version: 66.06
glider: 33
mission: 9
dive: 20
start: 3 3 110 16 43 36
data:
$ID,33
$MISSION,9
$DIVE,20
$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,-199941.86
$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,1726
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,1630
$C_ROLL_CLIMB,1537
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,36
$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
$GPS1,163934,4806.181,-12222.865,7,2.6,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.6
$GPS2,164244,4806.184,-12222.882,11,1.2,11,18.3
$SPEED_LIMITS,0.050,0.207
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.009,-0.207
$KALMAN_X,-3538.4,86.1,-12.2,3048.5,-625.5
$KALMAN_Y,11437.3,-293.6,326.4,-13130.5,1458.5
$MHEAD_RNG_PITCHd_Wd,164.2,1143,-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,12,begin dive
$GC,14,-0.64,-146.6,0.0,0.0,0,168,0.00,0.00,-150.82,0.000,2,0.000,0.000,26,1555,1768,0,0,0,0,0,0
$GC,170,-0.64,-146.6,3.0,-1.9,30,267,8.90,2.45,-80.15,0.000,4,0.223,0.134,1583,220,2964,0,0,1,0,0,0
$GC,306,-0.64,-146.6,11.0,-8.0,56,312,0.00,2.35,0.00,0.000,6,0.000,0.094,1583,1615,2964,0,0,1,0,0,0
$GC,379,-0.64,-146.6,17.0,-8.1,69,385,0.00,2.60,0.00,0.000,4,0.000,0.132,1583,3037,2964,0,0,0,0,0,0
$GC,389,-0.64,-146.6,18.1,-8.3,71,395,0.00,2.47,0.00,0.000,6,0.000,0.104,1583,1629,2964,0,0,0,0,0,0
$GC,460,-0.64,-146.6,24.1,-8.9,80,464,0.00,2.58,0.00,0.000,4,0.000,0.134,1582,218,2964,0,0,0,0,0,0
$GC,491,-0.64,-146.6,27.1,-9.5,82,498,0.00,2.40,0.00,0.000,6,0.000,0.094,1583,1621,2965,0,0,1,0,0,0
$GC,688,-0.64,-146.6,43.2,-8.8,101,693,0.00,2.58,0.00,0.000,4,0.000,0.132,1583,220,2964,0,0,0,0,0,0
$GC,709,-0.64,-146.6,45.0,-8.5,102,716,0.00,2.42,0.00,0.000,6,0.000,0.094,1583,1628,2964,0,0,0,0,0,0
$GC,903,-0.64,-146.6,60.4,-8.0,115,908,0.00,2.58,0.00,0.000,4,0.000,0.132,1583,220,2964,0,0,0,0,0,0
$GC,946,-0.64,-146.6,64.1,-9.0,117,951,0.00,2.40,0.00,0.000,6,0.000,0.094,1583,1625,2964,0,0,1,0,0,0
$GC,1273,-0.64,-146.6,89.0,-7.1,133,1277,0.00,2.58,0.00,0.000,4,0.000,0.132,1582,221,2964,0,0,0,0,0,0
$GC,1305,-0.64,-146.6,91.5,-8.2,134,1312,0.00,2.40,0.00,0.000,6,0.000,0.094,1583,1629,2964,0,0,1,0,0,0
$STATE,1438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1438,begin apogee
$GC,1442,-0.26,0.0,100.1,6.4,141,1550,0.35,0.00,105.07,0.881,6,0.127,0.000,1664,1533,2466,0,0,0,0,0,0
$STATE,1551,end apogee,CONTROL_FINISHED_OK
$STATE,1551,begin climb
$GC,1552,0.64,146.6,104.2,0.0,152,1669,0.88,2.75,106.28,0.857,4,0.109,0.132,1859,2939,1968,0,0,1,0,0,0
$GC,1706,0.64,146.6,98.0,6.2,166,1712,0.00,2.55,0.00,0.000,6,0.000,0.107,1859,1547,1968,0,0,1,0,0,0
$GC,2033,0.64,149.7,81.4,4.9,182,2043,0.00,2.65,4.12,0.584,4,0.000,0.139,1859,124,1958,0,0,0,0,0,0
$GC,2182,0.64,149.7,72.9,5.9,188,2189,0.00,2.42,0.00,0.000,6,0.000,0.094,1859,1548,1958,0,0,1,0,0,0
$GC,2498,0.64,150.4,57.0,5.0,204,2502,0.00,2.60,0.00,0.000,4,0.000,0.137,1859,122,1958,0,0,0,0,0,0
$GC,2540,0.64,150.4,54.5,6.2,206,2545,0.00,2.38,0.00,0.000,6,0.000,0.094,1859,1525,1958,0,0,1,0,0,0
$GC,2864,0.65,154.9,38.9,4.9,232,2874,0.00,0.00,5.53,0.670,6,0.000,0.000,1859,1531,1940,0,0,0,0,0,0
$GC,3064,0.65,154.9,28.8,5.1,251,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1531,1939,0,0,0,0,0,0
$GC,3256,0.68,184.7,20.6,4.3,269,3285,0.00,2.58,21.52,0.812,4,0.000,0.139,1859,126,1840,0,0,1,0,0,0
$GC,3352,0.68,184.7,15.4,5.5,285,3358,0.00,2.40,0.00,0.000,6,0.000,0.097,1858,1544,1839,0,0,1,0,0,0
$GC,3425,0.71,205.2,11.9,4.5,298,3446,0.00,2.53,15.95,0.790,4,0.000,0.129,1859,2933,1769,0,0,0,0,0,0
$GC,3543,0.71,205.2,6.1,5.0,319,3549,0.00,2.45,0.00,0.000,6,0.000,0.107,1859,1535,1769,0,0,1,0,0,0
$STATE,3616,end climb,SURFACE_DEPTH_REACHED
$STATE,3616,begin surface coast
$FINISH,4.2,1.020204
$STATE,3812,end surface coast,CONTROL_FINISHED_OK
$STATE,3812,begin surface
$SM_CCo,3814,326.88,0.797,0,0,163,679.91
$SM_GC,0.01,18.48,0.00,0.00,0.037,0.000,0.000,1858,1641,163,0.61,0.31,679.91
$IRIDIUM_FIX,4748.51,-12221.84,280599,151534
$TT8_MAMPS,0.022243
$HUMID,36.57
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.3
$ALTIM_BOTTOM_PING,100.1,11.4
$24V_AH,24.1,44.560
$10V_AH,10.4,7.621
$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,28.600,55.450,258.475,326.875,0.000,23.231,30.380,76.513,2.250,0.000,11.304,572.963,2287.110,798.208,635.722,169.929,33.313,1201.531,0.000,618.350,0.000,18.821,0.000
$DEVICE_MAMPS,223.470,139.048,881.465,797.043,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,242.304,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324124
$DATA_FILE_SIZE,15984,367
$CAP_FILE_SIZE,56504,8
$CFSIZE,260280320,257609728
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,61,14,0,0
$GPS,030310,164244,4806.184,-12222.882,901,99.0,901,18.3