version: 66.04
glider: 33
mission: 6
dive: 20
start: 9 10 109 12 22 27
data:
$ID,33
$MISSION,6
$DIVE,20
$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,-168095.97
$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
$GPS1,121632,4806.493,-12222.085,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.3
$GPS2,122136,4806.443,-12222.089,17,1.2,33,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,0.025
$KALMAN_X,-8093.6,-374.5,187.1,9028.0,-640.6
$KALMAN_Y,7708.2,-1613.7,-577.8,-8143.1,879.5
$MHEAD_RNG_PITCHd_Wd,268.8,1527,-27.8,-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,-1.88,-20.8,0.0,0.0,0,82,0.00,0.00,-66.22,0.000,2,0.000,0.000,28,1791,1476
$GC,84,-1.89,-31.9,3.3,-3.2,12,114,9.30,2.50,-15.50,0.000,4,0.236,0.097,1610,3208,1838
$GC,277,-1.92,-31.9,31.7,-14.7,40,281,0.00,2.35,0.00,0.000,6,0.000,0.079,1610,1795,1838
$GC,410,-1.95,-31.9,50.7,-14.0,52,414,0.00,2.40,0.00,0.000,4,0.000,0.107,1610,391,1839
$GC,441,-1.95,-31.9,56.2,-16.6,54,449,0.00,2.30,0.00,0.000,6,0.000,0.070,1610,1805,1839
$GC,575,-1.98,-31.9,76.3,-15.3,67,579,0.00,2.38,0.00,0.000,4,0.000,0.104,1610,3195,1839
$GC,659,-1.98,-31.9,89.4,-16.3,74,663,0.00,2.30,0.00,0.000,6,0.000,0.082,1610,1794,1839
$STATE,775,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,775,begin apogee
$GC,779,-0.33,0.0,107.7,16.1,85,808,1.67,0.00,25.10,0.839,6,0.156,0.000,1952,1965,1750
$STATE,809,end apogee,CONTROL_FINISHED_OK
$STATE,809,begin climb
$GC,810,1.89,31.9,110.1,0.0,88,843,2.08,2.45,24.12,0.822,4,0.094,0.114,2445,3333,1663
$GC,904,2.01,104.5,111.8,-6.6,96,963,0.00,2.38,51.65,0.847,6,0.000,0.094,2445,1955,1466
$GC,1091,2.07,151.2,118.4,-2.5,114,1134,0.15,2.55,34.85,0.837,4,0.099,0.114,2480,542,1338
$GC,1386,2.00,151.2,100.7,7.5,140,1393,0.00,2.35,0.00,0.000,6,0.000,0.092,2480,1930,1338
$GC,1521,1.97,151.2,91.5,6.3,153,1525,0.00,2.42,0.00,0.000,4,0.000,0.112,2480,538,1338
$GC,1750,1.91,151.2,76.2,6.7,173,1755,0.17,2.33,0.00,0.000,6,0.186,0.082,2450,1952,1338
$GC,1884,1.92,155.7,69.4,4.3,185,1896,0.00,2.47,4.88,0.618,4,0.000,0.119,2450,3358,1326
$GC,2147,1.92,155.7,54.2,5.2,208,2154,0.00,2.38,0.00,0.000,6,0.000,0.087,2450,1952,1326
$GC,2282,1.92,158.9,48.1,4.5,221,2293,0.00,2.47,3.75,0.531,4,0.000,0.114,2451,3351,1318
$GC,2461,1.93,165.1,39.4,4.0,237,2473,0.00,2.35,5.90,0.665,6,0.000,0.089,2450,1944,1301
$GC,2601,1.94,170.0,33.4,4.2,250,2612,0.00,2.42,5.43,0.641,4,0.000,0.117,2450,544,1286
$GC,2617,1.94,176.1,32.8,4.0,251,2627,0.00,2.33,5.68,0.643,6,0.000,0.082,2450,1943,1271
$GC,2761,1.97,178.1,25.6,4.7,265,2765,0.00,2.42,0.00,0.000,4,0.000,0.112,2450,538,1270
$GC,2934,1.97,181.7,17.0,4.4,285,2946,0.00,2.33,5.55,0.643,6,0.000,0.084,2450,1957,1256
$GC,3015,2.00,182.3,13.1,4.9,299,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1957,1256
$GC,3088,2.03,188.0,9.8,4.1,312,3100,0.00,2.45,6.35,0.673,4,0.000,0.117,2450,3355,1238
$GC,3353,2.09,220.0,9.6,-0.1,359,3383,0.15,2.33,23.50,0.797,6,0.134,0.092,2481,1949,1150
$GC,3451,2.12,241.3,8.5,1.6,376,3475,0.00,2.47,16.02,0.765,4,0.000,0.117,2481,3352,1094
$GC,3598,2.15,266.4,5.8,1.0,402,3622,0.00,2.35,19.05,0.772,6,0.000,0.094,2481,1949,1025
$GC,3691,2.20,278.3,3.7,3.1,418,3709,0.12,2.47,10.02,0.715,4,0.109,0.112,2510,543,992
$GC,3754,2.22,294.8,2.4,2.4,429,3767,0.00,2.33,8.55,0.693,2,0.000,0.079,2510,1952,965
$STATE,3768,end climb,SURFACE_DEPTH_REACHED
$STATE,3768,begin surface coast
$FINISH,1.8,1.020115
$STATE,3846,end surface coast,CONTROL_FINISHED_OK
$STATE,3846,begin surface
$SM_CCo,3863,114.93,0.795,0,0,525,450.31
$SM_GC,1.61,0.00,0.00,114.93,0.000,0.000,0.795,26,1791,525,-9.22,-0.28,450.31
$IRIDIUM_FIX,4742.09,-12040.17,051298,111157
$TT8_MAMPS,0.021476
$HUMID,2135
$INTERNAL_PRESSURE,8.3304
$TCM_TEMP,20.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,80.3,41.1
$24V_AH,24.6,7.072
$10V_AH,10.8,2.048
$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,24.625,62.800,250.400,114.925,0.000,25.418,28.580,159.313,2.750,0.000,0.000,33.806,771.595,1871.305,448.275,938.355,267.928,33.309,949.912,0.000,858.076,0.000,10.190,0.000
$DEVICE_MAMPS,235.885,119.184,846.703,794.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.730,677.071,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22296,445
$CAP_FILE_SIZE,63681,0
$CFSIZE,260280320,257957888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,100909,132946,4806.499,-12222.325,9,99.0,28,18.3