version: 66.04
glider: 33
mission: 6
dive: 23
start: 9 10 109 16 49 33
data:
$ID,33
$MISSION,6
$DIVE,23
$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,25
$T_MISSION,45
$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,-168257.09
$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,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
$GPS1,164519,4806.707,-12222.928,7,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.9
$GPS2,164844,4806.704,-12222.918,16,1.8,16,18.3
$SPEED_LIMITS,0.200,0.314
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,0.270
$KALMAN_X,-8652.6,2272.6,-675.4,6780.3,218.1
$KALMAN_Y,4391.0,-1202.0,782.9,-6116.6,-276.5
$MHEAD_RNG_PITCHd_Wd,310.8,558,-31.1,-20.000
$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,-2.25,-146.6,0.0,0.0,0,92,0.00,0.00,-76.07,0.000,2,0.000,0.000,21,1811,1296
$GC,94,-2.25,-146.6,3.1,-5.5,14,155,8.70,2.47,-43.12,0.000,4,0.233,0.099,1536,393,2150
$GC,161,-2.25,-146.6,9.5,-15.1,26,167,0.00,2.28,0.00,0.000,6,0.000,0.070,1536,1812,2150
$GC,239,-2.30,-146.6,25.6,-20.7,38,243,0.00,2.35,0.00,0.000,4,0.000,0.112,1536,3189,2150
$GC,259,-2.34,-146.6,30.4,-21.5,39,266,0.00,2.33,0.00,0.000,6,0.000,0.077,1536,1795,2150
$GC,393,-2.37,-146.6,59.3,-22.3,52,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,1795,2150
$GC,520,-2.39,-146.6,87.7,-23.0,64,522,0.12,0.00,0.00,0.000,6,0.094,0.000,1502,1795,2151
$STATE,530,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,530,begin apogee
$GC,534,-0.33,0.0,90.1,23.1,65,644,2.25,0.00,105.70,0.847,6,0.166,0.000,1952,1963,1750
$STATE,645,end apogee,CONTROL_FINISHED_OK
$STATE,645,begin climb
$GC,646,2.25,146.6,95.7,0.0,76,758,2.47,0.00,106.35,0.819,6,0.092,0.000,2526,1962,1351
$GC,884,2.40,266.9,88.9,9.1,99,979,0.12,2.58,86.68,0.807,4,0.092,0.112,2558,542,1024
$GC,1036,2.37,266.9,63.7,23.3,113,1040,0.00,2.38,0.00,0.000,6,0.000,0.079,2558,1943,1024
$GC,1168,2.39,283.0,37.4,18.5,125,1183,0.00,0.00,12.82,0.718,6,0.000,0.000,2559,1943,980
$GC,1308,2.45,318.9,11.7,16.7,142,1341,0.00,2.47,26.40,0.750,4,0.000,0.112,2558,548,883
$STATE,1375,end climb,SURFACE_DEPTH_REACHED
$STATE,1375,begin surface coast
$FINISH,0.3,1.019454
$STATE,1385,end surface coast,CONTROL_FINISHED_OK
$STATE,1385,begin surface
$SM_CCo,1404,93.40,0.765,0,0,526,450.31
$SM_GC,2.30,0.00,0.00,93.40,0.000,0.000,0.765,24,1813,526,-9.22,0.40,450.31
$IRIDIUM_FIX,4748.51,-12221.84,051298,161609
$TT8_MAMPS,0.021476
$HUMID,2030
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,80.4,38.4
$24V_AH,24.4,7.515
$10V_AH,10.8,2.163
$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,24.550,19.250,337.950,93.400,0.000,0.000,0.000,0.000,1.500,0.000,0.000,16.864,248.199,510.521,483.490,306.118,17.878,33.325,717.197,0.000,282.181,0.000,10.189,0.000
$DEVICE_MAMPS,233.402,111.735,846.703,764.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,99.679,237.255,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6519,156
$CAP_FILE_SIZE,49045,0
$CFSIZE,260280320,257851392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100909,171526,4806.829,-12223.084,23,1.5,23,18.3