version: 66.04
glider: 33
mission: 6
dive: 17
start: 9 10 109 9 26 46
data:
$ID,33
$MISSION,6
$DIVE,17
$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,-168016.69
$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
$GPS1,091725,4806.719,-12222.261,12,1.6,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.4
$GPS2,092555,4806.606,-12222.184,13,1.5,30,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.002,0.151
$KALMAN_X,-9114.0,-209.7,778.7,9170.4,-987.4
$KALMAN_Y,7675.3,-1040.4,-203.6,-8753.7,-179.6
$MHEAD_RNG_PITCHd_Wd,340.8,1245,-14.3,-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,12,begin dive
$GC,14,-1.04,-70.0,0.0,0.0,0,104,0.00,0.00,-87.30,0.000,2,0.000,0.000,28,1786,1443
$GC,106,-1.09,-117.6,3.2,-2.7,16,151,10.10,0.00,-31.38,0.000,6,0.228,0.000,1784,1786,2071
$GC,220,-1.14,-117.6,11.9,-8.6,36,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1787,2071
$GC,292,-1.20,-117.6,17.7,-8.0,49,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1787,2071
$GC,368,-1.25,-117.6,23.6,-7.5,59,370,0.12,0.00,0.00,0.000,6,0.082,0.000,1745,1787,2072
$GC,495,-1.21,-117.6,36.2,-10.3,71,500,0.10,2.42,0.00,0.000,4,0.139,0.099,1764,3203,2072
$GC,516,-1.18,-117.6,38.4,-10.2,72,522,0.00,2.33,0.00,0.000,6,0.000,0.079,1763,1808,2072
$GC,649,-1.15,-117.6,52.2,-10.9,85,650,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1808,2072
$GC,778,-1.10,-117.6,65.6,-11.0,97,780,0.12,0.00,0.00,0.000,6,0.144,0.000,1788,1808,2071
$GC,904,-1.10,-117.6,78.4,-10.2,109,905,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1808,2072
$GC,1031,-1.08,-117.6,91.4,-9.8,121,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1808,2072
$GC,1160,-1.05,-117.6,104.8,-10.7,133,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1808,2071
$STATE,1179,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1179,begin apogee
$GC,1183,-0.33,0.0,107.1,10.5,135,1272,0.77,0.00,84.22,0.864,6,0.129,0.000,1956,1977,1750
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1273,begin climb
$GC,1274,1.09,117.6,110.9,0.0,144,1367,1.40,2.55,85.28,0.839,4,0.097,0.117,2270,3334,1430
$GC,1608,1.13,206.7,110.8,0.7,175,1681,0.00,2.35,63.65,0.842,6,0.000,0.084,2270,1941,1187
$GC,1810,1.10,206.7,100.8,6.4,194,1814,0.00,2.47,0.00,0.000,4,0.000,0.114,2270,544,1188
$GC,1887,1.05,206.7,94.9,7.1,200,1894,0.00,2.33,0.00,0.000,6,0.000,0.079,2270,1926,1187
$GC,2020,1.02,206.7,86.4,7.0,213,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1926,1187
$GC,2148,1.00,206.7,78.7,5.2,225,2152,0.12,2.42,0.00,0.000,4,0.142,0.112,2246,545,1187
$GC,2219,1.00,206.7,74.5,6.0,231,2223,0.00,2.33,0.00,0.000,6,0.000,0.082,2246,1958,1187
$GC,2358,1.00,206.7,67.1,6.1,244,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1959,1187
$GC,2485,1.00,206.7,60.5,5.3,256,2489,0.00,2.45,0.00,0.000,4,0.000,0.112,2246,545,1187
$GC,2552,1.00,206.7,56.6,6.1,261,2558,0.00,2.30,0.00,0.000,6,0.000,0.082,2246,1955,1187
$GC,2684,1.00,206.7,49.6,5.2,274,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1955,1187
$GC,2812,1.02,224.2,43.5,4.2,286,2827,0.00,0.00,13.60,0.777,6,0.000,0.000,2246,1955,1140
$GC,2951,1.05,227.5,36.2,4.8,299,2963,0.00,2.47,4.03,0.549,4,0.000,0.114,2246,531,1131
$GC,2989,1.05,227.5,33.9,5.4,302,2996,0.00,2.38,0.00,0.000,6,0.000,0.079,2246,1955,1131
$GC,3124,1.07,227.5,27.4,5.0,315,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1955,1131
$GC,3251,1.10,231.0,21.1,4.8,327,3261,0.10,0.00,4.22,0.564,6,0.094,0.000,2277,1954,1122
$GC,3394,1.10,231.0,13.3,5.2,350,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,1954,1122
$GC,3466,1.12,248.8,10.0,4.2,363,3489,0.00,2.50,13.80,0.767,4,0.000,0.114,2277,545,1073
$GC,3742,1.26,365.8,5.0,-0.6,412,3832,0.12,2.30,81.32,0.804,6,0.099,0.079,2309,1958,754
$STATE,3870,end climb,SURFACE_DEPTH_REACHED
$STATE,3870,begin surface coast
$FINISH,0.5,1.017988
$STATE,3955,end surface coast,CONTROL_FINISHED_OK
$STATE,3955,begin surface
$SM_CCo,3971,60.28,0.787,0,0,526,450.31
$SM_GC,2.31,0.00,0.00,60.28,0.000,0.000,0.787,27,1792,526,-9.21,-0.23,450.31
$IRIDIUM_FIX,4748.51,-12214.67,051298,090930
$TT8_MAMPS,0.021476
$HUMID,2145
$INTERNAL_PRESSURE,8.3304
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.1
$ALTIM_BOTTOM_PING,80.6,40.7
$24V_AH,24.4,6.763
$10V_AH,10.8,1.961
$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,22.800,34.125,350.125,60.275,0.000,61.297,64.599,227.580,1.250,0.000,0.000,31.237,726.625,2091.061,497.662,823.750,416.178,33.306,965.125,0.000,753.828,0.000,10.190,0.000
$DEVICE_MAMPS,228.436,116.701,864.084,787.111,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.289,684.482,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22258,450
$CAP_FILE_SIZE,63274,0
$CFSIZE,260280320,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,100909,103507,4806.866,-12222.178,37,1.1,37,18.3