version: 66.07
glider: 33
mission: 12
dive: 14
start: 4 13 110 7 48 42
data:
$ID,33
$MISSION,12
$DIVE,14
$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,150
$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,-210846.02
$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,15
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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
$GPS1,130410,074356,4806.766,-12222.538,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-61.9
$GPS2,130410,074749,4806.784,-12222.554,14,1.8,31,18.3
$SPEED_LIMITS,0.067,0.308
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.194,0.240
$KALMAN_X,-515.6,-315.7,232.0,834.0,302.1
$KALMAN_Y,-176.5,239.9,-307.5,-1077.8,-361.8
$MHEAD_RNG_PITCHd_Wd,302.8,2875,-7.7,-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,15,-0.84,-293.3,0.0,0.0,0,159,0.00,0.00,-141.43,0.000,2,0.000,0.000,21,1812,2301,0,0,0,0,0,0
$GC,161,-0.84,-293.3,3.0,-2.3,28,258,8.30,0.00,-83.65,0.000,6,0.206,0.000,1531,1814,3612,0,0,0,0,0,0
$GC,325,-0.84,-293.3,13.8,-7.4,59,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,1813,3613,0,0,0,0,0,0
$GC,397,-0.84,-293.3,19.4,-7.5,72,403,0.00,0.90,0.00,0.000,4,0.000,0.127,1531,2316,3613,0,0,0,0,0,0
$GC,423,-0.84,-293.3,21.5,-7.6,75,430,0.00,0.93,0.00,0.000,6,0.000,0.114,1531,1803,3612,0,0,1,0,0,0
$GC,556,-0.84,-293.3,31.1,-7.2,88,560,0.00,0.93,0.00,0.000,4,0.000,0.122,1530,1277,3613,0,0,0,0,0,0
$GC,601,-0.84,-293.3,34.5,-7.8,92,604,0.00,0.93,0.00,0.000,6,0.000,0.109,1530,1798,3613,0,0,1,0,0,0
$GC,739,-0.84,-293.3,44.7,-7.1,105,743,0.00,0.93,0.00,0.000,4,0.000,0.129,1530,2316,3613,0,0,0,0,0,0
$GC,839,-0.84,-293.3,52.1,-7.5,114,844,0.00,0.93,0.00,0.000,6,0.000,0.119,1531,1795,3612,0,0,1,0,0,0
$GC,978,-0.84,-293.3,62.0,-7.4,127,981,0.00,0.93,0.00,0.000,4,0.000,0.122,1531,1273,3612,0,0,0,0,0,0
$GC,1015,-0.84,-293.3,64.6,-7.2,130,1021,0.00,0.95,0.00,0.000,6,0.000,0.107,1531,1803,3612,0,0,1,0,0,0
$GC,1148,-0.84,-293.3,74.1,-7.4,143,1152,0.00,0.93,0.00,0.000,4,0.000,0.127,1530,2324,3612,0,0,0,0,0,0
$GC,1238,-0.84,-293.3,80.0,-6.1,151,1245,0.00,0.93,0.00,0.000,6,0.000,0.119,1531,1802,3612,0,0,1,0,0,0
$GC,1377,-0.84,-293.3,89.6,-6.8,164,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,1802,3612,0,0,0,0,0,0
$GC,1505,-0.84,-293.3,98.0,-6.6,176,1509,0.00,0.95,0.00,0.000,4,0.000,0.129,1531,2324,3612,0,0,0,0,0,0
$GC,1550,-0.84,-293.3,101.0,-6.2,180,1553,0.00,0.93,0.00,0.000,6,0.000,0.119,1531,1800,3612,0,0,1,0,0,0
$STATE,1602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1602,begin apogee
$GC,1605,-0.31,0.0,104.4,5.9,185,1819,0.52,0.00,210.02,0.881,6,0.102,0.000,1654,1800,2618,0,0,0,0,0,0
$STATE,1820,end apogee,CONTROL_FINISHED_OK
$STATE,1820,begin climb
$GC,1821,0.84,293.3,114.3,0.0,206,2039,1.08,1.02,210.73,0.857,4,0.092,0.124,1902,1272,1624,0,0,0,0,0,0
$GC,2144,0.84,293.3,93.8,9.3,237,2151,0.00,0.98,0.00,0.000,6,0.000,0.107,1902,1801,1623,0,0,1,0,0,0
$GC,2278,0.84,293.3,81.7,9.1,250,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1803,1623,0,0,0,0,0,0
$GC,2405,0.84,293.3,69.8,8.9,262,2409,0.00,0.98,0.00,0.000,4,0.000,0.119,1903,1268,1623,0,0,0,0,0,0
$GC,2483,0.84,293.3,62.9,8.8,269,2487,0.00,0.93,0.00,0.000,6,0.000,0.109,1903,1793,1624,0,0,1,0,0,0
$GC,2621,0.84,293.3,50.9,8.7,282,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,1796,1623,0,0,0,0,0,0
$GC,2749,0.84,293.3,40.3,8.1,294,2752,0.00,0.95,0.00,0.000,4,0.000,0.122,1903,1272,1623,0,0,0,0,0,0
$GC,2831,0.84,293.3,33.2,8.9,301,2838,0.00,0.95,0.00,0.000,6,0.000,0.109,1902,1802,1623,0,0,1,0,0,0
$GC,2964,0.84,293.3,22.4,7.9,314,2968,0.00,0.93,0.00,0.000,4,0.000,0.127,1902,2322,1623,0,0,0,0,0,0
$GC,3009,0.84,293.3,18.6,8.5,319,3015,0.00,0.93,0.00,0.000,6,0.000,0.119,1903,1797,1623,0,0,1,0,0,0
$GC,3081,0.84,293.3,12.5,8.8,332,3087,0.00,0.93,0.00,0.000,4,0.000,0.124,1902,1276,1624,0,0,0,0,0,0
$GC,3176,0.84,293.3,5.1,7.4,349,3182,0.00,0.93,0.00,0.000,6,0.000,0.112,1903,1802,1623,0,0,1,0,0,0
$STATE,3197,end climb,SURFACE_DEPTH_REACHED
$STATE,3198,begin surface coast
$FINISH,0.7,1.019447
$STATE,3272,end surface coast,CONTROL_FINISHED_OK
$STATE,3272,begin surface
$SM_CCo,3286,143.55,0.804,0,0,924,500.11
$SM_GC,1.13,0.00,0.00,143.55,0.000,0.000,0.804,25,1805,924,-7.80,0.14,500.11
$IRIDIUM_FIX,4751.72,-12216.40,071011,010142
$TT8_MAMPS,0.021721
$HUMID,1078036764
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,90.3,33.6
$24V_AH,23.8,52.447
$10V_AH,10.3,10.907
$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,17.625,20.625,420.750,143.550,0.000,29.879,26.668,91.837,1.500,0.000,31.835,559.468,1504.093,697.322,875.556,39.779,33.320,1148.987,0.000,646.149,0.000,11.702,0.000
$DEVICE_MAMPS,206.089,129.116,881.465,804.492,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.136,0.000,558.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323552
$DATA_FILE_SIZE,20292,366
$CAP_FILE_SIZE,57789,0
$CFSIZE,260280320,256475136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,130410,084658,4807.211,-12222.980,13,99.0,32,18.3