version: 66.07
glider: 33
mission: 12
dive: 26
start: 4 13 110 21 13 45
data:
$ID,33
$MISSION,12
$DIVE,26
$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,150
$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,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,-211071.09
$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,1300
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,361
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,16
$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,4
$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
$GPS1,130410,210734,4806.854,-12223.434,9,2.9,28,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-68.2
$GPS2,130410,211231,4806.834,-12223.468,11,1.7,16,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.083,0.250
$KALMAN_X,2014.6,671.6,-461.8,-3115.5,-152.3
$KALMAN_Y,-4158.1,240.6,200.2,2494.1,-449.6
$MHEAD_RNG_PITCHd_Wd,0.1,2236,-18.1,-10.000
$D_GRID,97
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.31,-146.6,0.0,0.0,0,77,0.00,0.00,-61.40,0.000,2,0.000,0.000,23,2306,1647,0,0,0,0,0,0
$GC,79,-1.31,-146.6,3.3,-5.0,12,192,7.70,0.00,-100.70,0.000,6,0.206,0.000,1427,2306,3115,0,0,0,0,0,0
$GC,258,-1.31,-146.6,16.4,-10.4,46,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2306,3116,0,0,0,0,0,0
$GC,334,-1.31,-146.6,25.3,-12.5,56,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,2306,3115,0,0,0,0,0,0
$GC,461,-1.31,-146.6,40.0,-12.0,68,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,2306,3116,0,0,0,0,0,0
$GC,588,-1.31,-146.6,55.4,-12.5,80,589,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,2306,3116,0,0,0,0,0,0
$GC,716,-1.31,-146.6,70.2,-11.4,92,717,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2306,3116,0,0,0,0,0,0
$GC,843,-1.31,-146.6,85.3,-12.3,104,844,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,2306,3116,0,0,0,0,0,0
$STATE,917,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,917,begin apogee
$GC,922,-0.31,0.0,93.8,11.3,111,1032,1.02,0.00,106.62,0.869,6,0.129,0.000,1649,1298,2618,0,0,0,0,0,0
$STATE,1033,end apogee,CONTROL_FINISHED_OK
$STATE,1033,begin climb
$GC,1035,1.31,146.6,98.2,0.0,122,1145,1.55,0.00,105.82,0.847,6,0.092,0.000,2005,1298,2121,0,0,0,0,0,0
$GC,1267,1.33,165.0,83.1,9.2,145,1287,0.00,0.00,14.90,0.780,6,0.000,0.000,2005,1298,2059,0,0,0,0,0,0
$GC,1415,1.34,170.3,68.2,9.8,159,1425,0.00,0.00,5.95,0.658,6,0.000,0.000,2005,1298,2039,0,0,0,0,0,0
$GC,1552,1.34,170.3,53.7,10.7,172,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1297,2039,0,0,0,0,0,0
$GC,1679,1.34,170.3,40.4,10.5,184,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1298,2039,0,0,0,0,0,0
$GC,1807,1.35,178.6,27.7,9.6,196,1817,0.00,0.00,7.50,0.700,6,0.000,0.000,2005,1298,2012,0,0,0,0,0,0
$GC,1948,1.36,182.8,14.1,9.8,214,1958,0.00,0.00,4.85,0.608,6,0.000,0.000,2005,1298,1997,0,0,0,0,0,0
$GC,2025,1.53,327.4,8.8,3.4,228,2128,0.20,0.00,98.62,0.800,2,0.089,0.000,2061,1298,1520,0,0,0,0,0,0
$STATE,2128,end climb,SURFACE_DEPTH_REACHED
$STATE,2129,begin surface coast
$FINISH,3.3,1.018593
$STATE,2201,end surface coast,CONTROL_FINISHED_OK
$STATE,2201,begin surface
$SM_CCo,2216,124.28,0.782,0,0,924,500.11
$SM_GC,2.40,0.00,0.00,124.28,0.000,0.000,0.782,23,1297,924,-7.81,-0.06,500.11
$IRIDIUM_FIX,4751.72,-12226.29,071011,141458
$TT8_MAMPS,0.021721
$HUMID,1078031603
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.7
$ALTIM_BOTTOM_PING,90.2,22.8
$24V_AH,24.0,54.038
$10V_AH,10.4,11.317
$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,19.325,1.825,344.275,124.275,0.000,32.878,56.509,126.095,1.750,0.000,17.655,379.573,1031.126,547.974,661.677,44.116,33.328,831.550,0.000,388.949,0.000,14.529,0.000
$DEVICE_MAMPS,206.089,114.218,869.050,782.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.605,0.000,398.340,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323928
$DATA_FILE_SIZE,16898,261
$CAP_FILE_SIZE,38392,0
$CFSIZE,260280320,256086016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071011,143758,4751.718,-12226.294,0,10000.0,0,18.3