version: 66.04
glider: 33
mission: 4
dive: 18
start: 8 20 109 14 11 52
data:
$ID,33
$MISSION,4
$DIVE,18
$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,25
$T_MISSION,45
$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,-166987.89
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1555
$PITCH_MAX,4048
$C_PITCH,3860
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,140731,4808.196,-12223.551,40,1.2,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-70.6
$GPS2,141102,4808.201,-12223.547,13,1.2,13,18.3
$SPEED_LIMITS,0.200,0.314
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.314,-0.006
$KALMAN_X,-150.8,159.3,-90.3,-427.3,6.0
$KALMAN_Y,-5030.2,153.5,294.0,6130.9,-252.7
$MHEAD_RNG_PITCHd_Wd,72.7,771,-31.1,-20.000
$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,-2.77,-146.6,0.0,0.0,0,151,0.00,0.00,-134.38,0.000,2,0.000,0.000,1553,2010,3026
$GC,153,-2.77,-146.6,3.3,-7.0,25,188,11.80,2.62,-13.07,0.000,4,0.206,0.097,3248,606,3321
$GC,439,-2.77,-146.6,58.4,-18.8,57,446,0.00,2.50,0.00,0.000,6,0.000,0.077,3248,2014,3321
$STATE,661,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,661,begin apogee
$GC,665,-0.42,0.0,102.9,19.3,69,788,3.28,0.00,116.90,0.824,6,0.176,0.000,3758,2071,2921
$STATE,788,end apogee,CONTROL_FINISHED_OK
$STATE,788,begin climb
$GC,790,2.77,146.6,107.2,0.0,81,916,1.62,2.70,114.82,0.804,4,0.124,0.107,4037,3464,2522
$GC,943,2.92,270.7,98.5,8.7,94,1055,0.00,2.55,106.60,0.787,6,0.000,0.079,4038,2070,2185
$GC,1382,3.08,398.5,62.0,8.4,116,1485,0.00,0.00,100.20,0.772,6,0.000,0.000,4037,2070,1837
$GC,1800,3.25,534.7,28.0,7.6,148,1911,0.00,0.00,106.20,0.755,6,0.000,0.000,4038,2070,1466
$GC,2114,3.43,681.6,5.9,6.6,195,2153,0.00,0.00,37.03,0.728,2,0.000,0.000,4037,2070,1341
$STATE,2154,end climb,SURFACE_DEPTH_REACHED
$STATE,2154,begin surface coast
$FINISH,0.0,0.998730
$STATE,2238,end surface coast,CONTROL_FINISHED_OK
$STATE,2238,begin surface
$SM_CCo,2318,0.00,0.000,0,0,1341,581.28
$SM_GC,0.95,13.02,0.00,0.00,0.079,0.000,0.000,1549,2013,1341,-10.56,-0.37,581.28
$IRIDIUM_FIX,4748.51,-12217.40,141198,121210
$TT8_MAMPS,0.021476
$HUMID,2183
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.9,44.4
$24V_AH,22.9,3.032
$10V_AH,10.8,1.099
$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,29.725,10.575,581.750,0.000,0.000,23.784,31.660,89.974,0.750,0.000,0.000,13.788,296.136,1018.973,606.293,443.507,176.404,33.316,923.936,0.000,414.051,0.000,7.049,0.000
$DEVICE_MAMPS,206.089,136.565,824.356,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,139.398,330.248,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9706,217
$CAP_FILE_SIZE,27328,0
$CFSIZE,260280320,257642496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$GPS,200809,145114,4808.188,-12223.144,14,1.8,14,18.3