version: 66.04
glider: 33
mission: 4
dive: 10
start: 8 20 109 4 12 49
data:
$ID,33
$MISSION,4
$DIVE,10
$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,75
$T_MISSION,90
$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,-166809.73
$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,17
$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,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
$GPS1,040822,4806.011,-12222.113,12,2.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.3
$GPS2,041158,4806.016,-12222.116,11,2.9,30,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.214
$KALMAN_X,-484.4,-16.5,-93.3,1852.3,-220.4
$KALMAN_Y,-865.2,-164.9,252.1,-1717.3,-12.0
$MHEAD_RNG_PITCHd_Wd,320.0,4351,-12.3,-6.667
$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,-1.21,-146.6,0.0,0.0,0,141,0.00,0.00,-123.97,0.000,2,0.000,0.000,1551,1980,2967
$GC,143,-1.21,-146.6,3.5,-4.2,23,188,14.12,2.58,-23.90,0.000,4,0.206,0.087,3600,3416,3400
$GC,273,-1.21,-146.6,10.8,-6.6,46,279,0.00,2.47,0.00,0.000,6,0.000,0.070,3599,1986,3400
$GC,348,-1.21,-146.6,15.4,-6.5,59,354,0.00,2.47,0.00,0.000,4,0.000,0.092,3600,596,3400
$GC,392,-1.21,-146.6,18.8,-7.2,67,399,0.00,2.40,0.00,0.000,6,0.000,0.065,3600,2015,3399
$GC,462,-1.21,-146.6,23.6,-7.0,75,467,0.00,2.47,0.00,0.000,4,0.000,0.089,3600,3403,3400
$GC,512,-1.21,-146.6,27.1,-7.5,79,516,0.00,2.42,0.00,0.000,6,0.000,0.070,3600,2002,3400
$GC,714,-1.21,-146.6,41.7,-7.4,98,715,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2002,3400
$GC,903,-1.21,-146.6,56.9,-8.3,112,904,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2002,3400
$GC,1212,-1.21,-146.6,83.4,-8.8,127,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2002,3400
$STATE,1502,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1502,begin apogee
$GC,1506,-0.42,0.0,108.8,8.6,145,1627,1.02,0.00,116.68,0.842,6,0.134,0.000,3774,2074,3000
$STATE,1627,end apogee,CONTROL_FINISHED_OK
$STATE,1628,begin climb
$GC,1629,1.21,146.6,112.3,0.0,157,1755,1.55,2.72,114.03,0.819,4,0.127,0.107,4039,655,2601
$GC,1804,1.21,146.6,104.2,7.1,173,1812,0.00,2.50,0.00,0.000,6,0.000,0.079,4040,2038,2601
$GC,2122,1.23,161.6,84.3,6.2,192,2137,0.00,0.00,13.07,0.742,6,0.000,0.000,4040,2038,2560
$GC,2431,1.25,182.4,65.4,6.0,207,2452,0.00,0.00,17.35,0.760,6,0.000,0.000,4039,2038,2504
$GC,2763,1.26,185.1,43.7,6.6,227,2774,0.00,2.70,4.07,0.526,4,0.000,0.107,4039,3473,2496
$GC,2778,1.27,198.8,42.8,6.3,228,2797,0.00,2.58,13.32,0.732,6,0.000,0.084,4039,2076,2459
$GC,2987,1.29,212.3,30.0,6.3,248,3007,0.00,0.00,16.38,0.745,6,0.000,0.000,4039,2076,2422
$GC,3200,1.31,225.0,16.0,6.3,273,3223,0.00,2.72,13.82,0.728,4,0.000,0.107,4039,646,2388
$GC,3251,1.31,225.0,12.7,6.9,282,3257,0.00,2.53,0.00,0.000,6,0.000,0.082,4040,2065,2388
$GC,3326,1.32,235.6,7.8,6.3,295,3342,0.00,0.00,11.05,0.705,6,0.000,0.000,4039,2065,2359
$STATE,3391,end climb,SURFACE_DEPTH_REACHED
$STATE,3391,begin surface coast
$FINISH,1.9,1.019366
$STATE,3472,end surface coast,CONTROL_FINISHED_OK
$STATE,3472,begin surface
$SM_CCo,3491,201.88,0.767,0,0,1640,500.34
$SM_GC,1.13,0.00,0.00,201.88,0.000,0.000,0.767,1552,1981,1640,-10.66,-0.57,500.34
$IRIDIUM_FIX,4751.72,-12230.75,141198,030348
$TT8_MAMPS,0.021476
$HUMID,2233
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.8,32.4
$24V_AH,23.0,2.049
$10V_AH,10.8,0.852
$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,30.075,30.825,319.775,201.875,0.000,27.700,26.492,80.598,1.500,0.000,0.000,31.714,498.468,2042.788,634.624,576.994,173.194,33.350,983.448,0.000,517.898,0.000,12.942,0.000
$DEVICE_MAMPS,206.089,116.701,841.737,767.247,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.172,488.106,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15947,321
$CAP_FILE_SIZE,41500,0
$CFSIZE,260280320,257859584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200809,051528,4806.294,-12222.288,13,99.0,32,18.3