version: 66.04
glider: 33
mission: 6
dive: 19
start: 9 10 109 11 21 6
data:
$ID,33
$MISSION,6
$DIVE,19
$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,-168061.53
$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,24
$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
$GPS1,111608,4806.792,-12222.202,13,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.9
$GPS2,112014,4806.738,-12222.194,11,1.2,11,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,-0.118
$KALMAN_X,-8433.2,-280.0,587.9,8737.8,-1403.7
$KALMAN_Y,8080.0,-1885.6,-724.7,-7548.8,1189.5
$MHEAD_RNG_PITCHd_Wd,131.3,1108,-16.2,-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,-1.15,-56.4,0.0,0.0,0,98,0.00,0.00,-81.75,0.000,2,0.000,0.000,25,1810,1354
$GC,100,-1.19,-88.2,3.3,-3.1,15,146,10.07,2.47,-29.75,0.000,4,0.231,0.104,1764,395,1991
$GC,397,-1.19,-88.2,36.1,-11.6,55,405,0.00,2.30,0.00,0.000,6,0.000,0.072,1764,1802,1991
$GC,533,-1.19,-88.2,50.0,-10.7,68,537,0.00,2.42,0.00,0.000,4,0.000,0.107,1764,395,1991
$GC,561,-1.19,-88.2,53.3,-12.0,70,565,0.00,2.28,0.00,0.000,6,0.000,0.074,1764,1811,1991
$GC,693,-1.19,-88.2,67.2,-10.7,82,694,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1821,1991
$GC,825,-1.19,-88.2,80.9,-10.9,94,829,0.00,2.38,0.00,0.000,4,0.000,0.109,1764,3203,1991
$GC,856,-1.19,-88.2,84.9,-10.6,96,863,0.00,2.35,0.00,0.000,6,0.000,0.082,1764,1800,1991
$GC,990,-1.19,-88.2,98.7,-10.4,109,994,0.00,2.40,0.00,0.000,4,0.000,0.122,1763,395,1991
$GC,1016,-1.16,-88.2,101.9,-11.8,111,1024,0.00,2.28,0.00,0.000,6,0.000,0.074,1764,1792,1991
$STATE,1064,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1064,begin apogee
$GC,1068,-0.33,0.0,107.0,10.8,116,1137,0.90,0.00,63.72,0.862,6,0.139,0.000,1955,1964,1750
$STATE,1138,end apogee,CONTROL_FINISHED_OK
$STATE,1138,begin climb
$GC,1139,1.19,88.2,110.5,0.0,123,1207,1.50,0.00,63.67,0.834,6,0.102,0.000,2290,1964,1510
$GC,1335,1.32,228.3,115.1,-3.3,142,1444,0.12,2.62,100.78,0.842,4,0.089,0.109,2325,551,1129
$GC,1669,1.24,228.3,91.4,9.1,172,1676,0.12,2.33,0.00,0.000,6,0.164,0.084,2304,1946,1129
$GC,1801,1.22,228.3,80.3,7.8,185,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,1946,1129
$GC,1929,1.19,228.3,70.1,7.7,197,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,1946,1129
$GC,2058,1.17,228.3,60.1,8.0,209,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,1946,1129
$GC,2184,1.15,228.3,50.5,8.1,221,2188,0.12,2.42,0.00,0.000,4,0.142,0.109,2278,544,1129
$GC,2237,1.15,228.3,46.3,7.4,225,2244,0.00,2.33,0.00,0.000,6,0.000,0.079,2278,1943,1129
$GC,2372,1.15,228.3,37.8,6.5,238,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,1943,1129
$GC,2498,1.15,228.3,29.6,6.5,250,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,1943,1129
$GC,2626,1.15,228.3,21.1,7.2,262,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,1943,1129
$GC,2759,1.15,228.3,13.3,5.4,284,2766,0.00,2.40,0.00,0.000,4,0.000,0.112,2278,544,1128
$GC,2816,1.15,228.3,10.2,5.4,294,2822,0.00,2.30,0.00,0.000,6,0.000,0.082,2278,1961,1128
$GC,2891,1.21,256.8,7.6,3.3,307,2919,0.00,2.50,20.62,0.780,4,0.000,0.119,2278,3352,1052
$GC,2981,1.31,296.7,5.0,2.6,323,3016,0.15,2.33,28.80,0.782,6,0.112,0.084,2311,1949,943
$GC,3086,1.38,322.6,2.5,3.5,341,3104,0.00,0.00,16.17,0.745,2,0.000,0.000,2311,1949,886
$STATE,3104,end climb,SURFACE_DEPTH_REACHED
$STATE,3104,begin surface coast
$FINISH,1.2,1.019772
$STATE,3172,end surface coast,CONTROL_FINISHED_OK
$STATE,3172,begin surface
$SM_CCo,3189,93.93,0.787,0,0,526,450.31
$SM_GC,1.62,0.00,0.00,93.93,0.000,0.000,0.787,29,1791,526,-9.21,-0.25,450.31
$IRIDIUM_FIX,4748.51,-12226.29,051298,101004
$TT8_MAMPS,0.021476
$HUMID,2135
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,80.9,41.1
$24V_AH,24.4,6.977
$10V_AH,10.8,2.011
$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,23.050,38.625,293.775,93.925,0.000,28.281,36.391,120.433,1.750,0.000,0.000,11.460,594.575,1592.617,471.599,659.870,230.811,33.305,865.436,0.000,619.074,0.000,10.190,0.000
$DEVICE_MAMPS,230.919,121.667,861.601,787.111,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.264,542.002,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19080,356
$CAP_FILE_SIZE,49874,0
$CFSIZE,260280320,258002944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100909,121632,4806.493,-12222.085,11,1.8,11,18.3