version: 66.07
glider: 33
mission: 11
dive: 2
start: 4 6 110 20 48 0
data:
$ID,33
$MISSION,11
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4005
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,720
$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,-209847.08
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1750
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,1730
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.29522699
$VBD_TIMEOUT,950
$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,151
$AH0_10V,122.2
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.673697
$PRESSURE_SLOPE,0.00093601202
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$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,-1
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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
$GPS1,060410,204319,4807.843,-12223.391,8,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-63.5
$GPS2,060410,204650,4807.863,-12223.389,13,1.8,13,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.084,-0.250
$KALMAN_X,-27.6,-27.6,-27.6,35.2,-59.7
$KALMAN_Y,63.8,63.8,63.8,-165.0,137.8
$MHEAD_RNG_PITCHd_Wd,143.2,1669,-18.1,-10.000
$D_GRID,105
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.13,-146.6,0.0,0.0,0,93,0.00,0.00,-75.80,0.000,2,0.000,0.000,21,1728,1102,0,0,0,0,0,0
$GC,94,-1.13,-146.6,3.5,-5.0,15,216,8.10,0.00,-107.85,0.000,6,0.209,0.000,1497,1729,3116,0,0,0,0,0,0
$GC,284,-1.13,-146.6,14.7,-7.3,51,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,1729,3116,0,0,0,0,0,0
$GC,361,-1.13,-146.6,21.4,-8.7,64,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,1729,3116,0,0,0,0,0,0
$GC,488,-1.13,-146.6,32.2,-8.6,76,492,0.00,2.53,0.00,0.000,4,0.000,0.124,1497,3136,3116,0,0,0,0,0,0
$GC,575,-1.13,-146.6,39.8,-7.9,83,582,0.00,2.47,0.00,0.000,6,0.000,0.109,1497,1732,3116,0,0,1,0,0,0
$GC,709,-1.13,-146.6,50.6,-8.3,96,714,0.00,2.53,0.00,0.000,4,0.000,0.124,1497,3134,3116,0,0,0,0,0,0
$GC,748,-1.13,-146.6,53.7,-7.9,99,752,0.00,2.45,0.00,0.000,6,0.000,0.109,1497,1729,3116,0,0,1,0,0,0
$GC,881,-1.13,-146.6,64.1,-7.3,111,885,0.00,2.53,0.00,0.000,4,0.000,0.127,1497,3133,3116,0,0,1,0,0,0
$GC,919,-1.13,-146.6,67.3,-7.3,114,923,0.00,2.45,0.00,0.000,6,0.000,0.109,1497,1729,3116,0,0,1,0,0,0
$GC,1052,-1.13,-146.6,77.4,-7.4,126,1056,0.00,2.53,0.00,0.000,4,0.000,0.127,1497,3131,3116,0,0,1,0,0,0
$GC,1093,-1.13,-146.6,80.8,-7.4,129,1100,0.00,2.50,0.00,0.000,6,0.000,0.112,1497,1727,3116,0,0,1,0,0,0
$GC,1230,-1.13,-146.6,90.4,-7.3,142,1235,0.00,2.58,0.00,0.000,4,0.000,0.127,1497,3131,3116,0,0,0,0,0,0
$GC,1262,-1.13,-146.6,93.1,-7.0,144,1269,0.00,2.47,0.00,0.000,6,0.000,0.109,1497,1735,3116,0,0,1,0,0,0
$STATE,1363,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1363,begin apogee
$GC,1367,-0.26,0.0,100.2,7.3,154,1475,0.85,0.00,104.45,0.906,6,0.109,0.000,1691,1680,2618,0,0,0,0,0,0
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1478,1.13,146.6,104.3,0.0,165,1590,1.27,2.65,103.10,0.884,4,0.079,0.132,2004,269,2120,0,0,0,0,0,0
$GC,1826,1.29,277.6,100.1,4.0,197,1928,0.12,2.42,91.53,0.879,6,0.109,0.109,2040,1680,1677,0,0,1,0,0,0
$GC,2054,1.29,277.6,75.5,14.1,219,2058,0.00,2.55,0.00,0.000,4,0.000,0.127,2040,3081,1677,0,0,1,0,0,0
$GC,2186,1.29,277.6,56.9,13.9,230,2193,0.00,2.47,0.00,0.000,6,0.000,0.109,2040,1689,1677,0,0,1,0,0,0
$GC,2320,1.29,277.6,38.8,13.7,243,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1688,1677,0,0,0,0,0,0
$GC,2448,1.29,277.6,22.1,12.7,255,2452,0.00,2.50,0.00,0.000,4,0.000,0.127,2040,3085,1677,0,0,1,0,0,0
$GC,2553,1.29,277.6,8.4,11.2,271,2559,0.00,2.45,0.00,0.000,6,0.000,0.112,2040,1681,1677,0,0,1,0,0,0
$GC,2626,1.54,479.1,7.1,0.8,284,2773,0.20,2.65,138.02,0.829,4,0.092,0.132,2097,260,994,0,0,0,0,0,0
$GC,3026,1.81,694.0,7.2,0.2,358,3179,0.20,2.45,143.15,0.822,6,0.092,0.107,2153,1684,266,0,0,1,0,0,0
$STATE,3194,end climb,SURFACE_DEPTH_REACHED
$STATE,3194,begin surface coast
$FINISH,0.4,1.005770
$STATE,3285,end surface coast,CONTROL_FINISHED_OK
$STATE,3285,begin surface
$SM_CCo,3301,17.25,0.772,0,0,179,720.06
$SM_GC,3.61,0.00,0.00,17.25,0.000,0.000,0.772,20,1730,179,-7.96,0.00,720.06
$IRIDIUM_FIX,4748.51,-12221.84,300911,151548
$TT8_MAMPS,0.021721
$HUMID,1078056119
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.2
$ALTIM_BOTTOM_PING,90.4,29.5
$24V_AH,24.4,50.333
$10V_AH,10.3,10.400
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.575,45.350,580.250,17.250,0.000,0.000,0.000,0.000,1.750,0.000,14.679,565.779,1381.678,626.722,785.634,45.668,30.181,1141.669,0.000,715.947,0.000,14.556,0.000
$DEVICE_MAMPS,208.572,171.327,906.295,772.213,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.452,0.000,620.277,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323980
$DATA_FILE_SIZE,20197,407
$CAP_FILE_SIZE,75030,0
$CFSIZE,260280320,256835584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,060410,214422,4807.573,-12223.237,11,99.0,30,18.3