version: 66.04
glider: 33
mission: 4
dive: 19
start: 8 20 109 14 55 8
data:
$ID,33
$MISSION,4
$DIVE,19
$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,-167000.08
$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,15
$R_STBD_OVSHOOT,13
$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
$GPS1,145114,4808.188,-12223.144,14,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-69.6
$GPS2,145419,4808.203,-12223.142,11,1.4,11,18.3
$SPEED_LIMITS,0.200,0.314
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.149,-0.179
$KALMAN_X,-137.0,179.8,-100.3,45.8,-46.9
$KALMAN_Y,-5047.6,102.8,349.5,6146.1,-102.8
$MHEAD_RNG_PITCHd_Wd,121.9,415,-39.6,-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,-3.41,-90.0,0.0,0.0,0,156,0.00,0.00,-139.15,0.000,2,0.000,0.000,1549,2014,2888
$GC,158,-3.48,-146.6,3.5,-8.3,26,198,10.73,2.58,-19.88,0.000,4,0.206,0.082,3096,3439,3321
$GC,305,-3.48,-146.6,33.1,-22.7,47,309,0.00,2.47,0.00,0.000,6,0.000,0.072,3097,2015,3321
$GC,512,-3.48,-146.6,80.6,-24.3,60,516,0.00,2.55,0.00,0.000,4,0.000,0.084,3096,3441,3321
$GC,566,-3.48,-146.6,95.9,-26.1,62,573,0.00,2.50,0.00,0.000,6,0.000,0.072,3096,2025,3321
$STATE,592,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,592,begin apogee
$GC,595,-0.42,0.0,102.4,25.6,64,724,4.43,0.00,117.05,0.819,6,0.196,0.000,3761,2088,2921
$STATE,725,end apogee,CONTROL_FINISHED_OK
$STATE,725,begin climb
$GC,726,3.48,146.6,107.7,0.0,77,849,1.67,2.62,115.20,0.800,4,0.129,0.092,4043,655,2522
$GC,859,3.58,225.8,100.2,8.3,90,938,0.00,2.45,72.10,0.780,6,0.000,0.067,4043,2047,2307
$GC,1248,3.67,301.4,66.3,8.8,110,1309,0.00,0.00,59.45,0.767,6,0.000,0.000,4043,2047,2101
$GC,1621,3.77,385.5,35.2,7.5,136,1694,0.00,2.65,65.90,0.755,4,0.000,0.097,4043,3466,1873
$GC,1739,3.88,468.9,25.7,7.6,147,1813,0.00,2.45,65.65,0.740,6,0.000,0.067,4043,2061,1646
$GC,2013,4.00,566.3,4.9,5.6,189,2047,0.00,0.00,31.88,0.723,2,0.000,0.000,4043,2061,1537
$STATE,2048,end climb,SURFACE_DEPTH_REACHED
$STATE,2048,begin surface coast
$FINISH,0.1,1.008049
$STATE,2233,end surface coast,CONTROL_FINISHED_OK
$STATE,2233,begin surface
$SM_CCo,2312,0.00,0.000,0,0,1536,509.54
$SM_GC,0.57,13.05,0.00,0.00,0.079,0.000,0.000,1546,1998,1536,-10.57,-0.76,509.54
$IRIDIUM_FIX,4748.51,-12221.84,141198,141415
$TT8_MAMPS,0.021476
$HUMID,2223
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,32.9
$24V_AH,22.9,3.155
$10V_AH,10.8,1.121
$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,29.875,20.375,527.225,0.000,0.000,28.621,26.488,72.216,1.000,0.000,0.000,11.558,315.676,1015.733,582.744,439.516,158.368,33.335,901.866,0.000,412.612,0.000,8.543,0.000
$DEVICE_MAMPS,206.089,198.640,819.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,146.536,346.788,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12812,228
$CAP_FILE_SIZE,29913,0
$CFSIZE,260280320,257609728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$GPS,200809,153420,4807.972,-12222.962,10,1.8,10,18.3