version: 66.04
glider: 33
mission: 6
dive: 22
start: 9 10 109 15 14 57
data:
$ID,33
$MISSION,6
$DIVE,22
$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,575.39563
$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,-168175.94
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,145822,4806.586,-12222.763,9,99.0,28,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-63.8
$GPS2,151406,4806.556,-12222.791,38,1.1,44,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.165
$KALMAN_X,-8086.1,1307.1,-869.7,7528.4,585.3
$KALMAN_Y,5393.0,-1344.3,642.8,-7105.4,-472.2
$MHEAD_RNG_PITCHd_Wd,304.7,862,-8.7,-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,-0.76,-146.6,0.0,0.0,0,92,0.00,0.00,-76.07,0.000,2,0.000,0.000,26,1800,1276
$GC,94,-0.76,-146.6,3.0,-3.4,14,152,10.50,2.42,-40.00,0.000,4,0.228,0.097,1857,3202,2150
$GC,221,-0.79,-146.6,12.8,-7.3,36,227,0.00,2.33,0.00,0.000,6,0.000,0.079,1857,1795,2149
$GC,294,-0.84,-146.6,18.0,-6.9,49,300,0.00,2.40,0.00,0.000,4,0.000,0.109,1857,397,2149
$GC,322,-0.89,-146.6,20.1,-6.8,54,328,0.00,2.28,0.00,0.000,6,0.000,0.072,1857,1828,2150
$GC,455,-0.95,-146.6,29.8,-7.9,67,459,0.15,2.33,0.00,0.000,4,0.087,0.102,1814,3185,2150
$GC,531,-0.95,-146.6,36.1,-7.6,73,538,0.00,2.30,0.00,0.000,6,0.000,0.079,1814,1807,2150
$GC,665,-0.95,-146.6,47.2,-8.5,86,669,0.00,2.35,0.00,0.000,4,0.000,0.102,1814,3192,2150
$GC,685,-0.92,-146.6,48.9,-8.0,87,692,0.00,2.33,0.00,0.000,6,0.000,0.084,1814,1801,2150
$GC,821,-0.92,-146.6,60.4,-9.1,100,822,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,1801,2150
$GC,947,-0.89,-146.6,70.4,-8.5,112,952,0.10,2.40,0.00,0.000,4,0.137,0.114,1835,397,2150
$GC,1076,-0.86,-146.6,80.8,-6.7,123,1080,0.00,2.22,0.00,0.000,6,0.000,0.074,1835,1788,2150
$GC,1208,-0.86,-146.6,91.3,-8.1,135,1212,0.00,2.40,0.00,0.000,4,0.000,0.109,1836,3195,2150
$GC,1259,-0.86,-146.6,95.6,-8.4,139,1265,0.00,2.30,0.00,0.000,6,0.000,0.084,1835,1799,2150
$GC,1391,-0.86,-146.6,106.4,-8.5,152,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1799,2150
$STATE,1401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1401,begin apogee
$GC,1404,-0.33,0.0,107.3,8.3,153,1514,0.52,0.00,105.07,0.869,6,0.107,0.000,1954,1965,1750
$STATE,1515,end apogee,CONTROL_FINISHED_OK
$STATE,1515,begin climb
$GC,1516,0.76,146.6,114.3,0.0,164,1633,1.05,2.65,106.32,0.844,4,0.097,0.117,2195,545,1351
$GC,1723,0.82,249.4,114.9,2.7,183,1807,0.00,2.38,74.40,0.834,6,0.000,0.082,2195,1948,1072
$GC,1934,0.82,249.4,104.3,5.4,203,1939,0.00,2.53,0.00,0.000,4,0.000,0.119,2194,3349,1072
$GC,1973,0.79,249.4,102.0,5.6,206,1977,0.00,2.40,0.00,0.000,6,0.000,0.087,2195,1944,1072
$GC,2105,0.79,249.4,94.8,5.4,218,2110,0.00,2.47,0.00,0.000,4,0.000,0.117,2195,539,1072
$GC,2189,0.77,249.4,90.4,5.1,225,2193,0.00,2.35,0.00,0.000,6,0.000,0.082,2195,1957,1072
$GC,2322,0.77,249.4,83.1,5.9,237,2326,0.00,2.47,0.00,0.000,4,0.000,0.119,2195,3356,1072
$GC,2349,0.77,249.4,81.7,5.6,239,2353,0.00,2.38,0.00,0.000,6,0.000,0.087,2195,1940,1072
$GC,2487,0.77,249.4,74.4,5.6,252,2491,0.00,2.45,0.00,0.000,4,0.000,0.117,2195,537,1072
$GC,2571,0.74,249.4,69.8,5.3,259,2575,0.00,2.33,0.00,0.000,6,0.000,0.082,2195,1954,1072
$GC,2705,0.74,249.4,62.5,6.1,271,2709,0.00,2.45,0.00,0.000,4,0.000,0.119,2195,3350,1072
$GC,2758,0.74,249.4,59.5,5.8,275,2766,0.00,2.38,0.00,0.000,6,0.000,0.087,2195,1946,1072
$GC,2892,0.74,249.4,52.2,5.6,288,2896,0.00,2.42,0.00,0.000,4,0.000,0.117,2195,545,1072
$GC,2965,0.72,249.4,48.3,5.4,294,2969,0.00,2.30,0.00,0.000,6,0.000,0.082,2195,1954,1072
$GC,3097,0.72,249.4,41.2,5.8,306,3101,0.00,2.45,0.00,0.000,4,0.000,0.119,2195,3355,1072
$GC,3129,0.77,291.7,39.7,4.0,308,3168,0.00,2.35,30.20,0.814,6,0.000,0.087,2195,1956,956
$GC,3296,0.80,291.7,30.2,6.2,324,3300,0.00,2.47,0.00,0.000,4,0.000,0.117,2194,544,956
$GC,3383,0.80,291.7,25.2,5.5,331,3391,0.00,2.35,0.00,0.000,6,0.000,0.079,2195,1948,956
$GC,3519,0.84,291.7,17.4,6.0,347,3525,0.00,2.47,0.00,0.000,4,0.000,0.122,2195,3352,957
$GC,3570,0.84,291.7,14.6,5.8,356,3576,0.00,2.35,0.00,0.000,6,0.000,0.087,2195,1943,956
$GC,3643,0.86,291.7,10.9,5.3,369,3650,0.10,2.42,0.00,0.000,4,0.102,0.117,2225,544,956
$GC,3728,0.87,297.3,6.6,4.9,384,3740,0.00,2.33,5.65,0.641,6,0.000,0.082,2225,1964,941
$GC,3809,1.07,439.1,4.7,1.8,398,3916,0.15,2.60,99.40,0.802,4,0.079,0.112,2274,543,555
$STATE,3920,end climb,SURFACE_DEPTH_REACHED
$STATE,3920,begin surface coast
$FINISH,0.2,1.004788
$STATE,4018,end surface coast,CONTROL_FINISHED_OK
$STATE,4018,begin surface
$SM_CCo,4036,97.05,0.782,0,0,186,575.40
$SM_GC,1.04,0.00,0.00,97.05,0.000,0.000,0.782,21,1810,186,-9.24,0.28,575.40
$IRIDIUM_FIX,4748.51,-12221.84,051298,151529
$TT8_MAMPS,0.022243
$HUMID,2138
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.8
$ALTIM_BOTTOM_PING,80.3,41.2
$24V_AH,24.4,7.368
$10V_AH,10.8,2.134
$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,22.025,86.200,421.050,97.050,0.000,148.370,228.388,192.066,1.500,0.000,0.000,44.315,723.318,2208.788,600.719,897.767,658.715,33.316,1135.701,0.000,807.798,0.000,10.200,0.000
$DEVICE_MAMPS,228.436,121.667,869.050,782.145,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,288.314,661.420,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22164,435
$CAP_FILE_SIZE,71103,0
$CFSIZE,260280320,257785856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100909,162432,4806.717,-12222.993,10,1.9,10,18.3