version: 66.04
glider: 33
mission: 4
dive: 8
start: 8 20 109 2 16 8
data:
$ID,33
$MISSION,4
$DIVE,8
$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,-166764.38
$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,13
$R_STBD_OVSHOOT,13
$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
$GPS1,021206,4806.629,-12222.805,35,1.3,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.0
$GPS2,021520,4806.639,-12222.808,9,1.7,9,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.160,-0.209
$KALMAN_X,-147.5,30.2,-66.2,587.4,-64.1
$KALMAN_Y,-713.2,-345.0,134.8,-417.5,132.1
$MHEAD_RNG_PITCHd_Wd,124.2,1548,-18.1,-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,-1.69,-146.6,0.0,0.0,0,145,0.00,0.00,-128.40,0.000,2,0.000,0.000,1555,1992,2997
$GC,147,-1.69,-146.6,3.4,-6.4,24,187,13.45,2.62,-19.48,0.000,4,0.209,0.107,3495,583,3398
$GC,439,-1.69,-146.6,35.3,-12.2,64,443,0.00,2.53,0.00,0.000,6,0.000,0.082,3495,2005,3398
$GC,650,-1.69,-146.6,61.1,-12.8,80,654,0.00,2.65,0.00,0.000,4,0.000,0.112,3495,3421,3398
$GC,681,-1.69,-146.6,65.3,-13.6,81,688,0.00,2.62,0.00,0.000,6,0.000,0.092,3495,2006,3398
$STATE,997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,997,begin apogee
$GC,1000,-0.42,0.0,106.3,13.0,99,1121,1.70,0.00,116.10,0.832,6,0.159,0.000,3771,2085,3000
$STATE,1122,end apogee,CONTROL_FINISHED_OK
$STATE,1122,begin climb
$GC,1123,1.69,146.6,110.2,0.0,111,1242,1.58,0.00,114.10,0.812,6,0.129,0.000,4039,2085,2601
$GC,1561,1.81,244.8,86.4,5.5,143,1652,0.00,2.75,85.55,0.800,4,0.000,0.109,4039,634,2334
$GC,1710,1.88,302.7,75.9,7.4,150,1760,0.00,2.58,45.15,0.775,6,0.000,0.084,4039,2067,2177
$GC,2072,1.94,350.7,47.4,7.8,169,2113,0.00,0.00,38.17,0.765,6,0.000,0.000,4039,2067,2046
$GC,2304,2.00,404.1,28.9,7.6,191,2353,0.00,0.00,42.60,0.757,6,0.000,0.000,4039,2067,1901
$GC,2550,2.05,445.0,9.6,8.1,225,2589,0.00,0.00,32.95,0.745,6,0.000,0.000,4039,2068,1789
$STATE,2632,end climb,SURFACE_DEPTH_REACHED
$STATE,2632,begin surface coast
$FINISH,0.9,1.019024
$STATE,2701,end surface coast,CONTROL_FINISHED_OK
$STATE,2701,begin surface
$SM_CCo,2721,43.05,0.747,0,0,1640,500.34
$SM_GC,0.99,0.00,0.00,43.05,0.000,0.000,0.747,1559,1985,1640,-10.63,-0.42,500.34
$IRIDIUM_FIX,4751.72,-12226.29,141198,010103
$TT8_MAMPS,0.021476
$HUMID,2268
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.7,39.0
$24V_AH,23.0,1.801
$10V_AH,10.8,0.795
$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,30.425,16.050,474.625,43.050,0.000,30.292,26.065,77.049,1.000,0.000,0.000,9.608,363.500,1388.899,572.211,479.653,168.593,33.328,895.122,0.000,450.848,0.000,8.557,0.000
$DEVICE_MAMPS,208.572,119.184,831.805,747.383,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,164.216,383.618,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12885,252
$CAP_FILE_SIZE,31587,0
$CFSIZE,260280320,257925120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$GPS,200809,030256,4806.338,-12222.523,12,1.2,12,18.3