version: 66.04
glider: 33
mission: 4
dive: 16
start: 8 20 109 11 31 30
data:
$ID,33
$MISSION,4
$DIVE,16
$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,-166960.89
$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,16
$R_STBD_OVSHOOT,16
$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
$GPS1,112706,4807.775,-12223.636,34,1.0,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-70.7
$GPS2,113038,4807.763,-12223.641,11,1.1,11,18.3
$SPEED_LIMITS,0.050,0.174
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.063,0.163
$KALMAN_X,12.9,-58.8,149.5,-731.6,20.8
$KALMAN_Y,-3779.1,371.6,-232.4,4380.1,-622.4
$MHEAD_RNG_PITCHd_Wd,320.6,624,-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,14,-1.08,-97.8,0.0,0.0,0,147,0.00,0.00,-130.68,0.000,2,0.000,0.000,1553,2014,2994
$GC,149,-1.08,-97.8,3.1,-2.6,24,180,14.25,2.60,-10.10,0.000,4,0.201,0.084,3626,3446,3188
$GC,432,-1.08,-97.8,16.8,-4.2,74,439,0.00,2.47,0.00,0.000,6,0.000,0.070,3627,2012,3188
$GC,507,-1.08,-97.8,19.7,-4.0,87,513,0.00,2.58,0.00,0.000,4,0.000,0.087,3626,3445,3188
$GC,687,-1.08,-97.8,28.9,-4.9,104,691,0.00,2.45,0.00,0.000,6,0.000,0.070,3627,2024,3188
$GC,883,-1.08,-97.8,39.5,-5.2,122,887,0.00,2.50,0.00,0.000,4,0.000,0.092,3627,622,3188
$GC,903,-1.08,-97.8,40.9,-7.1,123,911,0.00,2.42,0.00,0.000,6,0.000,0.065,3627,2031,3188
$GC,1110,-1.08,-97.8,52.9,-5.9,141,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2031,3188
$GC,1421,-1.08,-97.8,71.8,-6.3,156,1425,0.00,2.50,0.00,0.000,4,0.000,0.092,3627,3426,3188
$GC,1508,-1.08,-97.8,77.9,-7.4,160,1513,0.00,2.45,0.00,0.000,6,0.000,0.070,3626,2027,3188
$GC,1835,-1.08,-97.8,97.4,-5.8,176,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2027,3188
$STATE,1992,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1992,begin apogee
$GC,1995,-0.42,0.0,107.2,5.9,189,2078,0.85,0.00,79.70,0.839,6,0.122,0.000,3775,2027,2921
$STATE,2079,end apogee,CONTROL_FINISHED_OK
$STATE,2079,begin climb
$GC,2080,1.08,97.8,109.3,0.0,197,2167,1.50,0.00,78.20,0.817,6,0.114,0.000,4038,2027,2655
$GC,2488,1.08,97.8,88.0,5.6,227,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,4038,2027,2655
$GC,2798,1.08,97.8,70.8,5.2,242,2802,0.00,2.53,0.00,0.000,4,0.000,0.104,4039,647,2655
$GC,2835,1.08,97.8,68.4,7.3,243,2843,0.00,2.50,0.00,0.000,6,0.000,0.077,4039,2047,2655
$GC,3151,1.08,97.8,51.5,5.3,259,3155,0.00,2.65,0.00,0.000,4,0.000,0.104,4039,3473,2655
$GC,3200,1.09,106.7,48.8,4.7,262,3215,0.00,2.53,8.40,0.700,6,0.000,0.082,4039,2074,2630
$GC,3412,1.09,106.7,37.6,5.6,282,3416,0.00,2.65,0.00,0.000,4,0.000,0.104,4039,633,2630
$GC,3455,1.09,106.7,35.1,6.3,285,3462,0.00,2.55,0.00,0.000,6,0.000,0.077,4039,2061,2630
$GC,3653,1.11,116.4,25.2,4.7,304,3667,0.00,2.70,8.90,0.703,4,0.000,0.107,4039,3470,2604
$GC,3678,1.11,116.4,23.7,5.3,306,3686,0.00,2.60,0.00,0.000,6,0.000,0.082,4039,2052,2604
$GC,3883,1.11,116.4,13.7,5.0,336,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,4039,2052,2604
$GC,3956,1.11,116.4,9.9,5.3,349,3962,0.00,2.62,0.00,0.000,4,0.000,0.102,4039,3471,2604
$GC,3967,1.11,116.4,9.2,5.1,351,3974,0.00,2.53,0.00,0.000,6,0.000,0.082,4039,2063,2604
$GC,4042,1.11,120.1,5.6,4.9,364,4054,0.00,2.62,4.57,0.566,4,0.000,0.107,4039,643,2594
$STATE,4075,end climb,SURFACE_DEPTH_REACHED
$STATE,4075,begin surface coast
$FINISH,2.5,1.020724
$STATE,4190,end surface coast,CONTROL_FINISHED_OK
$STATE,4190,begin surface
$SM_CCo,4212,302.58,0.767,0,0,1560,500.34
$SM_GC,0.86,0.00,0.00,302.58,0.000,0.000,0.767,1555,2030,1560,-10.65,0.14,500.34
$IRIDIUM_FIX,4751.72,-12219.12,141198,101012
$TT8_MAMPS,0.021476
$HUMID,2190
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,41.4
$24V_AH,22.9,2.782
$10V_AH,10.8,1.044
$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,30.125,50.950,179.775,302.575,0.000,28.668,27.312,91.631,1.000,0.000,0.000,11.866,645.981,2559.244,642.067,704.901,189.705,33.314,1038.812,0.000,660.450,0.000,8.571,0.000
$DEVICE_MAMPS,201.123,106.769,839.254,767.247,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.198,593.071,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19128,390
$CAP_FILE_SIZE,49515,0
$CFSIZE,260280320,257667072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200809,124726,4808.005,-12223.868,9,1.8,9,18.3