version: 66.06
glider: 33
mission: 9
dive: 14
start: 3 3 110 10 7 25
data:
$ID,33
$MISSION,9
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4005
$D_NO_BLEED,200
$D_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,75
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$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,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,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,679.90778
$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,-199813.44
$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,1730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,1550
$C_ROLL_CLIMB,1450
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,2466
$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,-19.612259
$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
$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
$GPS1,095222,4806.902,-12222.912,15,2.8,34,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.0
$GPS2,100632,4806.884,-12222.932,12,1.6,12,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.067,-0.220
$KALMAN_X,-1359.6,-178.9,-27.5,1086.4,-231.8
$KALMAN_Y,6481.4,374.6,-108.7,-7117.6,888.2
$MHEAD_RNG_PITCHd_Wd,144.7,2002,-12.3,-6.667
$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,-1.00,-146.6,0.0,0.0,0,143,0.00,0.00,-126.10,0.000,2,0.000,0.000,26,1565,1511,0,0,0,0,0,0
$GC,145,-1.00,-146.6,3.3,-2.9,25,237,8.48,2.67,-73.00,0.000,4,0.223,0.134,1504,142,2964,0,0,1,0,0,0
$GC,343,-1.00,-146.6,25.4,-15.1,59,347,0.00,2.38,0.00,0.000,6,0.000,0.094,1504,1543,2964,0,0,1,0,0,0
$GC,545,-1.00,-146.6,49.9,-11.6,78,549,0.00,2.60,0.00,0.000,4,0.000,0.139,1504,2953,2964,0,0,0,0,0,0
$GC,622,-1.00,-146.6,58.9,-11.3,81,629,0.00,2.53,0.00,0.000,6,0.000,0.117,1504,1549,2964,0,0,1,0,0,0
$GC,938,-1.00,-146.6,95.7,-11.5,97,942,0.00,2.60,0.00,0.000,4,0.000,0.134,1504,2957,2965,0,0,0,0,0,0
$STATE,968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,968,begin apogee
$GC,974,-0.33,0.0,99.3,11.6,98,1083,0.73,0.00,105.15,0.889,6,0.161,0.000,1652,1450,2465,0,0,0,0,0,0
$STATE,1083,end apogee,CONTROL_FINISHED_OK
$STATE,1084,begin climb
$GC,1085,1.00,146.6,104.4,0.0,109,1200,1.40,2.78,105.30,0.867,4,0.134,0.146,1945,66,1969,0,0,0,0,0,0
$GC,1228,1.00,146.6,97.0,9.4,122,1232,0.00,2.45,0.00,0.000,6,0.000,0.097,1945,1457,1969,0,0,1,0,0,0
$GC,1559,1.00,146.6,67.9,8.6,138,1563,0.00,2.53,0.00,0.000,4,0.000,0.129,1945,2852,1969,0,0,0,0,0,0
$GC,1625,1.00,146.6,61.8,8.7,141,1630,0.00,2.50,0.00,0.000,6,0.000,0.112,1945,1453,1969,0,0,1,0,0,0
$GC,1946,1.00,146.6,34.7,8.4,164,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1453,1969,0,0,0,0,0,0
$GC,2137,1.05,185.0,22.1,5.5,182,2173,0.00,2.60,27.52,0.822,4,0.000,0.127,1945,2851,1839,0,0,1,0,0,0
$GC,2229,1.05,185.0,15.8,7.6,195,2235,0.00,2.47,0.00,0.000,6,0.000,0.112,1945,1448,1839,0,0,1,0,0,0
$GC,2301,1.05,185.0,9.9,7.2,208,2307,0.00,2.55,0.00,0.000,4,0.000,0.124,1945,2852,1839,0,0,0,0,0,0
$GC,2329,1.16,271.7,9.0,4.0,213,2397,0.15,2.47,61.03,0.819,6,0.132,0.109,1978,1447,1544,0,0,1,0,0,0
$GC,2464,1.28,370.0,8.5,3.7,238,2541,0.12,2.62,69.78,0.802,4,0.129,0.127,2008,2856,1212,0,0,1,0,0,0
$GC,2608,1.57,606.0,7.1,-0.5,265,2732,0.28,2.53,115.93,0.795,2,0.114,0.109,2066,1450,650,0,0,1,0,0,0
$STATE,2733,end climb,SURFACE_DEPTH_REACHED
$STATE,2733,begin surface coast
$FINISH,1.6,1.018461
$STATE,2760,end surface coast,CONTROL_FINISHED_OK
$STATE,2760,begin surface
$SM_CCo,2776,95.00,0.775,0,0,163,679.91
$SM_GC,1.26,0.00,0.00,95.00,0.000,0.000,0.775,25,1561,163,-7.84,0.28,679.91
$IRIDIUM_FIX,4751.72,-12223.57,280599,101036
$TT8_MAMPS,0.022243
$HUMID,35.70
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,91.0,28.1
$24V_AH,24.1,43.634
$10V_AH,10.4,7.450
$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,20.375,41.150,484.700,95.000,0.000,127.890,138.734,250.389,1.500,0.000,13.032,388.858,1591.382,654.961,520.901,583.860,33.329,1038.898,0.000,508.631,0.000,11.693,0.000
$DEVICE_MAMPS,223.470,146.497,888.914,774.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,188.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324124
$DATA_FILE_SIZE,12802,294
$CAP_FILE_SIZE,52935,0
$CFSIZE,260280320,257769472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,030310,105622,4806.738,-12223.005,13,99.0,32,18.3