version: 66.07
glider: 33
mission: 20
dive: 14
start: 7 15 110 6 32 58
data:
$ID,33
$MISSION,20
$DIVE,14
$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,2
$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,-226992.83
$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,0.02
$PITCH_ADJ_DBAND,1
$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
$GPS1,150710,062822,4805.439,-12220.648,11,2.9,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.7
$GPS2,150710,063204,4805.409,-12220.612,12,99.0,31,18.3
$SPEED_LIMITS,0.062,0.181
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,-0.008
$KALMAN_X,-1142.4,3224.7,110.3,214.1,-122.1
$KALMAN_Y,-487.8,-487.8,-487.8,-645.3,-768.2
$MHEAD_RNG_PITCHd_Wd,245.4,897,-37.9,-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,-2.40,-25.4,0.0,0.0,0,168,0.00,0.00,-150.12,0.000,2,0.000,0.000,20,2059,2512,0,0,0,0,0,0
$GC,170,-2.43,-53.1,3.2,-1.7,26,259,5.95,2.38,-74.90,0.000,4,0.194,0.092,1151,3464,3653,0,0,0,0,0,0
$GC,288,-2.46,-53.1,16.1,-19.9,46,295,0.00,2.35,0.00,0.000,6,0.000,0.079,1151,2043,3653,0,0,0,0,0,0
$GC,360,-2.52,-53.1,34.2,-25.3,54,364,0.00,2.35,0.00,0.000,4,0.000,0.094,1151,638,3654,0,0,0,0,0,0
$GC,377,-2.57,-53.1,38.5,-25.7,55,382,0.10,2.35,0.00,0.000,6,0.122,0.082,1122,2061,3654,0,0,0,0,0,0
$GC,510,-2.60,-53.1,73.1,-26.1,67,514,0.00,2.33,0.00,0.000,4,0.000,0.097,1122,3456,3653,0,0,0,0,0,0
$GC,550,-2.62,-53.1,83.7,-26.7,70,554,0.00,2.33,0.00,0.000,6,0.000,0.084,1122,2052,3654,0,0,0,0,0,0
$STATE,602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,602,begin apogee
$GC,605,-0.31,0.0,97.0,24.5,75,647,2.40,0.00,37.28,0.832,6,0.159,0.000,1611,2052,3474,0,0,0,0,0,0
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,648,begin climb
$GC,650,2.43,53.1,101.0,0.0,79,695,2.53,2.55,37.50,0.814,4,0.084,0.109,2222,645,3292,0,0,0,0,0,0
$GC,734,2.66,166.1,104.8,-12.3,86,819,0.17,2.40,78.12,0.837,6,0.094,0.094,2270,2054,2910,0,0,1,0,0,0
$GC,944,2.87,203.3,112.5,0.1,106,979,0.17,2.50,26.55,0.814,4,0.094,0.109,2319,3455,2783,0,0,0,0,0,0
$STATE,1566,end climb,NO_VERTICAL_VELOCITY
$STATE,1566,begin surface
$SM_CCo,1568,556.60,0.809,0,0,146,982.22
$SM_GC,1.34,9.70,0.00,0.00,0.065,0.000,0.000,13,2055,139,-7.59,0.14,984.29
$IRIDIUM_FIX,4748.51,-12220.12,150710,050529
$TT8_MAMPS,0.021721
$HUMID,1078723216
$INTERNAL_PRESSURE,7.48076
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,35.6
$24V_AH,24.5,19.977
$10V_AH,10.4,6.908
$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,21.025,24.025,179.450,556.600,0.000,31.129,24.438,82.244,1.000,0.000,32.956,358.154,641.368,897.663,548.702,29.535,30.278,1157.126,0.000,357.825,0.000,8.589,0.000
$DEVICE_MAMPS,193.674,109.252,836.771,809.458,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,103.931,0.000,245.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323432
$DATA_FILE_SIZE,6905,161
$CAP_FILE_SIZE,36625,0
$CFSIZE,260280320,252321792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150710,071056,4805.329,-12220.666,12,1.2,12,18.3