version: 66.04
glider: 33
mission: 4
dive: 15
start: 8 20 109 10 9 7
data:
$ID,33
$MISSION,4
$DIVE,15
$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,100
$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,-166948.41
$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,2025
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$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
$GPS1,100222,4807.510,-12223.434,12,7.7,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-71.3
$GPS2,100816,4807.489,-12223.379,16,7.2,35,18.3
$SPEED_LIMITS,0.050,0.174
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.062,0.163
$KALMAN_X,-41.5,-104.4,199.8,-359.6,73.1
$KALMAN_Y,-3173.3,366.2,-373.0,3415.1,-605.7
$MHEAD_RNG_PITCHd_Wd,320.8,1218,-11.6,-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,13,-1.08,-97.8,0.0,0.0,0,146,0.00,0.00,-130.15,0.000,2,0.000,0.000,1556,2053,3009
$GC,148,-1.08,-97.8,3.1,-2.9,24,178,14.48,2.62,-9.02,0.000,4,0.209,0.087,3627,598,3187
$GC,251,-1.08,-97.8,8.5,-4.0,42,258,0.00,2.45,0.00,0.000,6,0.000,0.065,3627,2040,3187
$GC,325,-1.08,-97.8,11.0,-3.3,55,330,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2040,3187
$GC,398,-1.08,-97.8,13.3,-2.9,68,404,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2040,3187
$GC,471,-1.08,-97.8,16.3,-3.8,81,477,0.00,2.47,0.00,0.000,4,0.000,0.087,3627,3428,3187
$GC,555,-1.08,-97.8,20.3,-5.1,96,561,0.00,2.45,0.00,0.000,6,0.000,0.067,3627,2002,3187
$GC,751,-1.08,-97.8,29.1,-4.6,115,755,0.00,2.45,0.00,0.000,4,0.000,0.092,3627,625,3188
$GC,790,-1.08,-97.8,31.0,-5.4,118,794,0.00,2.38,0.00,0.000,6,0.000,0.065,3627,2030,3188
$GC,988,-1.08,-97.8,40.7,-4.9,136,992,0.00,2.50,0.00,0.000,4,0.000,0.089,3627,3425,3188
$GC,1048,-1.08,-97.8,44.2,-6.6,141,1052,0.00,2.42,0.00,0.000,6,0.000,0.070,3627,2020,3188
$GC,1258,-1.08,-97.8,56.1,-6.1,156,1262,0.00,2.50,0.00,0.000,4,0.000,0.092,3627,618,3188
$GC,1289,-1.08,-97.8,58.0,-5.8,157,1296,0.00,2.40,0.00,0.000,6,0.000,0.065,3627,2019,3188
$GC,1605,-1.08,-97.8,77.7,-6.4,173,1609,0.00,2.53,0.00,0.000,4,0.000,0.092,3627,3425,3188
$GC,1703,-1.08,-97.8,84.7,-6.5,177,1711,0.00,2.45,0.00,0.000,6,0.000,0.070,3627,2028,3188
$GC,2021,-1.08,-97.8,104.7,-6.9,196,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2028,3188
$STATE,2041,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2041,begin apogee
$GC,2044,-0.42,0.0,106.4,7.1,198,2127,0.85,0.00,79.45,0.837,6,0.122,0.000,3774,2028,2921
$STATE,2128,end apogee,CONTROL_FINISHED_OK
$STATE,2128,begin climb
$GC,2129,1.08,97.8,108.6,0.0,206,2216,1.50,0.00,77.97,0.819,6,0.114,0.000,4039,2028,2655
$GC,2537,1.08,97.8,88.4,5.5,236,2542,0.00,2.67,0.00,0.000,4,0.000,0.102,4039,3461,2655
$GC,2547,1.08,97.8,87.6,5.7,236,2554,0.00,2.53,0.00,0.000,6,0.000,0.082,4039,2082,2655
$GC,2862,1.08,97.8,71.0,5.2,252,2866,0.00,2.65,0.00,0.000,4,0.000,0.102,4040,633,2655
$GC,2911,1.08,97.8,67.8,6.7,254,2916,0.00,2.53,0.00,0.000,6,0.000,0.077,4039,2046,2655
$GC,3232,1.09,104.0,51.7,4.8,270,3246,0.00,2.72,6.50,0.656,4,0.000,0.104,4040,3471,2637
$GC,3268,1.09,104.0,49.7,5.7,271,3275,0.00,2.58,0.00,0.000,6,0.000,0.082,4039,2064,2637
$GC,3593,1.09,104.0,33.1,5.3,302,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,4040,2064,2637
$GC,3784,1.09,106.2,23.6,4.9,320,3788,0.00,2.62,0.00,0.000,4,0.000,0.104,4040,633,2637
$GC,3867,1.11,116.7,19.3,4.6,328,3885,0.00,2.53,10.82,0.723,6,0.000,0.079,4040,2069,2604
$GC,3953,1.12,125.6,15.3,4.7,343,3971,0.00,2.65,8.70,0.693,4,0.000,0.104,4040,3465,2579
$GC,3993,1.12,127.6,13.2,4.9,350,4000,0.00,2.55,0.00,0.000,6,0.000,0.084,4039,2057,2579
$GC,4068,1.13,132.6,9.7,4.8,363,4081,0.00,2.65,6.75,0.653,4,0.000,0.104,4039,635,2561
$GC,4125,1.13,132.6,6.7,5.2,373,4131,0.00,2.53,0.00,0.000,6,0.000,0.079,4040,2065,2561
$STATE,4186,end climb,SURFACE_DEPTH_REACHED
$STATE,4186,begin surface coast
$FINISH,2.2,1.020609
$STATE,4294,end surface coast,CONTROL_FINISHED_OK
$STATE,4294,begin surface
$SM_CCo,4314,291.92,0.767,0,0,1561,500.34
$SM_GC,0.86,0.00,0.00,291.92,0.000,0.000,0.767,1553,2014,1561,-10.66,-0.31,500.34
$IRIDIUM_FIX,4748.51,-12226.29,141198,080819
$TT8_MAMPS,0.021476
$HUMID,2186
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,41.2
$24V_AH,22.9,2.667
$10V_AH,10.8,1.010
$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,30.050,60.925,190.200,291.925,0.000,61.069,56.486,89.536,1.000,0.000,0.000,36.432,667.049,2658.183,650.543,748.370,251.600,33.313,1068.849,0.000,677.556,0.000,8.572,0.000
$DEVICE_MAMPS,208.572,121.667,836.771,767.247,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.431,612.815,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19152,403
$CAP_FILE_SIZE,54691,0
$CFSIZE,260280320,257699840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200809,112706,4807.775,-12223.636,34,1.0,41,18.3