version: 66.07
glider: 33
mission: 20
dive: 15
start: 7 15 110 7 14 52
data:
$ID,33
$MISSION,20
$DIVE,15
$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,-226994.08
$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,0.02
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,150710,071056,4805.329,-12220.666,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.3
$GPS2,150710,071356,4805.307,-12220.649,14,1.6,14,18.3
$SPEED_LIMITS,0.062,0.181
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.094
$KALMAN_X,-1944.3,4344.5,97.6,-128.0,1096.9
$KALMAN_Y,-887.8,-479.5,-362.5,-625.9,-1493.5
$MHEAD_RNG_PITCHd_Wd,283.1,715,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.05,-146.6,0.0,0.0,0,230,0.00,0.00,-212.32,0.000,2,0.000,0.000,13,2050,2546,0,0,0,0,0,0
$GC,232,-1.05,-146.6,3.2,-1.7,37,339,7.53,2.45,-93.00,0.000,4,0.191,0.097,1446,637,3961,0,0,0,0,0,0
$GC,396,-1.01,-146.6,13.9,-10.8,65,403,0.00,2.30,0.00,0.000,6,0.000,0.082,1446,2051,3960,0,0,1,0,0,0
$GC,471,-0.98,-146.6,21.9,-11.1,77,472,0.10,0.00,0.00,0.000,6,0.156,0.000,1468,2057,3961,0,0,0,0,0,0
$GC,598,-0.98,-146.6,34.2,-9.7,89,602,0.00,2.40,0.00,0.000,4,0.000,0.099,1468,630,3961,0,0,0,0,0,0
$GC,625,-0.98,-146.6,36.8,-9.4,91,629,0.00,2.30,0.00,0.000,6,0.000,0.082,1468,2047,3961,0,0,1,0,0,0
$GC,764,-0.98,-146.6,50.7,-10.2,104,768,0.00,2.38,0.00,0.000,4,0.000,0.102,1468,3456,3961,0,0,0,0,0,0
$GC,806,-0.98,-146.6,54.7,-9.5,107,814,0.00,2.35,0.00,0.000,6,0.000,0.082,1468,2051,3961,0,0,0,0,0,0
$GC,941,-0.98,-146.6,67.5,-9.5,120,942,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,2051,3961,0,0,0,0,0,0
$GC,1068,-0.98,-146.6,79.6,-9.8,132,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,2051,3961,0,0,0,0,0,0
$GC,1196,-0.98,-146.6,91.8,-9.5,144,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,2051,3961,0,0,0,0,0,0
$STATE,1269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1269,begin apogee
$GC,1273,-0.31,0.0,99.0,9.8,151,1374,0.65,0.00,97.65,0.867,6,0.122,0.000,1614,2051,3473,0,0,0,0,0,0
$STATE,1374,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1376,1.05,146.6,103.3,0.0,161,1485,1.27,2.55,101.70,0.837,4,0.089,0.112,1912,3454,2976,0,0,1,0,0,0
$GC,1560,1.44,490.7,111.0,-3.6,178,1804,0.35,2.40,234.93,0.834,6,0.072,0.092,2010,2048,1811,0,0,1,0,0,0
$GC,1931,1.31,490.7,78.2,15.6,212,1937,0.17,2.55,0.00,0.000,4,0.144,0.109,1974,3455,1811,0,0,0,0,0,0
$GC,2132,1.24,490.7,50.5,13.4,229,2140,0.00,2.42,0.00,0.000,6,0.000,0.094,1974,2060,1811,0,0,0,0,0,0
$GC,2267,1.18,490.7,33.7,12.4,242,2272,0.15,2.47,0.00,0.000,4,0.146,0.114,1943,638,1810,0,0,0,0,0,0
$GC,2374,1.14,490.7,22.1,10.7,251,2378,0.00,2.35,0.00,0.000,6,0.000,0.094,1943,2050,1810,0,0,1,0,0,0
$GC,2514,1.14,490.7,8.1,9.8,273,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2057,1810,0,0,0,0,0,0
$STATE,2559,end climb,SURFACE_DEPTH_REACHED
$STATE,2559,begin surface coast
$FINISH,1.1,1.017859
$STATE,2604,end surface coast,CONTROL_FINISHED_OK
$STATE,2605,begin surface
$SM_CCo,2618,213.98,0.777,0,0,763,800.07
$SM_GC,1.23,0.00,0.00,213.98,0.000,0.000,0.777,20,2055,763,-7.66,0.14,800.07
$IRIDIUM_FIX,4758.15,-12325.27,150710,060621
$TT8_MAMPS,0.021721
$HUMID,1078721926
$INTERNAL_PRESSURE,7.52959
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.8
$ALTIM_BOTTOM_PING,80.6,37.7
$24V_AH,24.5,20.133
$10V_AH,10.4,6.937
$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,18.150,28.925,434.275,213.975,0.000,22.886,25.601,68.382,1.250,0.000,15.355,566.078,913.073,815.609,702.370,38.606,31.673,1216.345,0.000,532.171,0.000,10.228,0.000
$DEVICE_MAMPS,191.191,114.218,866.567,777.179,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,187.501,0.000,441.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323420
$DATA_FILE_SIZE,13555,289
$CAP_FILE_SIZE,48053,0
$CFSIZE,260280320,252276736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,150710,080306,4805.324,-12220.799,11,1.2,28,18.3