version: 66.06
glider: 33
mission: 9
dive: 16
start: 3 3 110 12 20 19
data:
$ID,33
$MISSION,9
$DIVE,16
$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,-199864.95
$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,13
$R_STBD_OVSHOOT,30
$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
$GPS1,120500,4806.732,-12223.052,40,1.2,40,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.6
$GPS2,121926,4806.856,-12223.090,17,1.2,17,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.074,-0.217
$KALMAN_X,-2470.9,-127.3,172.5,1750.0,-551.4
$KALMAN_Y,8893.8,73.9,-313.9,-9077.0,1233.3
$MHEAD_RNG_PITCHd_Wd,142.8,2082,-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,-126.05,0.000,2,0.000,0.000,23,1556,1493,0,0,0,0,0,0
$GC,145,-1.00,-146.6,3.1,-2.4,25,247,8.43,2.55,-85.12,0.000,4,0.221,0.124,1507,2944,2965,0,0,1,0,0,0
$GC,325,-1.00,-146.6,20.4,-12.5,59,331,0.00,2.45,0.00,0.000,6,0.000,0.109,1507,1546,2964,0,0,1,0,0,0
$GC,522,-1.00,-146.6,44.8,-12.2,78,526,0.00,2.55,0.00,0.000,4,0.000,0.129,1507,2943,2965,0,0,0,0,0,0
$GC,598,-1.00,-146.6,53.6,-11.3,83,605,0.00,2.45,0.00,0.000,6,0.000,0.109,1507,1559,2964,0,0,1,0,0,0
$GC,913,-1.00,-146.6,88.6,-10.9,99,918,0.00,2.47,0.00,0.000,4,0.000,0.129,1507,2944,2964,0,0,1,0,0,0
$GC,969,-1.00,-146.6,95.0,-10.8,101,976,0.00,2.47,0.00,0.000,6,0.000,0.109,1507,1546,2964,0,0,1,0,0,0
$STATE,1016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1016,begin apogee
$GC,1020,-0.33,0.0,99.6,10.1,104,1129,0.73,0.00,105.75,0.886,6,0.154,0.000,1654,1447,2466,0,0,0,0,0,0
$STATE,1130,end apogee,CONTROL_FINISHED_OK
$STATE,1130,begin climb
$GC,1131,1.00,146.6,104.5,0.0,114,1247,1.38,2.75,105.85,0.864,4,0.129,0.146,1944,75,1969,0,0,0,0,0,0
$GC,1267,1.00,146.6,96.9,9.4,126,1275,0.00,2.42,0.00,0.000,6,0.000,0.097,1944,1445,1969,0,0,1,0,0,0
$GC,1583,1.00,146.6,67.0,8.8,142,1587,0.00,2.55,0.00,0.000,4,0.000,0.129,1944,2850,1969,0,0,0,0,0,0
$GC,1654,1.00,146.6,61.0,8.2,145,1659,0.00,2.50,0.00,0.000,6,0.000,0.112,1943,1451,1969,0,0,1,0,0,0
$GC,1976,1.00,146.6,34.5,7.8,169,1981,0.00,2.53,0.00,0.000,4,0.000,0.127,1944,2847,1969,0,0,0,0,0,0
$GC,2053,1.00,146.6,28.2,8.1,175,2060,0.00,2.47,0.00,0.000,6,0.000,0.112,1944,1453,1969,0,0,1,0,0,0
$GC,2255,1.00,146.6,13.0,7.0,202,2261,0.00,2.55,0.00,0.000,4,0.000,0.142,1944,65,1969,0,0,0,0,0,0
$GC,2513,1.27,362.9,9.4,0.1,248,2671,0.25,2.33,150.65,0.814,6,0.094,0.097,2009,1461,1235,0,0,1,0,0,0
$STATE,2675,end climb,SURFACE_DEPTH_REACHED
$STATE,2675,begin surface coast
$FINISH,3.5,1.019144
$STATE,2789,end surface coast,CONTROL_FINISHED_OK
$STATE,2789,begin surface
$SM_CCo,2804,215.93,0.782,0,0,163,679.91
$SM_GC,1.15,0.00,0.00,215.93,0.000,0.000,0.782,28,1561,163,-7.83,0.31,679.91
$IRIDIUM_FIX,4751.72,-12223.57,280599,121224
$TT8_MAMPS,0.022243
$HUMID,35.78
$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.8
$ALTIM_BOTTOM_PING,90.5,28.4
$24V_AH,24.1,43.956
$10V_AH,10.4,7.509
$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,19.400,35.375,362.250,215.925,0.000,131.231,139.052,252.799,1.500,0.000,17.635,422.318,1661.173,696.035,533.288,591.952,33.313,1059.619,0.000,516.375,0.000,11.682,0.000
$DEVICE_MAMPS,220.987,148.980,886.431,782.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,194.702,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,12808,300
$CAP_FILE_SIZE,50638,0
$CFSIZE,260280320,257687552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,030310,131143,4806.710,-12223.112,14,2.0,31,18.3