version: 66.07
glider: 33
mission: 23
dive: 9
start: 8 27 110 2 30 55
data:
$ID,33
$MISSION,23
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,6099
$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,90
$T_ABORT,2880
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,180
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,6084
$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,13
$HD_A,0.0048177
$HD_B,0.011392
$HD_C,1.0709e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-66
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-231205.83
$T_RSLEEP,7
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1650
$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,2100
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,2682
$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,-19.047844
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,270810,022625,4805.219,-12221.206,7,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-59.7
$GPS2,270810,023034,4805.224,-12221.213,14,2.5,33,18.3
$SPEED_LIMITS,0.062,0.210
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.117,-0.155
$KALMAN_X,-625.0,0.0,0.0,1804.7,-291.7
$KALMAN_Y,801.6,0.0,0.0,-3117.8,320.0
$MHEAD_RNG_PITCHd_Wd,124.7,492,-14.4,-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,-1.05,-121.3,0.0,0.0,0,105,0.00,0.00,-87.72,0.000,2,0.000,0.000,19,2103,2028,0,0,0,0,0,0
$GC,107,-1.08,-146.6,3.1,-2.3,15,191,7.32,2.85,-66.03,0.000,4,0.191,0.107,1406,3508,3179,0,0,0,0,0,0
$GC,371,-1.06,-146.6,26.8,-9.8,55,375,0.00,2.70,0.00,0.000,6,0.000,0.087,1406,2104,3179,0,0,0,0,0,0
$GC,504,-1.03,-146.6,40.2,-10.3,67,508,0.00,2.72,0.00,0.000,4,0.000,0.102,1406,684,3179,0,0,0,0,0,0
$GC,547,-1.00,-146.6,44.7,-10.5,70,555,0.08,2.75,0.00,0.000,6,0.132,0.094,1426,2092,3179,0,0,0,0,0,0
$GC,681,-1.00,-146.6,56.8,-8.9,83,685,0.00,2.72,0.00,0.000,4,0.000,0.104,1427,685,3179,0,0,0,0,0,0
$GC,734,-1.00,-146.6,62.2,-10.6,87,742,0.00,2.78,0.00,0.000,6,0.000,0.094,1427,2101,3179,0,0,0,0,0,0
$GC,868,-1.00,-146.6,74.4,-9.8,100,869,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2102,3179,0,0,0,0,0,0
$GC,996,-1.00,-146.6,85.9,-9.8,112,1000,0.00,2.75,0.00,0.000,4,0.000,0.104,1427,684,3179,0,0,0,0,0,0
$GC,1094,-1.00,-146.6,95.3,-9.8,120,1102,0.00,2.75,0.00,0.000,6,0.000,0.097,1427,2103,3179,0,0,0,0,0,0
$GC,1228,-1.00,-146.6,107.0,-8.7,133,1233,0.00,2.78,0.00,0.000,4,0.000,0.107,1427,683,3179,0,0,0,0,0,0
$GC,1267,-1.00,-146.6,110.5,-8.7,136,1271,0.00,2.78,0.00,0.000,6,0.000,0.099,1427,2105,3179,0,0,0,0,0,0
$GC,1400,-1.00,-146.6,122.3,-8.8,148,1404,0.00,2.78,0.00,0.000,4,0.000,0.107,1425,684,3179,0,0,0,0,0,0
$STATE,1632,end dive,NO_VERTICAL_VELOCITY
$STATE,1633,begin apogee
$GC,1638,-0.31,0.0,123.6,0.0,168,1746,0.62,0.00,101.62,0.864,6,0.092,0.000,1584,1808,2682,0,0,0,0,0,0
$STATE,1747,end apogee,CONTROL_FINISHED_OK
$STATE,1747,begin climb
$GC,1748,1.08,146.6,123.6,0.0,179,1860,1.27,2.97,103.05,0.834,4,0.087,0.122,1886,3212,2185,0,0,1,0,0,0
$GC,1915,1.25,285.5,122.5,1.4,194,2022,0.10,2.85,97.00,0.827,6,0.074,0.097,1931,1796,1714,0,0,1,0,0,0
$GC,2147,1.22,285.5,104.9,9.6,216,2151,0.00,2.80,0.00,0.000,4,0.000,0.109,1931,382,1714,0,0,0,0,0,0
$GC,2291,1.16,285.5,88.4,11.5,228,2299,0.15,2.75,0.00,0.000,6,0.144,0.094,1902,1805,1714,0,0,1,0,0,0
$GC,2425,1.16,285.5,76.4,8.7,241,2429,0.00,2.80,0.00,0.000,4,0.000,0.109,1902,384,1714,0,0,0,0,0,0
$GC,2520,1.14,285.5,67.8,9.7,249,2525,0.00,2.72,0.00,0.000,6,0.000,0.097,1902,1798,1714,0,0,1,0,0,0
$GC,2653,1.14,285.5,56.4,8.1,261,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1801,1713,0,0,0,0,0,0
$GC,2781,1.14,285.5,46.0,8.0,273,2785,0.00,2.78,0.00,0.000,4,0.000,0.109,1901,386,1714,0,0,0,0,0,0
$GC,2876,1.14,285.5,38.0,9.3,281,2880,0.00,2.72,0.00,0.000,6,0.000,0.097,1902,1804,1713,0,0,1,0,0,0
$GC,3009,1.14,285.5,27.4,7.7,293,3013,0.00,2.80,0.00,0.000,4,0.000,0.109,1901,386,1713,0,0,0,0,0,0
$GC,3062,1.14,285.5,22.7,9.2,297,3071,0.00,2.78,0.00,0.000,6,0.000,0.097,1901,1802,1713,0,0,0,0,0,0
$GC,3202,1.14,285.5,11.7,7.7,319,3209,0.00,2.80,0.00,0.000,4,0.000,0.112,1902,382,1713,0,0,0,0,0,0
$GC,3271,1.14,285.5,6.3,7.8,331,3278,0.00,2.75,0.00,0.000,6,0.000,0.097,1902,1807,1713,0,0,0,0,0,0
$STATE,3305,end climb,SURFACE_DEPTH_REACHED
$STATE,3305,begin surface coast
$FINISH,1.8,1.019661
$STATE,3368,end surface coast,CONTROL_FINISHED_OK
$STATE,3368,begin surface
$SM_CCo,3382,149.43,0.767,0,0,988,500.11
$SM_GC,1.54,0.00,0.00,149.43,0.000,0.000,0.767,24,2107,988,-7.48,0.20,500.11
$IRIDIUM_FIX,4748.51,-12219.12,270810,010110
$TT8_MAMPS,0.02247
$HUMID,55.78
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,24.7,39.018
$10V_AH,10.3,13.708
$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,17.325,66.650,301.675,149.425,0.000,28.054,30.546,100.150,4.000,0.000,34.960,814.770,1427.988,580.595,925.618,45.167,0.467,1015.433,0.000,677.340,0.000,28.171,0.000
$DEVICE_MAMPS,191.191,121.667,864.084,767.247,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.168,0.000,531.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323484
$DATA_FILE_SIZE,16833,348
$CAP_FILE_SIZE,61239,0
$CFSIZE,260280320,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270810,033032,4804.883,-12220.992,11,1.7,11,18.3