version: 66.04
glider: 33
mission: 4
dive: 6
start: 8 20 109 0 27 13
data:
$ID,33
$MISSION,4
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,50
$T_MISSION,60
$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,500
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-166741.84
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1555
$PITCH_MAX,4048
$C_PITCH,3870
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3738
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,3000
$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,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.276699
$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,0
$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
$GPS1,002302,4807.093,-12222.864,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-66.0
$GPS2,002625,4807.094,-12222.876,11,1.1,16,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.043,-0.118
$KALMAN_X,-32.8,57.6,-0.5,292.8,-24.7
$KALMAN_Y,-592.0,-410.8,-103.6,608.4,179.5
$MHEAD_RNG_PITCHd_Wd,181.6,232,-36.9,-10.000
$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,13,-3.12,-35.7,0.0,0.0,0,181,0.00,0.00,-162.70,0.000,6,0.000,0.000,1556,1994,3098
$GC,183,-3.16,-71.1,2.4,-3.4,31,207,11.30,2.60,-4.80,0.000,4,0.211,0.097,3177,3422,3195
$GC,459,-3.17,-78.7,25.3,-8.6,74,466,0.00,2.55,-0.38,0.000,6,0.000,0.084,3177,1995,3218
$GC,655,-3.17,-78.7,51.1,-14.2,93,659,0.00,2.58,0.00,0.000,4,0.000,0.097,3177,3418,3219
$GC,832,-3.17,-78.7,80.0,-18.2,101,836,0.00,2.55,0.00,0.000,6,0.000,0.089,3177,1998,3219
$STATE,981,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,981,begin apogee
$GC,985,-0.42,0.0,107.7,18.6,110,1056,3.95,0.00,63.90,0.817,6,0.199,0.000,3772,2083,3000
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1057,begin climb
$GC,1058,3.17,78.7,111.0,0.0,117,1131,1.55,2.67,61.78,0.800,4,0.129,0.104,4038,641,2785
$GC,1153,3.20,101.1,106.9,5.8,126,1178,0.00,2.53,18.58,0.752,6,0.000,0.079,4038,2064,2724
$GC,1497,3.22,123.8,86.7,5.7,148,1522,0.00,2.70,18.67,0.757,4,0.000,0.109,4038,3475,2663
$GC,1562,3.25,142.5,82.8,6.5,151,1584,0.00,2.55,15.73,0.740,6,0.000,0.084,4038,2059,2612
$GC,1891,3.27,161.5,62.3,6.5,167,1913,0.00,2.58,15.23,0.740,4,0.000,0.107,4038,640,2562
$GC,2007,3.29,176.2,53.9,7.3,172,2026,0.00,2.55,13.02,0.723,6,0.000,0.082,4038,2061,2521
$GC,2341,3.31,194.9,32.1,6.5,200,2361,0.00,0.00,15.95,0.735,6,0.000,0.000,4038,2061,2470
$GC,2553,3.34,219.6,19.8,5.4,220,2587,0.00,2.65,27.12,0.755,4,0.000,0.104,4038,644,2403
$GC,2621,3.36,237.2,15.9,6.7,232,2645,0.00,2.53,17.15,0.725,6,0.000,0.082,4039,2062,2355
$GC,2713,3.38,252.0,9.0,7.2,248,2736,0.00,2.67,13.70,0.708,4,0.000,0.104,4038,644,2314
$GC,2771,3.41,270.6,5.3,6.5,258,2793,0.00,2.53,15.55,0.713,6,0.000,0.084,4038,2061,2264
$STATE,2797,end climb,SURFACE_DEPTH_REACHED
$STATE,2797,begin surface coast
$FINISH,0.9,1.019219
$STATE,2872,end surface coast,CONTROL_FINISHED_OK
$STATE,2872,begin surface
$SM_CCo,2892,174.80,0.755,0,0,1640,500.34
$SM_GC,0.99,0.00,0.00,174.80,0.000,0.000,0.755,1556,1977,1640,-10.64,-0.65,500.34
$IRIDIUM_FIX,4748.51,-12226.29,141198,000044
$TT8_MAMPS,0.021476
$HUMID,2213
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,41.9
$24V_AH,23.1,1.553
$10V_AH,10.8,0.746
$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,30.575,36.525,296.375,174.800,0.000,0.000,0.000,0.000,1.000,0.000,0.000,16.791,434.942,1529.182,583.983,563.008,23.918,33.311,942.930,0.000,523.064,0.000,8.578,0.000
$DEVICE_MAMPS,211.055,116.701,816.907,754.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.811,419.906,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12824,276
$CAP_FILE_SIZE,61536,0
$CFSIZE,260280320,257937408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,6,0,0
$GPS,200809,011919,4806.922,-12223.052,10,1.6,27,18.3