version: 66.07
glider: 33
mission: 20
dive: 7
start: 7 15 110 1 17 2
data:
$ID,33
$MISSION,20
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,5800
$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,80
$T_MISSION,100
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,150
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,5761
$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,13
$HD_A,0.0044716001
$HD_B,0.016021
$HD_C,9.4708003e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,800
$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,-226984.08
$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,1685
$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,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,3473
$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,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.083075
$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
$GPS1,150710,011306,4805.901,-12222.032,11,1.8,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-62.0
$GPS2,150710,011638,4805.889,-12222.056,11,1.8,11,18.3
$SPEED_LIMITS,0.062,0.181
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.040,0.060
$KALMAN_X,1196.8,0.0,0.0,-560.2,-128.8
$KALMAN_Y,-1685.1,0.0,0.0,413.7,-80.5
$MHEAD_RNG_PITCHd_Wd,15.6,216,-38.0,-6.250
$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,-2.40,-25.3,0.0,0.0,0,133,0.00,0.00,-116.05,0.000,2,0.000,0.000,22,2046,2186,0,0,0,0,0,0
$GC,135,-2.43,-49.4,3.2,-2.3,20,219,5.95,2.38,-69.65,0.000,4,0.196,0.089,1149,3464,3642,0,0,0,0,0,0
$GC,402,-2.43,-49.4,55.7,-23.1,53,410,0.00,2.35,0.00,0.000,6,0.000,0.079,1149,2048,3642,0,0,0,0,0,0
$GC,536,-2.43,-49.4,84.6,-21.3,66,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1149,2048,3642,0,0,0,0,0,0
$STATE,652,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,652,begin apogee
$GC,655,-0.31,0.0,110.8,22.3,77,695,2.25,0.00,34.55,0.822,6,0.156,0.000,1614,2048,3473,0,0,0,0,0,0
$STATE,696,end apogee,CONTROL_FINISHED_OK
$STATE,696,begin climb
$GC,698,2.43,49.4,114.6,0.0,81,743,2.50,2.47,34.97,0.819,4,0.084,0.109,2220,641,3304,0,0,0,0,0,0
$GC,758,2.53,125.3,114.8,-6.3,86,821,0.00,2.42,52.65,0.827,6,0.000,0.092,2220,2053,3047,0,0,1,0,0,0
$GC,947,2.57,161.6,123.2,0.3,104,981,0.10,2.50,25.80,0.809,4,0.114,0.109,2255,3466,2925,0,0,0,0,0,0
$STATE,1063,end climb,NO_VERTICAL_VELOCITY
$STATE,1063,begin surface
$SM_CCo,1065,580.55,0.809,0,0,146,982.22
$SM_GC,1.31,9.43,0.00,0.00,0.067,0.000,0.000,17,2049,139,-7.59,0.00,984.29
$IRIDIUM_FIX,4751.72,-12230.75,150710,000029
$TT8_MAMPS,0.021721
$HUMID,1078728377
$INTERNAL_PRESSURE,7.51982
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.5,39.1
$24V_AH,24.7,18.868
$10V_AH,10.4,6.723
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,20.225,14.625,147.975,580.550,0.000,28.200,28.477,90.415,1.250,0.000,12.330,250.238,438.136,871.464,401.810,23.463,0.381,1058.288,0.000,230.529,0.000,10.129,0.000
$DEVICE_MAMPS,196.157,109.252,826.839,809.458,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,72.504,0.000,173.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323492
$DATA_FILE_SIZE,6926,114
$CAP_FILE_SIZE,27931,0
$CFSIZE,260280320,252522496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150710,014716,4805.941,-12222.050,8,2.2,27,18.3