version: 66.06
glider: 33
mission: 9
dive: 18
start: 3 3 110 14 29 36
data:
$ID,33
$MISSION,9
$DIVE,18
$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,100
$T_MISSION,120
$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,-199915.84
$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,14
$R_STBD_OVSHOOT,27
$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
$GPS1,142101,4806.609,-12223.030,39,1.1,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.5
$GPS2,142843,4806.629,-12223.052,15,1.1,15,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.018,-0.206
$KALMAN_X,-2664.0,-265.3,-9.8,2307.8,-435.0
$KALMAN_Y,10228.2,-63.0,2.3,-11006.5,1530.7
$MHEAD_RNG_PITCHd_Wd,156.7,1746,-8.7,-5.000
$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,13,begin dive
$GC,14,-0.76,-146.6,0.0,0.0,0,138,0.00,0.00,-120.85,0.000,2,0.000,0.000,26,1561,1486,0,0,0,0,0,0
$GC,140,-0.76,-146.6,3.2,-2.1,24,252,8.75,2.65,-93.53,0.000,4,0.221,0.132,1558,144,2964,0,0,1,0,0,0
$GC,285,-0.76,-146.6,12.0,-7.9,52,291,0.00,2.38,0.00,0.000,6,0.000,0.092,1559,1553,2964,0,0,0,0,0,0
$GC,358,-0.76,-146.6,18.5,-9.2,65,364,0.00,2.55,0.00,0.000,4,0.000,0.132,1559,2945,2964,0,0,0,0,0,0
$GC,369,-0.76,-146.6,19.6,-9.4,67,375,0.00,2.47,0.00,0.000,6,0.000,0.107,1559,1542,2964,0,0,0,0,0,0
$GC,438,-0.76,-146.6,25.8,-9.1,74,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,1542,2964,0,0,0,0,0,0
$GC,629,-0.76,-146.6,43.6,-8.9,92,633,0.00,2.55,0.00,0.000,4,0.000,0.132,1559,2944,2964,0,0,0,0,0,0
$GC,679,-0.76,-146.6,48.2,-9.1,96,683,0.00,2.45,0.00,0.000,6,0.000,0.112,1559,1546,2964,0,0,1,0,0,0
$GC,876,-0.76,-146.6,65.3,-8.6,107,880,0.00,2.55,0.00,0.000,4,0.000,0.129,1559,2943,2964,0,0,0,0,0,0
$GC,896,-0.76,-146.6,67.0,-7.8,108,902,0.00,2.45,0.00,0.000,6,0.000,0.109,1559,1555,2964,0,0,1,0,0,0
$GC,1224,-0.76,-146.6,95.1,-8.8,124,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,1555,2964,0,0,0,0,0,0
$STATE,1243,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1243,begin apogee
$GC,1247,-0.33,0.0,96.9,8.7,125,1356,0.45,0.00,105.47,0.881,6,0.146,0.000,1652,1446,2466,0,0,0,0,0,0
$STATE,1356,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1358,0.76,146.6,101.8,0.0,133,1474,1.12,2.78,105.85,0.859,4,0.129,0.146,1891,66,1968,0,0,0,0,0,0
$GC,1556,0.76,146.6,93.0,6.4,147,1561,0.00,2.42,0.00,0.000,6,0.000,0.097,1891,1449,1968,0,0,1,0,0,0
$GC,1877,0.76,146.6,72.7,6.3,163,1882,0.00,2.53,0.00,0.000,4,0.000,0.129,1891,2848,1968,0,0,0,0,0,0
$GC,2067,0.76,146.6,61.1,5.4,171,2074,0.00,2.47,0.00,0.000,6,0.000,0.109,1891,1453,1968,0,0,1,0,0,0
$GC,2386,0.76,146.6,42.1,5.4,193,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,1453,1968,0,0,0,0,0,0
$GC,2577,0.76,146.6,31.1,5.5,211,2582,0.00,2.53,0.00,0.000,4,0.000,0.124,1891,2853,1968,0,0,0,0,0,0
$GC,2711,0.77,157.4,24.5,4.8,222,2728,0.00,2.47,9.40,0.757,6,0.000,0.112,1891,1450,1931,0,0,1,0,0,0
$GC,2924,0.77,157.4,13.2,5.4,253,2930,0.00,2.58,0.00,0.000,4,0.000,0.142,1891,64,1931,0,0,0,0,0,0
$GC,3183,1.10,426.1,5.3,-1.1,299,3286,0.32,2.30,96.25,0.819,2,0.082,0.094,1978,1456,1463,0,0,1,0,0,0
$STATE,3287,end climb,SURFACE_DEPTH_REACHED
$STATE,3287,begin surface coast
$FINISH,2.8,1.020135
$STATE,3353,end surface coast,CONTROL_FINISHED_OK
$STATE,3353,begin surface
$SM_CCo,3368,264.02,0.787,0,0,163,679.91
$SM_GC,1.28,0.00,0.00,264.02,0.000,0.000,0.787,28,1555,163,-7.83,0.14,679.91
$IRIDIUM_FIX,4748.51,-12220.12,280599,131317
$TT8_MAMPS,0.022243
$HUMID,35.07
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$ALTIM_BOTTOM_PING,91.4,25.3
$24V_AH,24.1,44.275
$10V_AH,10.5,7.568
$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,19.125,40.475,316.975,264.025,0.000,29.821,27.502,340.241,1.500,0.000,15.265,501.594,1843.888,720.874,610.057,436.272,33.320,1115.958,0.000,593.646,0.000,11.672,0.000
$DEVICE_MAMPS,220.987,146.497,881.465,787.111,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,217.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324108
$DATA_FILE_SIZE,12828,331
$CAP_FILE_SIZE,56243,0
$CFSIZE,260280320,257675264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,030310,153050,4806.406,-12222.983,9,1.9,9,18.3