version: 66.04
glider: 33
mission: 4
dive: 2
start: 8 19 109 19 7 51
data:
$ID,33
$MISSION,4
$DIVE,2
$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,-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,950
$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,-166354.2
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1555
$PITCH_MAX,4048
$C_PITCH,3734
$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,1960
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,3239
$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,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
$GPS1,190408,4806.855,-12222.818,14,1.1,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.6
$GPS2,190644,4806.819,-12222.815,12,1.4,12,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.120,0.235
$KALMAN_X,81.9,81.9,81.9,138.2,150.4
$KALMAN_Y,-189.3,-189.3,-189.3,-419.8,-347.6
$MHEAD_RNG_PITCHd_Wd,314.6,405,-18.1,-10.000
$D_GRID,105
$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,-1.69,-146.6,0.0,0.0,0,198,0.00,0.00,-181.07,0.000,2,0.000,0.000,1550,1961,3013
$GC,200,-1.69,-146.6,3.3,-5.1,34,246,12.23,2.53,-27.60,0.000,4,0.204,0.079,3356,3365,3639
$GC,262,-1.69,-146.6,9.1,-9.9,45,268,0.00,2.45,0.00,0.000,6,0.000,0.070,3357,1938,3639
$GC,337,-1.69,-146.6,18.7,-14.1,58,342,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1938,3639
$GC,410,-1.69,-146.6,31.1,-16.8,66,411,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1938,3639
$GC,599,-1.69,-146.6,67.1,-19.8,80,603,0.00,2.53,0.00,0.000,4,0.000,0.084,3357,3364,3639
$GC,642,-1.69,-146.6,76.4,-21.4,82,647,0.00,2.45,0.00,0.000,6,0.000,0.072,3357,1961,3639
$STATE,772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,772,begin apogee
$GC,775,-0.42,0.0,104.5,22.0,89,895,1.75,0.00,114.90,0.809,6,0.161,0.000,3640,1961,3239
$STATE,896,end apogee,CONTROL_FINISHED_OK
$STATE,896,begin climb
$GC,897,1.69,146.6,114.9,0.0,101,1017,2.33,2.60,110.55,0.792,4,0.134,0.102,4038,3362,2840
$GC,1021,1.87,291.9,112.8,3.4,113,1136,0.00,2.55,108.15,0.780,6,0.000,0.087,4037,1970,2444
$GC,1454,1.93,342.1,81.2,7.7,144,1497,0.00,2.65,37.70,0.760,4,0.000,0.102,4038,3360,2309
$GC,1507,1.97,379.8,77.1,8.3,146,1541,0.00,2.58,29.23,0.742,6,0.000,0.089,4038,1967,2207
$GC,1848,2.03,427.5,49.9,7.8,163,1891,0.00,2.62,36.75,0.750,4,0.000,0.104,4038,3363,2076
$GC,1929,2.08,465.6,43.3,8.3,170,1967,0.00,2.58,29.30,0.735,6,0.000,0.089,4038,1968,1973
$GC,2159,2.12,497.2,25.0,8.6,192,2190,0.00,2.62,25.45,0.730,4,0.000,0.102,4038,3365,1887
$GC,2194,2.16,528.6,22.2,8.6,195,2227,0.00,2.60,26.67,0.720,6,0.000,0.092,4038,1964,1802
$GC,2430,2.28,630.3,4.8,5.4,234,2448,0.00,0.00,15.90,0.700,2,0.000,0.000,4038,1964,1748
$STATE,2449,end climb,SURFACE_DEPTH_REACHED
$STATE,2449,begin surface coast
$FINISH,1.5,1.018689
$STATE,2538,end surface coast,CONTROL_FINISHED_OK
$STATE,2538,begin surface
$SM_CCo,2556,299.60,0.732,0,0,656,950.29
$SM_GC,1.01,0.00,0.00,299.60,0.000,0.000,0.732,1551,1957,656,-10.05,-0.08,950.29
$IRIDIUM_FIX,4807.83,-12235.73,131198,191932
$TT8_MAMPS,0.021476
$HUMID,2243
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,93.1,24.5
$24V_AH,23.4,0.881
$10V_AH,10.9,0.592
$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,29.325,30.750,534.600,299.600,0.000,0.000,0.000,0.000,1.750,0.000,0.000,12.404,359.099,1138.763,917.423,490.137,35.648,30.181,1280.274,0.000,455.023,0.000,14.551,0.000
$DEVICE_MAMPS,203.606,104.286,809.458,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.293,384.784,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12835,253
$CAP_FILE_SIZE,67152,0
$CFSIZE,260280320,258064384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,190809,195614,4806.995,-12223.170,15,2.0,15,18.3