version: 66.07
glider: 33
mission: 12
dive: 10
start: 4 13 110 3 34 25
data:
$ID,33
$MISSION,12
$DIVE,10
$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,75
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$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,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,-210841.02
$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,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,20
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,19
$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,-20.378853
$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
$GPS1,130410,033013,4805.822,-12221.869,13,1.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-62.6
$GPS2,130410,033332,4805.839,-12221.869,11,1.6,11,18.3
$SPEED_LIMITS,0.067,0.308
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,0.005
$KALMAN_X,-879.9,27.7,-364.6,2295.9,-445.5
$KALMAN_Y,433.8,-79.1,437.5,-3860.0,271.1
$MHEAD_RNG_PITCHd_Wd,67.1,340,-43.2,-6.667
$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,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,-2.72,-14.2,0.0,0.0,0,129,0.00,0.00,-111.53,0.000,2,0.000,0.000,26,1806,2087,0,0,0,0,0,0
$GC,131,-2.74,-27.9,3.0,-2.4,22,197,6.07,1.25,-51.62,0.000,4,0.214,0.117,1116,2505,2713,0,0,1,0,0,0
$GC,450,-2.74,-27.9,43.1,-16.2,67,454,0.00,1.23,0.00,0.000,6,0.000,0.112,1116,1805,2713,0,0,1,0,0,0
$GC,587,-2.74,-27.9,65.7,-17.1,80,591,0.00,1.23,0.00,0.000,4,0.000,0.122,1116,2501,2713,0,0,1,0,0,0
$GC,785,-2.74,-27.9,97.7,-16.7,97,791,0.00,1.23,0.00,0.000,6,0.000,0.112,1116,1800,2713,0,0,1,0,0,0
$STATE,832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,832,begin apogee
$GC,835,-0.31,0.0,105.2,15.8,102,864,2.70,0.00,22.95,0.862,6,0.171,0.000,1646,1800,2618,0,0,0,0,0,0
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,866,2.74,27.9,107.3,0.0,105,895,2.83,1.25,20.90,0.837,4,0.087,0.122,2321,1093,2522,0,0,0,0,0,0
$GC,917,2.74,27.9,103.0,8.6,110,921,0.00,1.27,0.00,0.000,6,0.000,0.112,2321,1798,2522,0,0,1,0,0,0
$GC,1056,2.76,47.0,99.3,0.7,123,1077,0.00,1.30,14.98,0.819,4,0.000,0.132,2321,2506,2458,0,0,0,0,0,0
$GC,1149,2.78,60.6,98.4,2.4,131,1166,0.00,1.27,11.20,0.790,6,0.000,0.114,2321,1796,2412,0,0,1,0,0,0
$GC,1292,2.78,60.6,90.0,7.2,145,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1796,2411,0,0,0,0,0,0
$GC,1420,2.78,60.6,80.6,7.7,157,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1796,2411,0,0,0,0,0,0
$GC,1547,2.78,61.7,72.3,6.3,169,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1796,2411,0,0,0,0,0,0
$GC,1675,2.79,67.0,65.2,5.0,181,1686,0.00,1.27,6.30,0.720,4,0.000,0.127,2321,2509,2390,0,0,0,0,0,0
$GC,1769,2.79,67.0,59.2,7.0,189,1775,0.00,1.27,0.00,0.000,6,0.000,0.114,2321,1799,2390,0,0,1,0,0,0
$GC,1902,2.79,68.7,51.3,6.1,202,1906,0.00,1.25,0.00,0.000,4,0.000,0.122,2322,1095,2390,0,0,0,0,0,0
$GC,2003,2.79,71.1,44.7,5.9,211,2014,0.00,1.25,4.60,0.636,6,0.000,0.112,2321,1800,2376,0,0,1,0,0,0
$GC,2141,2.79,71.5,36.0,6.6,224,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1800,2376,0,0,0,0,0,0
$GC,2268,2.79,71.5,27.2,7.3,236,2271,0.00,1.25,0.00,0.000,4,0.000,0.129,2321,2494,2377,0,0,1,0,0,0
$GC,2526,2.79,73.5,10.3,6.1,272,2537,0.00,1.23,3.35,0.516,6,0.000,0.117,2321,1798,2368,0,0,1,0,0,0
$GC,2604,2.81,86.0,7.7,2.7,286,2620,0.00,1.25,10.50,0.772,4,0.000,0.127,2321,2502,2326,0,0,0,0,0,0
$GC,2873,2.83,107.1,7.2,0.0,334,2894,0.00,1.25,16.05,0.802,6,0.000,0.117,2321,1799,2254,0,0,1,0,0,0
$GC,2961,2.85,120.6,5.7,2.5,350,2978,0.00,1.27,11.38,0.760,4,0.000,0.124,2321,2508,2207,0,0,0,0,0,0
$GC,3085,2.88,140.9,4.4,0.3,372,3106,0.08,1.25,15.23,0.780,6,0.087,0.117,2349,1809,2139,0,0,1,0,0,0
$STATE,3127,end climb,SURFACE_DEPTH_REACHED
$STATE,3127,begin surface coast
$FINISH,3.6,1.021432
$STATE,3410,end surface coast,CONTROL_FINISHED_OK
$STATE,3410,begin surface
$SM_CCo,3426,250.98,0.809,0,0,924,500.11
$SM_GC,1.21,0.00,0.00,250.98,0.000,0.000,0.809,23,1806,924,-7.81,0.17,500.11
$IRIDIUM_FIX,4751.72,-12148.70,061011,212104
$TT8_MAMPS,0.021721
$HUMID,1078034184
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.0
$ALTIM_BOTTOM_PING,90.9,33.2
$24V_AH,24.1,51.915
$10V_AH,10.4,10.774
$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,22.075,22.575,137.425,250.975,0.000,27.440,27.956,81.648,1.500,0.000,12.293,700.430,1686.484,525.183,942.482,38.080,33.323,959.097,0.000,734.438,0.000,11.700,0.000
$DEVICE_MAMPS,213.538,131.599,861.601,809.458,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.054,0.000,655.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323540
$DATA_FILE_SIZE,20185,430
$CAP_FILE_SIZE,58142,0
$CFSIZE,260280320,256610304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,130410,043654,4805.819,-12221.711,38,1.2,38,18.3