version: 66.04
glider: 33
mission: 6
dive: 2
start: 9 9 109 19 11 8
data:
$ID,33
$MISSION,6
$DIVE,2
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$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,540
$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,-167633.56
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,2000
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,1680
$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
$GPS1,190619,4808.240,-12223.016,8,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-55.2
$GPS2,191001,4808.294,-12223.038,14,1.7,31,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.067,-0.255
$KALMAN_X,-55.3,-55.3,-55.3,-251.8,-118.6
$KALMAN_Y,162.4,162.4,162.4,295.2,348.3
$MHEAD_RNG_PITCHd_Wd,147.0,546,-18.1,-10.000
$D_GRID,97
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.39,-146.6,0.0,0.0,0,102,0.00,0.00,-86.38,0.000,2,0.000,0.000,25,1955,1398
$GC,104,-1.39,-146.6,3.0,-7.1,16,154,9.12,0.00,-35.58,0.000,6,0.219,0.000,1693,1956,2080
$GC,222,-1.39,-146.6,12.5,-10.8,37,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,1956,2080
$GC,294,-1.39,-146.6,20.6,-11.3,50,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,1956,2080
$GC,485,-1.39,-146.6,43.4,-12.1,68,489,0.00,2.35,0.00,0.000,4,0.000,0.104,1693,551,2081
$GC,518,-1.39,-146.6,47.9,-13.7,71,522,0.00,2.22,0.00,0.000,6,0.000,0.074,1693,1956,2081
$GC,725,-1.39,-146.6,76.1,-14.1,82,729,0.00,2.38,0.00,0.000,4,0.000,0.107,1693,549,2081
$GC,757,-1.39,-146.6,80.7,-14.0,83,762,0.00,2.25,0.00,0.000,6,0.000,0.077,1693,1940,2081
$STATE,871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,871,begin apogee
$GC,874,-0.33,0.0,97.1,14.2,89,984,1.08,0.00,103.72,0.847,6,0.137,0.000,1925,1941,1680
$STATE,984,end apogee,CONTROL_FINISHED_OK
$STATE,984,begin climb
$GC,986,1.39,146.6,102.6,0.0,98,1095,1.70,0.00,103.82,0.824,6,0.102,0.000,2305,1941,1281
$GC,1403,1.48,224.9,80.5,6.4,125,1464,0.00,0.00,55.72,0.814,6,0.000,0.000,2304,1941,1068
$GC,1773,1.51,248.5,47.6,8.9,144,1796,0.10,2.45,17.23,0.770,4,0.094,0.117,2336,560,1004
$GC,1840,1.51,248.5,40.5,11.5,150,1845,0.00,2.28,0.00,0.000,6,0.000,0.084,2336,1947,1003
$GC,2037,1.51,248.5,19.1,10.4,169,2043,0.00,2.45,0.00,0.000,4,0.000,0.117,2336,3353,1004
$GC,2054,1.51,248.5,17.2,10.8,172,2060,0.00,2.33,0.00,0.000,6,0.000,0.089,2336,1957,1004
$GC,2127,1.52,251.8,9.7,9.9,185,2134,0.00,0.00,3.95,0.521,6,0.000,0.000,2336,1957,995
$GC,2202,1.53,263.7,2.5,9.5,198,2215,0.00,0.88,9.75,0.710,3,0.000,0.099,2336,2477,963
$STATE,2216,end climb,SURFACE_DEPTH_REACHED
$STATE,2216,begin surface coast
$FINISH,0.2,1.008054
$STATE,2238,end surface coast,CONTROL_FINISHED_OK
$STATE,2238,begin surface
$SM_CCo,2254,193.30,0.780,0,0,212,540.08
$SM_GC,1.25,0.00,0.00,193.30,0.000,0.000,0.780,23,1943,212,-9.09,-0.20,540.08
$IRIDIUM_FIX,4751.72,-12221.84,041298,191951
$TT8_MAMPS,0.021476
$HUMID,2226
$INTERNAL_PRESSURE,8.3597
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,70.1,42.1
$24V_AH,24.7,4.635
$10V_AH,10.9,1.514
$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,21.575,20.475,294.200,193.300,0.000,0.000,0.000,0.000,1.000,0.000,0.000,31.228,343.575,1216.084,582.750,377.651,32.236,30.181,823.365,0.000,338.229,0.000,8.677,0.000
$DEVICE_MAMPS,218.504,116.701,846.703,779.662,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,133.479,310.230,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9660,204
$CAP_FILE_SIZE,48275,0
$CFSIZE,260280320,258519040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090909,195306,4808.109,-12223.021,34,1.3,38,18.3