version: 66.04
glider: 33
mission: 6
dive: 16
start: 9 10 109 8 13 18
data:
$ID,33
$MISSION,6
$DIVE,16
$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,-167984.83
$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,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
$GPS1,080432,4806.690,-12222.608,12,1.3,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.0
$GPS2,081226,4806.636,-12222.585,13,1.6,13,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,0.111
$KALMAN_X,-8801.3,-226.1,379.9,8779.8,-979.9
$KALMAN_Y,7702.7,-620.3,128.0,-9477.6,3.5
$MHEAD_RNG_PITCHd_Wd,17.0,847,-16.3,-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,13,begin dive
$GC,14,-1.16,-55.6,0.0,0.0,0,88,0.00,0.00,-71.07,0.000,2,0.000,0.000,29,1793,1500
$GC,89,-1.21,-95.9,3.1,-2.6,13,130,10.05,2.45,-23.92,0.000,4,0.231,0.107,1760,389,2010
$GC,181,-1.18,-95.9,12.7,-9.7,29,187,0.00,2.30,0.00,0.000,6,0.000,0.072,1760,1807,2010
$GC,255,-1.18,-95.9,19.9,-9.9,42,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1816,2010
$GC,323,-1.18,-95.9,26.6,-9.5,49,327,0.00,2.38,0.00,0.000,4,0.000,0.104,1760,3195,2010
$GC,335,-1.18,-95.9,27.7,-9.3,50,339,0.00,2.33,0.00,0.000,6,0.000,0.079,1760,1790,2010
$GC,467,-1.18,-95.9,41.6,-10.7,62,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1790,2011
$GC,595,-1.18,-95.9,55.3,-10.7,74,599,0.00,2.40,0.00,0.000,4,0.000,0.102,1760,3198,2011
$GC,604,-1.18,-95.9,56.4,-10.7,74,611,0.00,2.33,0.00,0.000,6,0.000,0.087,1760,1809,2011
$GC,739,-1.18,-95.9,71.3,-11.5,87,741,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1808,2011
$GC,865,-1.18,-95.9,85.4,-11.2,99,868,0.00,2.38,0.00,0.000,4,0.000,0.104,1760,3199,2011
$GC,875,-1.18,-95.9,87.0,-11.6,100,879,0.00,2.33,0.00,0.000,6,0.000,0.087,1760,1795,2011
$GC,1014,-1.16,-95.9,102.6,-10.8,113,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1795,2011
$STATE,1044,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1044,begin apogee
$GC,1048,-0.33,0.0,106.3,11.3,116,1120,0.90,0.00,68.75,0.869,6,0.132,0.000,1953,1964,1750
$STATE,1121,end apogee,CONTROL_FINISHED_OK
$STATE,1121,begin climb
$GC,1122,1.21,95.9,110.0,0.0,123,1199,1.48,0.00,69.57,0.844,6,0.099,0.000,2290,1964,1489
$GC,1327,1.34,231.4,115.4,-3.1,143,1433,0.15,2.55,97.45,0.849,4,0.082,0.119,2333,3334,1121
$GC,1685,1.28,231.4,90.8,9.5,175,1692,0.10,2.38,0.00,0.000,6,0.174,0.087,2312,1954,1121
$GC,1820,1.25,231.4,79.7,8.3,188,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1955,1121
$GC,1946,1.23,231.4,69.2,7.6,200,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,1954,1121
$GC,2073,1.21,231.4,59.3,7.7,212,2077,0.00,2.45,0.00,0.000,4,0.000,0.117,2311,542,1121
$GC,2168,1.16,231.4,51.5,8.5,220,2172,0.15,2.30,0.00,0.000,6,0.156,0.082,2284,1938,1121
$GC,2300,1.16,231.4,42.2,6.8,232,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1938,1121
$GC,2427,1.16,231.4,34.3,6.5,244,2431,0.00,2.47,0.00,0.000,4,0.000,0.119,2284,3351,1121
$GC,2488,1.16,231.4,30.6,6.2,249,2492,0.00,2.33,0.00,0.000,6,0.000,0.087,2284,1947,1121
$GC,2627,1.16,231.4,22.4,5.9,262,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1947,1121
$GC,2759,1.16,231.4,14.4,5.8,282,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1947,1121
$GC,2831,1.16,231.4,10.0,5.7,295,2837,0.00,2.45,0.00,0.000,4,0.000,0.114,2284,3353,1121
$GC,2876,1.16,231.4,7.4,6.1,303,2882,0.00,2.33,0.00,0.000,6,0.000,0.089,2284,1947,1121
$GC,2950,1.19,231.4,3.5,5.0,316,2956,0.00,2.40,0.00,0.000,4,0.000,0.117,2284,545,1121
$GC,3208,1.31,308.9,2.6,0.3,362,3270,0.15,2.28,53.78,0.812,6,0.099,0.079,2322,1962,910
$STATE,3297,end climb,SURFACE_DEPTH_REACHED
$STATE,3297,begin surface coast
$FINISH,2.2,1.019485
$STATE,3489,end surface coast,CONTROL_FINISHED_OK
$STATE,3489,begin surface
$SM_CCo,3491,188.50,0.787,0,0,186,575.40
$SM_GC,1.36,10.00,0.00,0.00,0.077,0.000,0.000,27,1790,186,-9.17,-0.28,575.76
$IRIDIUM_FIX,4748.51,-12224.57,051298,080826
$TT8_MAMPS,0.021476
$HUMID,2125
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,80.8,40.2
$24V_AH,24.4,6.648
$10V_AH,10.8,1.923
$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,22.975,43.350,289.550,188.500,0.000,56.958,53.930,224.759,1.750,0.000,0.000,14.045,681.660,1902.779,556.794,742.068,391.709,33.307,984.697,0.000,693.060,0.000,10.189,0.000
$DEVICE_MAMPS,230.919,119.184,869.050,787.111,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,275.003,626.375,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19132,412
$CAP_FILE_SIZE,57993,0
$CFSIZE,260280320,258088960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,100909,091725,4806.719,-12222.261,12,1.6,29,18.3