version: 66.07
glider: 34
mission: 6
dive: 10
start: 11 19 110 6 53 34
data:
$ID,34
$MISSION,6
$DIVE,10
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,180
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$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,0
$KALMAN_USE,1
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,5.7096e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,975.34076
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7582.9741
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,366
$PITCH_MAX,2908
$C_PITCH,2177
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3968
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,151
$VBD_MAX,3963
$C_VBD,3455
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,4
$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,-16.887691
$PRESSURE_SLOPE,0.00094911997
$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,10
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,101
$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,0.0043511861
$SEABIRD_T_H,0.0006267078
$SEABIRD_T_I,2.3336246e-05
$SEABIRD_T_J,2.4288879e-06
$SEABIRD_C_G,-10.094185
$SEABIRD_C_H,1.1592568
$SEABIRD_C_I,-0.0011433914
$SEABIRD_C_J,0.00016895766
$GPS1,191110,043046,4751.718,-12219.121,0,10000.0,0,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-66.7
$GPS2,191110,043046,4751.718,-12219.121,301,99.0,301,18.3
$SPEED_LIMITS,0.100,0.318
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.119,-0.295
$KALMAN_X,-1730.8,-465.4,130.7,2407.3,-1.9
$KALMAN_Y,3741.9,1001.8,-196.0,-5645.4,67.4
$MHEAD_RNG_PITCHd_Wd,139.7,26688,-14.2,-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,-1.38,-293.3,0.0,0.0,0,75,0.00,0.00,-58.88,0.000,2,0.000,0.000,355,2040,796,0,0,0,0,0,0
$GC,77,-1.38,-293.3,3.0,-2.2,10,271,8.82,2.38,-173.95,0.000,4,0.181,0.094,1871,3417,3965,0,0,0,0,0,0
$GC,299,-1.38,-293.3,15.6,-8.6,48,306,0.00,2.33,0.00,0.000,6,0.000,0.082,1871,2012,3965,0,0,0,0,0,0
$GC,378,-1.38,-293.3,23.8,-10.7,59,382,0.00,2.38,0.00,0.000,4,0.000,0.094,1872,3419,3965,0,0,0,0,0,0
$GC,398,-1.38,-293.3,25.3,-10.3,60,406,0.00,2.33,0.00,0.000,6,0.000,0.079,1871,2027,3965,0,0,0,0,0,0
$GC,533,-1.38,-293.3,39.6,-9.6,73,537,0.00,2.35,0.00,0.000,4,0.000,0.094,1871,3421,3965,0,0,0,0,0,0
$GC,571,-1.38,-293.3,43.7,-10.6,76,575,0.00,2.30,0.00,0.000,6,0.000,0.079,1871,2018,3965,0,0,0,0,0,0
$GC,705,-1.38,-293.3,56.7,-9.9,88,709,0.00,2.33,0.00,0.000,4,0.000,0.094,1871,3419,3964,0,0,0,0,0,0
$GC,736,-1.38,-293.3,59.4,-10.1,90,745,0.00,2.30,0.00,0.000,6,0.000,0.079,1871,2027,3965,0,0,0,0,0,0
$GC,871,-1.38,-293.3,72.7,-9.7,103,872,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2027,3964,0,0,0,0,0,0
$GC,998,-1.38,-293.3,84.5,-9.3,115,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2027,3964,0,0,0,0,0,0
$GC,1126,-1.38,-293.3,96.1,-9.2,127,1130,0.00,2.30,0.00,0.000,4,0.000,0.094,1871,3420,3965,0,0,0,0,0,0
$GC,1157,-1.38,-293.3,98.7,-8.6,129,1165,0.00,2.30,0.00,0.000,6,0.000,0.079,1871,2020,3965,0,0,0,0,0,0
$STATE,1248,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1248,begin apogee
$GC,1252,-0.36,0.0,107.1,8.2,138,1364,1.15,0.00,105.97,0.847,6,0.129,0.000,2095,2020,3455,0,0,0,0,0,0
$STATE,1365,end apogee,CONTROL_FINISHED_OK
$STATE,1365,begin climb
$GC,1367,1.38,293.3,109.8,0.0,148,1588,1.92,2.47,212.50,0.817,4,0.097,0.099,2484,619,2461,0,0,0,0,0,0
$GC,1648,1.38,293.3,84.4,18.8,174,1656,0.00,2.33,0.00,0.000,6,0.000,0.070,2484,2016,2462,0,0,0,0,0,0
$GC,1782,1.38,293.3,59.1,17.6,187,1786,0.00,2.38,0.00,0.000,4,0.000,0.097,2484,619,2462,0,0,0,0,0,0
$GC,1825,1.38,293.3,51.5,19.1,190,1833,0.00,2.30,0.00,0.000,6,0.000,0.070,2484,2025,2462,0,0,0,0,0,0
$GC,1960,1.38,293.3,27.2,17.3,203,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2024,2462,0,0,0,0,0,0
$GC,2092,1.38,293.3,7.1,10.1,223,2098,0.00,2.35,0.00,0.000,4,0.000,0.097,2484,617,2462,0,0,0,0,0,0
$GC,2351,1.89,706.8,8.7,0.1,269,2383,0.47,2.22,25.92,0.742,2,0.074,0.072,2602,2036,2342,0,0,0,0,0,0
$STATE,2383,end climb,NO_VERTICAL_VELOCITY
$STATE,2384,begin surface
$SM_CCo,2386,487.15,0.732,0,0,151,975.34
$SM_GC,2.48,11.32,0.00,0.00,0.082,0.000,0.000,356,2035,144,-8.29,0.28,977.41
$IRIDIUM_FIX,4751.72,-12219.12,191110,040446
$TT8_MAMPS,0.02247
$HUMID,46.53
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,75.6,41.0
$24V_AH,24.1,2.486
$10V_AH,10.4,0.603
$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,23.700,37.325,344.400,487.150,0.000,166.660,141.336,0.000,1.500,0.000,304.196,561.225,1187.083,989.689,1115.830,50.364,33.234,1349.430,0.000,476.751,0.000,11.735,0.000
$DEVICE_MAMPS,181.259,99.320,846.703,732.485,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.997,0.000,0.000,418.678,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323740
$DATA_FILE_SIZE,13520,274
$CAP_FILE_SIZE,47442,0
$CFSIZE,260165632,253808640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,043046,4751.718,-12219.121,301,99.0,301,18.3