version: 66.07
glider: 33
mission: 14
dive: 9
start: 4 22 110 4 48 55
data:
$ID,33
$MISSION,14
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4005
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,450
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-213856.58
$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,1750
$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,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,3126
$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,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.618473
$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
$GPS1,220410,044430,4807.112,-12222.971,39,1.7,45,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-58.8
$GPS2,220410,044802,4807.168,-12223.002,15,1.4,15,18.3
$SPEED_LIMITS,0.100,0.358
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.201,-0.296
$KALMAN_X,-2474.5,-524.8,-74.0,2667.0,-343.5
$KALMAN_Y,3894.1,855.5,169.9,-5091.0,437.3
$MHEAD_RNG_PITCHd_Wd,127.6,2493,-12.4,-10.000
$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,-1.14,-293.3,0.0,0.0,0,158,0.00,0.00,-140.88,0.000,2,0.000,0.000,25,1910,2442,0,0,0,0,0,0
$GC,160,-1.14,-293.3,3.0,-4.9,28,262,8.02,0.00,-87.03,0.000,6,0.204,0.000,1498,1915,3982,0,0,0,0,0,0
$GC,329,-1.14,-293.3,19.4,-11.2,60,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1498,1915,3982,0,0,0,0,0,0
$GC,402,-1.14,-293.3,28.0,-11.8,68,407,0.00,2.53,0.00,0.000,4,0.000,0.127,1498,3305,3982,0,0,0,0,0,0
$GC,535,-1.14,-293.3,43.8,-11.5,79,543,0.00,2.47,0.00,0.000,6,0.000,0.107,1498,1902,3982,0,0,1,0,0,0
$GC,669,-1.14,-293.3,58.9,-11.2,92,670,0.00,0.00,0.00,0.000,6,0.000,0.000,1498,1901,3982,0,0,0,0,0,0
$GC,797,-1.14,-293.3,72.8,-11.1,104,801,0.00,2.58,0.00,0.000,4,0.000,0.129,1498,3305,3982,0,0,0,0,0,0
$GC,907,-1.14,-293.3,85.0,-11.6,113,914,0.00,2.47,0.00,0.000,6,0.000,0.107,1498,1902,3982,0,0,1,0,0,0
$GC,1040,-1.14,-293.3,98.9,-10.1,126,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,1498,1899,3982,0,0,0,0,0,0
$STATE,1103,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1103,begin apogee
$GC,1107,-0.31,0.0,105.5,10.0,132,1296,0.82,0.00,182.90,0.881,6,0.114,0.000,1684,1845,3125,0,0,0,0,0,0
$STATE,1297,end apogee,CONTROL_FINISHED_OK
$STATE,1297,begin climb
$GC,1298,1.14,293.3,118.1,0.0,151,1517,1.38,0.00,210.05,0.857,6,0.082,0.000,2004,1845,2132,0,0,0,0,0,0
$GC,1643,1.17,321.1,106.4,9.4,185,1666,0.00,0.00,21.38,0.812,6,0.000,0.000,2004,1844,2037,0,0,0,0,0,0
$GC,1790,1.17,321.1,90.9,10.7,199,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1845,2038,0,0,0,0,0,0
$GC,1918,1.17,321.1,77.8,10.1,211,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1844,2037,0,0,0,0,0,0
$GC,2046,1.19,332.8,64.9,9.7,223,2057,0.00,0.00,9.90,0.747,6,0.000,0.000,2004,1845,1998,0,0,0,0,0,0
$GC,2183,1.19,332.8,50.8,10.1,236,2187,0.00,2.50,0.00,0.000,4,0.000,0.124,2003,442,1998,0,0,0,0,0,0
$GC,2491,1.19,332.8,18.3,10.4,264,2497,0.00,2.42,0.00,0.000,6,0.000,0.109,2003,1842,1998,0,0,1,0,0,0
$GC,2565,1.24,375.1,10.8,9.0,277,2600,0.00,0.00,29.95,0.802,6,0.000,0.000,2004,1845,1855,0,0,0,0,0,0
$STATE,2649,end climb,SURFACE_DEPTH_REACHED
$STATE,2649,begin surface coast
$FINISH,0.4,1.010810
$STATE,2695,end surface coast,CONTROL_FINISHED_OK
$STATE,2696,begin surface
$SM_CCo,2710,156.38,0.792,0,0,1093,600.20
$SM_GC,1.24,0.00,0.00,156.38,0.000,0.000,0.792,25,1912,1093,-7.94,0.34,600.20
$IRIDIUM_FIX,4751.72,-12211.95,151011,222248
$TT8_MAMPS,0.021721
$HUMID,1078029023
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,90.1,35.1
$24V_AH,24.0,55.628
$10V_AH,10.3,11.722
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,18.400,15.175,454.175,156.375,0.000,31.281,30.450,83.432,1.750,0.000,16.579,426.497,1177.885,740.902,717.874,31.839,33.337,1103.727,0.000,516.826,0.000,14.567,0.000
$DEVICE_MAMPS,203.606,156.429,881.465,792.077,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.920,0.000,458.644,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,16880,301
$CAP_FILE_SIZE,44386,0
$CFSIZE,260280320,256643072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220410,053743,4806.962,-12222.900,11,1.1,28,18.3