version: 66.04
glider: 33
mission: 6
dive: 18
start: 9 10 109 10 41 27
data:
$ID,33
$MISSION,6
$DIVE,18
$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,-168049.45
$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,24
$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,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
$GPS1,103507,4806.866,-12222.178,37,1.1,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.9
$GPS2,104036,4806.801,-12222.136,16,1.0,32,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.035,0.036
$KALMAN_X,-8959.9,-299.6,890.2,9054.2,-877.8
$KALMAN_Y,8034.7,-1571.6,-613.0,-7814.6,181.2
$MHEAD_RNG_PITCHd_Wd,297.0,1130,-43.0,-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,-2.88,-9.2,0.0,0.0,0,66,0.00,0.00,-49.58,0.000,2,0.000,0.000,27,1792,1248
$GC,67,-2.88,-12.9,3.0,-3.7,9,109,7.90,2.47,-27.48,0.000,4,0.231,0.097,1395,3201,1787
$GC,177,-2.97,-12.9,18.3,-18.5,28,183,0.00,2.33,0.00,0.000,6,0.000,0.077,1395,1795,1787
$GC,252,-3.07,-12.9,32.9,-19.5,36,254,0.15,0.00,0.00,0.000,6,0.102,0.000,1360,1794,1787
$GC,381,-3.15,-12.9,59.3,-20.6,48,386,0.00,2.40,0.00,0.000,4,0.000,0.097,1360,3202,1787
$GC,438,-3.21,-12.9,71.4,-21.2,53,443,0.12,2.30,0.00,0.000,6,0.107,0.079,1331,1799,1787
$GC,572,-3.25,-12.9,100.8,-23.4,65,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1331,1799,1787
$STATE,591,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,591,begin apogee
$GC,595,-0.33,0.0,105.8,23.7,67,614,3.20,0.00,12.15,0.795,6,0.186,0.000,1949,1975,1750
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,2.88,12.9,108.8,0.0,69,635,2.60,2.42,10.88,0.762,4,0.087,0.109,2572,3335,1714
$GC,707,3.11,54.2,110.3,-9.9,77,745,0.00,2.35,30.20,0.839,6,0.000,0.082,2572,1947,1602
$GC,873,3.50,68.4,118.5,-0.2,93,894,0.00,2.53,11.77,0.782,4,0.000,0.109,2572,544,1562
$GC,1146,3.86,83.0,118.6,-0.3,117,1164,0.00,2.33,11.55,0.787,6,0.000,0.079,2572,1938,1524
$GC,1291,4.21,96.5,118.5,0.1,131,1308,0.00,2.45,11.35,0.785,4,0.000,0.109,2572,544,1486
$STATE,1423,end climb,NO_VERTICAL_VELOCITY
$STATE,1423,begin surface
$SM_CCo,1425,343.88,0.837,0,0,186,575.40
$SM_GC,1.17,11.10,0.00,0.00,0.089,0.000,0.000,25,1810,185,-9.18,0.28,575.76
$IRIDIUM_FIX,4758.15,-12110.01,051298,090932
$TT8_MAMPS,0.021476
$HUMID,2070
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.4,39.3
$24V_AH,25.0,6.877
$10V_AH,10.8,1.982
$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,25.075,23.975,87.900,343.875,0.000,30.807,24.164,181.579,1.000,0.000,0.000,32.139,307.538,940.289,516.645,341.508,271.943,33.307,721.542,0.000,303.230,0.000,8.568,0.000
$DEVICE_MAMPS,230.919,109.252,839.254,836.771,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,93.951,216.208,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6519,142
$CAP_FILE_SIZE,34377,0
$CFSIZE,260280320,258052096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100909,111608,4806.792,-12222.202,13,1.3,13,18.3