version: 66.06
glider: 33
mission: 9
dive: 15
start: 3 3 110 11 12 13
data:
$ID,33
$MISSION,9
$DIVE,15
$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,-199846.69
$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,15
$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
$GPS1,105622,4806.738,-12223.005,13,99.0,32,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.7
$GPS2,111122,4806.834,-12223.077,12,3.4,31,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.216
$KALMAN_X,-2044.2,-120.2,110.6,1397.3,-412.9
$KALMAN_Y,7636.3,242.4,-236.9,-8106.9,1038.9
$MHEAD_RNG_PITCHd_Wd,141.6,2040,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.00,-146.6,0.0,0.0,0,139,0.00,0.00,-121.47,0.000,2,0.000,0.000,25,1561,1487,0,0,0,0,0,0
$GC,141,-1.00,-146.6,3.3,-3.5,24,228,8.48,2.60,-70.75,0.000,4,0.223,0.142,1504,2939,2965,0,0,1,0,0,0
$GC,312,-1.00,-146.6,22.6,-10.8,54,316,0.00,2.53,0.00,0.000,6,0.000,0.127,1504,1545,2965,0,0,1,0,0,0
$GC,514,-1.00,-146.6,46.1,-10.7,73,518,0.00,2.60,0.00,0.000,4,0.000,0.139,1504,2943,2965,0,0,0,0,0,0
$GC,568,-1.00,-146.6,52.3,-9.9,76,575,0.00,2.55,0.00,0.000,6,0.000,0.124,1504,1547,2965,0,0,1,0,0,0
$GC,884,-1.00,-146.6,87.6,-11.1,92,888,0.00,2.55,0.00,0.000,4,0.000,0.134,1504,2940,2965,0,0,0,0,0,0
$GC,927,-1.00,-146.6,92.6,-9.9,94,932,0.00,2.53,0.00,0.000,6,0.000,0.124,1504,1557,2965,0,0,1,0,0,0
$STATE,985,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,985,begin apogee
$GC,989,-0.33,0.0,98.7,11.0,97,1098,0.75,0.00,105.15,0.886,6,0.156,0.000,1654,1448,2466,0,0,0,0,0,0
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1100,1.00,146.6,103.3,0.0,106,1216,1.38,2.72,105.35,0.867,4,0.132,0.129,1944,2840,1968,0,0,1,0,0,0
$GC,1270,1.00,146.6,93.7,8.9,119,1276,0.00,2.58,0.00,0.000,6,0.000,0.114,1944,1451,1969,0,0,1,0,0,0
$GC,1597,1.00,146.6,65.9,8.6,135,1601,0.00,2.55,0.00,0.000,4,0.000,0.127,1944,2840,1969,0,0,0,0,0,0
$GC,1664,1.00,146.6,60.3,8.1,138,1668,0.00,2.47,0.00,0.000,6,0.000,0.114,1944,1449,1968,0,0,1,0,0,0
$GC,1990,1.00,146.6,34.5,7.3,163,1994,0.00,2.53,0.00,0.000,4,0.000,0.127,1944,2841,1968,0,0,0,0,0,0
$GC,2072,1.00,146.6,28.2,7.1,170,2076,0.00,2.45,0.00,0.000,6,0.000,0.114,1944,1449,1969,0,0,1,0,0,0
$GC,2273,1.01,148.3,15.3,6.6,194,2278,0.00,2.55,0.00,0.000,4,0.000,0.146,1944,65,1968,0,0,0,0,0,0
$GC,2306,1.01,148.3,13.0,6.7,200,2312,0.00,2.30,0.00,0.000,6,0.000,0.097,1944,1448,1968,0,0,1,0,0,0
$GC,2379,1.14,256.7,10.4,3.4,213,2467,0.15,2.67,76.85,0.824,4,0.107,0.142,1987,65,1596,0,0,1,0,0,0
$GC,2522,1.28,373.2,7.2,3.1,240,2614,0.00,2.38,82.57,0.807,6,0.000,0.094,1987,1455,1202,0,0,1,0,0,0
$GC,2681,1.59,621.1,5.4,-0.9,270,2739,0.38,0.00,53.65,0.792,2,0.079,0.000,2084,1455,948,0,0,0,0,0,0
$STATE,2739,end climb,SURFACE_DEPTH_REACHED
$STATE,2739,begin surface coast
$FINISH,0.2,1.007543
$STATE,2924,end surface coast,CONTROL_FINISHED_OK
$STATE,2924,begin surface
$SM_CCo,2939,154.80,0.790,0,0,163,679.91
$SM_GC,1.18,0.00,0.00,154.80,0.000,0.000,0.790,23,1556,163,-7.85,0.17,679.91
$IRIDIUM_FIX,4751.72,-12219.12,280599,111157
$TT8_MAMPS,0.022243
$HUMID,36.45
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.4
$ALTIM_BOTTOM_PING,90.3,28.3
$24V_AH,24.1,43.796
$10V_AH,10.4,7.480
$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,19.975,40.900,423.575,154.800,0.000,142.104,150.215,253.486,1.750,0.000,32.627,441.615,1705.009,669.490,580.388,614.597,33.316,1057.762,0.000,545.853,0.000,14.539,0.000
$DEVICE_MAMPS,223.470,146.497,886.431,789.594,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,203.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324104
$DATA_FILE_SIZE,12857,314
$CAP_FILE_SIZE,54480,0
$CFSIZE,260280320,257728512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,030310,120500,4806.732,-12223.052,40,1.2,40,18.3