version: 66.04
glider: 33
mission: 3
dive: 21
start: 7 30 109 16 50 47
data:
$ID,33
$MISSION,3
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,35
$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,700
$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,-165455.09
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1555
$PITCH_MAX,4048
$C_PITCH,3250
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,3
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,121
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2137
$C_ROLL_CLIMB,2137
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,736
$VBD_MAX,3794
$C_VBD,3239
$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,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.798624
$PRESSURE_SLOPE,0.0002686042
$AD7714Ch0Gain,32
$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
$GPS1,164552,4807.115,-12223.264,12,99.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-54.8
$GPS2,164958,4807.100,-12223.236,17,99.0,36,18.3
$SPEED_LIMITS,0.200,0.314
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,-0.210
$KALMAN_X,-5507.8,230.4,-62.7,4805.4,-49.8
$KALMAN_Y,11757.9,-611.2,-71.7,-12351.7,130.7
$MHEAD_RNG_PITCHd_Wd,114.6,347,-31.5,-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,-2.80,-142.3,0.0,0.0,0,210,0.00,0.00,-192.38,0.000,2,0.000,0.000,1547,2140,3106
$GC,212,-2.81,-146.6,3.4,-6.9,36,252,7.28,2.62,-22.33,0.000,4,0.204,0.097,2632,3538,3641
$GC,508,-2.81,-146.6,80.2,-29.6,66,512,0.00,2.53,0.00,0.000,6,0.000,0.084,2632,2138,3641
$STATE,584,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,584,begin apogee
$GC,587,-0.42,0.0,104.9,30.4,70,717,3.22,0.00,122.25,0.824,6,0.166,0.000,3149,2137,3239
$STATE,718,end apogee,CONTROL_FINISHED_OK
$STATE,718,begin climb
$GC,719,2.81,146.6,113.4,0.0,83,846,3.85,2.67,114.05,0.834,4,0.102,0.107,3866,3537,2841
$GC,1097,3.07,361.6,115.8,-0.1,117,1107,0.22,2.55,3.88,0.561,2,0.074,0.077,3918,2126,2832
$STATE,1108,end climb,NO_VERTICAL_VELOCITY
$STATE,1108,begin surface
$SM_CCo,1110,590.45,0.772,0,0,736,920.85
$SM_GC,0.58,12.48,0.00,0.00,0.079,0.000,0.000,1548,2118,736,-7.76,-0.54,920.85
$IRIDIUM_FIX,4748.51,-12226.29,241098,161632
$TT8_MAMPS,0.021476
$HUMID,2055
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,20.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,36.7
$24V_AH,22.9,4.231
$10V_AH,10.8,0.880
$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,27.050,10.375,240.175,590.450,0.000,29.129,29.217,103.316,1.000,0.000,0.000,37.304,174.019,425.787,967.790,316.943,188.362,33.330,1189.006,0.000,274.471,0.000,8.561,0.000
$DEVICE_MAMPS,203.606,106.769,834.288,772.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,73.098,179.716,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6546,118
$CAP_FILE_SIZE,24392,0
$CFSIZE,260280320,257699840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,22,2,0,0
$GPS,300709,172207,4807.093,-12223.349,40,1.2,40,18.3