version: 66.07
glider: 33
mission: 20
dive: 9
start: 7 15 110 2 40 1
data:
$ID,33
$MISSION,20
$DIVE,9
$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,-226986.58
$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
$GPS1,150710,023608,4805.997,-12221.814,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-61.7
$GPS2,150710,023937,4806.029,-12221.819,9,1.4,15,18.3
$SPEED_LIMITS,0.062,0.181
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.173,-0.051
$KALMAN_X,395.0,0.0,0.0,532.2,-881.7
$KALMAN_Y,-1385.1,0.0,0.0,363.9,336.2
$MHEAD_RNG_PITCHd_Wd,88.0,2158,-13.9,-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,15,-1.05,-146.6,0.0,0.0,0,133,0.00,0.00,-115.90,0.000,2,0.000,0.000,21,2042,2109,0,0,0,0,0,0
$GC,136,-1.05,-146.6,3.0,-1.9,20,254,7.53,2.47,-104.38,0.000,4,0.194,0.094,1449,3461,3961,0,0,0,0,0,0
$GC,382,-1.05,-146.6,23.1,-11.4,60,390,0.00,2.38,0.00,0.000,6,0.000,0.082,1449,2044,3961,0,0,0,0,0,0
$GC,516,-1.05,-146.6,36.6,-10.2,73,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,2044,3961,0,0,0,0,0,0
$GC,643,-1.05,-146.6,50.5,-10.7,85,647,0.00,2.35,0.00,0.000,4,0.000,0.102,1449,633,3961,0,0,0,0,0,0
$GC,683,-1.05,-146.6,54.7,-11.4,88,687,0.00,2.30,0.00,0.000,6,0.000,0.084,1449,2051,3961,0,0,1,0,0,0
$GC,816,-1.05,-146.6,68.6,-10.5,100,820,0.00,2.38,0.00,0.000,4,0.000,0.102,1449,3460,3962,0,0,0,0,0,0
$GC,880,-1.05,-146.6,75.3,-10.0,105,888,0.00,2.35,0.00,0.000,6,0.000,0.087,1449,2058,3962,0,0,0,0,0,0
$GC,1015,-1.05,-146.6,88.8,-10.5,118,1019,0.00,2.38,0.00,0.000,4,0.000,0.107,1449,636,3962,0,0,0,0,0,0
$GC,1066,-1.05,-146.6,94.3,-11.0,122,1070,0.00,2.30,0.00,0.000,6,0.000,0.089,1449,2056,3962,0,0,1,0,0,0
$STATE,1155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1155,begin apogee
$GC,1158,-0.31,0.0,103.8,10.5,130,1260,0.73,0.00,97.90,0.852,6,0.119,0.000,1614,2061,3473,0,0,0,0,0,0
$STATE,1261,end apogee,CONTROL_FINISHED_OK
$STATE,1261,begin climb
$GC,1262,1.05,146.6,107.9,0.0,140,1373,1.27,2.62,101.38,0.837,4,0.089,0.114,1913,638,2976,0,0,1,0,0,0
$GC,1436,1.51,515.7,115.1,-4.4,156,1698,0.43,2.40,251.18,0.837,6,0.072,0.092,2025,2061,1725,0,0,1,0,0,0
$GC,1823,1.51,515.7,75.3,17.2,192,1827,0.00,2.53,0.00,0.000,4,0.000,0.114,2025,641,1726,0,0,0,0,0,0
$GC,1874,1.51,515.7,66.3,17.9,196,1878,0.00,2.38,0.00,0.000,6,0.000,0.094,2026,2042,1725,0,0,1,0,0,0
$GC,2007,1.51,515.7,44.5,16.3,208,2011,0.00,2.47,0.00,0.000,4,0.000,0.117,2026,640,1725,0,0,0,0,0,0
$GC,2049,1.51,515.7,37.1,17.5,211,2057,0.00,2.40,0.00,0.000,6,0.000,0.094,2026,2048,1725,0,0,1,0,0,0
$GC,2185,1.51,515.7,16.3,15.2,226,2192,0.00,2.45,0.00,0.000,4,0.000,0.117,2026,640,1725,0,0,0,0,0,0
$GC,2232,1.51,515.7,9.2,15.2,234,2239,0.00,2.38,0.00,0.000,6,0.000,0.097,2026,2056,1725,0,0,1,0,0,0
$STATE,2277,end climb,SURFACE_DEPTH_REACHED
$STATE,2277,begin surface coast
$FINISH,2.6,1.017557
$STATE,2312,end surface coast,CONTROL_FINISHED_OK
$STATE,2312,begin surface
$SM_CCo,2326,196.73,0.767,0,0,763,800.07
$SM_GC,1.24,0.00,0.00,196.73,0.000,0.000,0.767,24,2061,763,-7.65,0.31,800.07
$IRIDIUM_FIX,4748.51,-12226.29,150710,010109
$TT8_MAMPS,0.021721
$HUMID,1078768377
$INTERNAL_PRESSURE,7.54912
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,90.4,32.5
$24V_AH,24.7,19.180
$10V_AH,10.4,6.778
$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,18.325,38.525,450.450,196.725,0.000,24.262,26.873,90.246,1.500,0.000,15.885,498.320,804.900,756.945,656.279,35.332,0.385,1123.040,0.000,468.012,0.000,11.745,0.000
$DEVICE_MAMPS,193.674,116.701,851.669,767.247,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,160.673,0.000,378.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13510,248
$CAP_FILE_SIZE,45620,0
$CFSIZE,260280320,252444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,150710,032306,4806.050,-12221.428,13,1.0,29,18.3