version: 66.07
glider: 33
mission: 20
dive: 16
start: 7 15 110 8 7 29
data:
$ID,33
$MISSION,20
$DIVE,16
$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,-226995.33
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,150710,080306,4805.324,-12220.799,11,1.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-57.8
$GPS2,150710,080632,4805.299,-12220.786,12,1.3,12,18.3
$SPEED_LIMITS,0.062,0.181
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,0.056
$KALMAN_X,-4229.9,7161.6,128.5,-855.5,87.7
$KALMAN_Y,-797.3,-813.7,-529.1,-232.1,-812.2
$MHEAD_RNG_PITCHd_Wd,288.9,614,-30.6,-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,-1.96,-37.5,0.0,0.0,0,173,0.00,0.00,-155.52,0.000,2,0.000,0.000,20,2055,2510,0,0,0,0,0,0
$GC,175,-2.01,-74.8,3.3,-2.1,27,270,6.45,2.45,-79.00,0.000,4,0.194,0.094,1240,636,3727,0,0,0,0,0,0
$GC,347,-2.03,-74.8,26.7,-22.3,54,355,0.00,2.35,0.00,0.000,6,0.000,0.082,1240,2057,3726,0,0,1,0,0,0
$GC,482,-2.07,-74.8,54.6,-21.5,67,486,0.00,2.38,0.00,0.000,4,0.000,0.099,1240,3454,3727,0,0,0,0,0,0
$GC,532,-2.10,-74.8,65.6,-22.3,71,536,0.00,2.35,0.00,0.000,6,0.000,0.084,1240,2036,3727,0,0,0,0,0,0
$GC,666,-2.14,-74.8,93.5,-20.4,83,670,0.00,2.42,0.00,0.000,4,0.000,0.099,1240,3456,3727,0,0,0,0,0,0
$STATE,704,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,704,begin apogee
$GC,710,-0.31,0.0,101.7,21.1,86,768,1.73,0.00,51.80,0.854,6,0.146,0.000,1609,2053,3473,0,0,0,0,0,0
$STATE,768,end apogee,CONTROL_FINISHED_OK
$STATE,768,begin climb
$GC,770,2.01,74.8,106.4,0.0,92,830,2.15,2.53,52.60,0.829,4,0.084,0.107,2127,3454,3218,0,0,0,0,0,0
$GC,887,2.20,227.9,114.3,-10.8,102,1001,0.15,2.40,104.75,0.859,6,0.092,0.089,2176,2053,2700,0,0,1,0,0,0
$GC,1135,2.20,281.5,116.6,0.3,125,1180,0.00,2.55,37.53,0.844,4,0.000,0.114,2175,635,2519,0,0,0,0,0,0
$STATE,1183,end climb,NO_VERTICAL_VELOCITY
$STATE,1183,begin surface
$SM_CCo,1185,507.52,0.809,0,0,146,982.22
$SM_GC,0.87,9.12,0.00,0.00,0.065,0.000,0.000,20,2052,143,-7.58,0.06,983.11
$IRIDIUM_FIX,4748.51,-12221.84,150710,070745
$TT8_MAMPS,0.021721
$HUMID,1078650958
$INTERNAL_PRESSURE,7.47099
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.3,30.3
$24V_AH,24.4,20.314
$10V_AH,10.4,6.958
$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,19.600,24.300,246.675,507.525,0.000,24.696,26.774,89.907,1.250,0.000,13.448,250.626,415.050,907.203,426.119,27.272,32.474,1137.010,0.000,256.919,0.000,10.108,0.000
$DEVICE_MAMPS,193.674,114.218,859.118,809.458,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,80.934,0.000,197.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323412
$DATA_FILE_SIZE,6900,129
$CAP_FILE_SIZE,32535,0
$CFSIZE,260280320,252272640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,150710,083814,4805.253,-12220.868,12,1.7,12,18.3