version: 66.04
glider: 33
mission: 4
dive: 13
start: 8 20 109 7 32 36
data:
$ID,33
$MISSION,4
$DIVE,13
$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,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,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,-166875.44
$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,2050
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,2921
$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
$GPS1,072807,4806.889,-12222.817,9,1.2,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.7
$GPS2,073144,4806.892,-12222.827,16,1.7,16,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.084,0.189
$KALMAN_X,-222.4,-95.6,34.6,661.4,180.6
$KALMAN_Y,-2072.0,173.3,-118.7,1143.0,-673.9
$MHEAD_RNG_PITCHd_Wd,317.7,2512,-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,-0.90,-146.6,0.0,0.0,0,147,0.00,0.00,-130.62,0.000,2,0.000,0.000,1551,1989,3035
$GC,149,-0.90,-146.6,3.2,-2.5,24,185,14.52,2.53,-15.18,0.000,4,0.201,0.092,3668,632,3321
$GC,337,-0.90,-146.6,12.5,-4.7,57,343,0.00,2.45,0.00,0.000,6,0.000,0.067,3667,2076,3321
$GC,412,-0.90,-146.6,16.0,-4.7,70,418,0.00,2.45,0.00,0.000,4,0.000,0.087,3668,3447,3321
$GC,451,-0.90,-146.6,18.3,-5.4,77,457,0.00,2.42,0.00,0.000,6,0.000,0.067,3668,2036,3321
$GC,522,-0.90,-146.6,21.7,-5.2,87,526,0.00,2.47,0.00,0.000,4,0.000,0.089,3668,646,3321
$GC,554,-0.90,-146.6,23.6,-5.6,89,561,0.00,2.40,0.00,0.000,6,0.000,0.062,3668,2045,3321
$GC,753,-0.90,-146.6,35.0,-6.6,108,757,0.00,2.53,0.00,0.000,4,0.000,0.089,3668,3451,3321
$GC,791,-0.90,-146.6,37.2,-6.4,111,794,0.00,2.42,0.00,0.000,6,0.000,0.070,3668,2047,3321
$GC,992,-0.90,-146.6,48.6,-6.1,130,997,0.00,2.50,0.00,0.000,4,0.000,0.092,3668,644,3321
$GC,1031,-0.90,-146.6,50.9,-4.9,133,1036,0.00,2.40,0.00,0.000,6,0.000,0.067,3668,2060,3321
$GC,1357,-0.90,-146.6,71.4,-6.2,149,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,3668,2060,3321
$GC,1666,-0.90,-146.6,90.4,-6.5,164,1670,0.00,2.53,0.00,0.000,4,0.000,0.092,3668,643,3321
$GC,1692,-0.90,-146.6,92.0,-6.1,165,1697,0.00,2.40,0.00,0.000,6,0.000,0.065,3667,2038,3321
$STATE,1960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1960,begin apogee
$GC,1963,-0.42,0.0,108.5,6.5,184,2084,0.60,0.00,117.25,0.844,6,0.112,0.000,3774,2047,2921
$STATE,2085,end apogee,CONTROL_FINISHED_OK
$STATE,2085,begin climb
$GC,2086,0.90,146.6,113.2,0.0,196,2212,1.50,2.78,114.18,0.822,4,0.109,0.107,4039,3464,2522
$GC,2250,0.90,146.6,105.2,6.8,211,2258,0.00,2.55,0.00,0.000,6,0.000,0.082,4039,2082,2522
$GC,2578,0.90,146.6,84.3,6.4,231,2583,0.00,2.65,0.00,0.000,4,0.000,0.104,4039,641,2522
$GC,2669,0.90,146.6,78.2,6.0,235,2673,0.00,2.50,0.00,0.000,6,0.000,0.082,4039,2051,2522
$GC,2994,0.90,146.6,58.3,5.8,251,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,4039,2051,2522
$GC,3308,0.90,146.6,39.6,5.7,274,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,4039,2051,2522
$GC,3500,0.91,150.3,28.5,4.9,292,3510,0.00,0.00,4.45,0.564,6,0.000,0.000,4039,2051,2512
$GC,3703,0.91,150.3,16.8,5.6,315,3709,0.00,2.58,0.00,0.000,4,0.000,0.104,4039,640,2512
$GC,3743,0.91,150.3,14.4,5.8,322,3749,0.00,2.50,0.00,0.000,6,0.000,0.082,4039,2060,2512
$GC,3816,0.91,150.3,10.2,5.7,335,3822,0.00,2.62,0.00,0.000,4,0.000,0.104,4039,3476,2512
$GC,3850,0.91,150.3,8.2,5.7,341,3856,0.00,2.55,0.00,0.000,6,0.000,0.082,4039,2055,2512
$GC,3924,0.91,150.3,4.3,5.6,354,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,4039,2055,2512
$STATE,3933,end climb,SURFACE_DEPTH_REACHED
$STATE,3934,begin surface coast
$FINISH,2.2,1.020400
$STATE,4025,end surface coast,CONTROL_FINISHED_OK
$STATE,4025,begin surface
$SM_CCo,4043,278.00,0.772,0,0,1561,500.34
$SM_GC,0.99,0.00,0.00,278.00,0.000,0.000,0.772,1551,2047,1561,-10.67,-0.08,500.34
$IRIDIUM_FIX,4748.51,-12224.57,141198,060624
$TT8_MAMPS,0.021476
$HUMID,2208
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.4,41.6
$24V_AH,22.9,2.426
$10V_AH,10.8,0.943
$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,29.650,50.225,235.875,278.000,0.000,31.070,26.961,90.019,1.000,0.000,0.000,17.155,605.870,2429.124,654.043,676.590,190.595,33.336,1054.856,0.000,628.227,0.000,8.569,0.000
$DEVICE_MAMPS,201.123,106.769,844.220,772.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.339,565.957,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19161,372
$CAP_FILE_SIZE,48113,0
$CFSIZE,260280320,257765376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,1
$GPS,200809,084540,4807.193,-12223.103,10,3.5,29,18.3