version: 66.07
glider: 33
mission: 20
dive: 17
start: 7 15 110 8 42 22
data:
$ID,33
$MISSION,20
$DIVE,17
$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,-226996.58
$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,0.02
$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,22
$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
$GPS1,150710,083814,4805.253,-12220.868,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-54.4
$GPS2,150710,084125,4805.225,-12220.854,11,2.0,16,18.3
$SPEED_LIMITS,0.062,0.181
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.181,-0.004
$KALMAN_X,-7046.0,10267.3,120.1,-1223.7,-4743.3
$KALMAN_Y,-773.2,-1178.0,-551.5,-0.6,-315.7
$MHEAD_RNG_PITCHd_Wd,72.9,455,-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,14,-1.05,-146.6,0.0,0.0,0,243,0.00,0.00,-224.43,0.000,2,0.000,0.000,20,2049,2620,0,0,0,0,0,0
$GC,245,-1.05,-146.6,3.0,-1.8,39,340,7.55,2.47,-81.05,0.000,4,0.194,0.097,1449,3461,3960,0,0,0,0,0,0
$GC,599,-1.05,-146.6,36.2,-10.5,88,604,0.00,2.35,0.00,0.000,6,0.000,0.084,1449,2047,3961,0,0,0,0,0,0
$GC,733,-1.03,-146.6,50.4,-10.9,100,734,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,2046,3961,0,0,0,0,0,0
$GC,862,-1.00,-146.6,63.7,-10.4,112,866,0.00,2.40,0.00,0.000,4,0.000,0.102,1448,3460,3961,0,0,0,0,0,0
$GC,901,-1.00,-146.6,68.4,-11.6,115,905,0.00,2.35,0.00,0.000,6,0.000,0.087,1449,2050,3961,0,0,0,0,0,0
$GC,1034,-0.98,-146.6,82.3,-10.4,127,1039,0.10,2.40,0.00,0.000,4,0.159,0.104,1469,640,3961,0,0,0,0,0,0
$GC,1077,-0.98,-146.6,86.8,-9.3,130,1085,0.00,2.33,0.00,0.000,6,0.000,0.087,1469,2044,3961,0,0,1,0,0,0
$GC,1211,-0.98,-146.6,99.8,-9.4,143,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,2049,3960,0,0,0,0,0,0
$STATE,1221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1221,begin apogee
$GC,1224,-0.31,0.0,100.7,9.8,144,1325,0.65,0.00,97.57,0.869,6,0.119,0.000,1616,2049,3473,0,0,0,0,0,0
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1326,begin climb
$GC,1327,1.05,146.6,105.2,0.0,154,1439,1.25,2.58,101.53,0.852,4,0.087,0.114,1911,637,2976,0,0,0,0,0,0
$GC,2116,1.37,378.0,115.1,-0.4,225,2281,0.30,2.38,156.88,0.864,6,0.077,0.099,2000,2052,2192,0,0,1,0,0,0
$GC,2406,1.20,378.0,95.1,13.2,252,2412,0.25,2.50,0.00,0.000,4,0.142,0.114,1945,642,2192,0,0,0,0,0,0
$GC,2491,1.09,378.0,85.5,11.4,259,2496,0.12,2.38,0.00,0.000,6,0.156,0.097,1921,2044,2191,0,0,1,0,0,0
$GC,2624,1.03,378.0,73.0,8.7,271,2629,0.00,2.45,0.00,0.000,4,0.000,0.114,1921,644,2191,0,0,0,0,0,0
$GC,2724,0.96,378.0,63.4,9.4,279,2732,0.10,2.40,0.00,0.000,6,0.124,0.097,1895,2052,2191,0,0,1,0,0,0
$GC,2858,0.96,378.0,53.1,7.2,292,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,2053,2191,0,0,0,0,0,0
$GC,2985,0.96,378.0,44.2,7.0,304,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,2053,2191,0,0,0,0,0,0
$GC,3113,0.96,378.0,35.3,6.6,316,3117,0.00,2.45,0.00,0.000,4,0.000,0.117,1895,637,2191,0,0,0,0,0,0
$GC,3219,0.93,378.0,28.0,6.4,325,3223,0.00,2.35,0.00,0.000,6,0.000,0.097,1896,2052,2190,0,0,1,0,0,0
$GC,3353,0.93,378.0,19.4,6.9,337,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,2056,2190,0,0,0,0,0,0
$GC,3427,0.94,386.1,15.1,6.0,350,3441,0.00,2.42,6.93,0.675,4,0.000,0.112,1895,3460,2164,0,0,0,0,0,0
$GC,3453,0.96,397.0,13.7,5.9,354,3466,0.00,2.35,8.68,0.700,6,0.000,0.094,1895,2052,2128,0,0,1,0,0,0
$GC,3534,0.96,397.0,8.5,6.7,368,3541,0.00,2.42,0.00,0.000,4,0.000,0.112,1895,640,2127,0,0,0,0,0,0
$GC,3575,0.96,397.0,5.7,6.7,375,3582,0.00,2.35,0.00,0.000,6,0.000,0.094,1896,2058,2128,0,0,1,0,0,0
$STATE,3615,end climb,SURFACE_DEPTH_REACHED
$STATE,3615,begin surface coast
$FINISH,2.8,1.020141
$STATE,3706,end surface coast,CONTROL_FINISHED_OK
$STATE,3707,begin surface
$SM_CCo,3720,276.42,0.824,0,0,763,800.07
$SM_GC,1.04,0.00,0.00,276.42,0.000,0.000,0.824,21,2061,763,-7.65,0.31,800.07
$IRIDIUM_FIX,4748.51,-12217.40,150710,080800
$TT8_MAMPS,0.021721
$HUMID,1078728377
$INTERNAL_PRESSURE,7.51982
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.5
$ALTIM_BOTTOM_PING,80.0,40.6
$24V_AH,24.6,20.474
$10V_AH,10.4,6.997
$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,18.100,43.325,371.575,276.425,0.000,23.616,33.598,68.500,1.250,0.000,17.518,853.647,1487.930,853.862,971.674,44.347,33.215,1356.394,0.000,771.253,0.000,10.236,0.000
$DEVICE_MAMPS,193.674,116.701,869.050,824.356,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.825,0.000,606.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323396
$DATA_FILE_SIZE,20268,398
$CAP_FILE_SIZE,62149,0
$CFSIZE,260280320,252207104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,150710,095004,4805.181,-12220.400,12,2.8,31,18.3