,0.114,2197,539,925
$GC,3585,0.79,303.1,18.2,5.2,353,3592,0.00,2.30,0.00,0.000,6,0.000,0.082,2197,1951,925
$GC,3658,0.79,303.1,14.5,5.5,366,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1951,925
$GC,3732,0.80,306.9,10.9,4.9,379,3744,0.00,2.47,4.45,0.579,4,0.000,0.114,2197,544,915
$GC,3749,0.80,306.9,10.0,5.0,382,3755,0.00,2.30,0.00,0.000,6,0.000,0.079,2197,1955,915
$GC,3823,0.88,337.5,6.8,4.3,395,3852,0.10,2.50,22.62,0.790,4,0.097,0.124,2229,3350,831
$STATE,4076,end climb,SURFACE_DEPTH_REACHED
$STATE,4076,begin surface coast
$FINISH,1.7,1.019896
$STATE,4110,end surface coast,CONTROL_FINISHED_OK
$STATE,4110,begin surface
$SM_CCo,4129,168.18,0.797,0,0,186,575.40
$SM_GC,1.15,0.00,0.00,168.18,0.000,0.000,0.797,26,1800,186,-9.22,0.00,575.40
$IRIDIUM_FIX,4751.72,-12223.57,051298,131337
$TT8_MAMPS,0.022243
$HUMID,2124
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,80.7,43.6
$24V_AH,24.4,7.220
$10V_AH,10.8,2.091
$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,22.275,71.675,355.400,168.175,0.000,148.422,220.909,175.919,1.250,0.000,0.000,34.409,754.631,2380.820,599.809,850.257,630.742,33.316,1098.234,0.000,774.807,0.000,10.212,0.000
$DEVICE_MAMPS,228.436,124.150,869.050,797.043,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.145,678.078,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22312,446
$CAP_FILE_SIZE,69675,0
$CFSIZE,260280320,257867776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,100909,145822,4806.586,-12222.763,9,99.0,28,18.3