version: 66.07
glider: 33
mission: 16
dive: 3
start: 5 6 110 20 47 53
data:
$ID,33
$MISSION,16
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4005
$D_NO_BLEED,200
$D_BOOST,0
$T_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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,600
$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,300
$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,870
$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,-216253.25
$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,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,3126
$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,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.784487
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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
$GPS1,060510,204114,4808.218,-12224.002,9,1.9,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.7
$GPS2,060510,204702,4808.262,-12224.051,16,1.5,16,18.3
$SPEED_LIMITS,0.100,0.358
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,-0.238
$KALMAN_X,-237.8,-156.0,-145.6,-409.4,-133.5
$KALMAN_Y,403.2,285.4,269.3,-401.6,233.1
$MHEAD_RNG_PITCHd_Wd,146.7,489,-19.5,-10.000
$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,-1.38,-126.6,0.0,0.0,0,153,0.00,0.00,-135.95,0.000,2,0.000,0.000,26,1911,1730,0,0,0,0,0,0
$GC,155,-1.54,-260.2,3.0,-3.0,27,323,7.15,2.50,-151.25,0.000,4,0.204,0.114,1380,493,3983,0,0,0,0,0,0
$GC,614,-1.54,-260.2,48.0,-14.0,94,618,0.00,2.33,0.00,0.000,6,0.000,0.099,1380,1898,3983,0,0,1,0,0,0
$GC,752,-1.54,-260.2,65.9,-12.7,107,757,0.00,2.42,0.00,0.000,4,0.000,0.119,1380,3307,3983,0,0,0,0,0,0
$GC,841,-1.54,-260.2,77.8,-12.8,114,848,0.00,2.38,0.00,0.000,6,0.000,0.097,1380,1903,3983,0,0,1,0,0,0
$GC,974,-1.54,-260.2,94.6,-12.5,127,978,0.00,2.42,0.00,0.000,4,0.000,0.117,1380,3307,3983,0,0,0,0,0,0
$STATE,1000,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1000,begin apogee
$GC,1006,-0.31,0.0,98.2,13.4,129,1192,1.20,0.00,179.35,0.899,6,0.134,0.000,1647,1842,3125,0,0,0,0,0,0
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1193,begin climb
$GC,1195,1.54,260.2,104.0,0.0,148,1388,1.77,2.67,181.23,0.864,4,0.084,0.127,2059,441,2243,0,0,0,0,0,0
$GC,1515,1.54,260.2,56.8,22.0,178,1522,0.00,2.47,0.00,0.000,6,0.000,0.104,2059,1838,2243,0,0,1,0,0,0
$GC,1649,1.54,260.2,30.3,19.9,191,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1838,2243,0,0,0,0,0,0
$GC,1780,1.54,260.2,5.8,15.8,210,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1839,2243,0,0,0,0,0,0
$STATE,1800,end climb,SURFACE_DEPTH_REACHED
$STATE,1800,begin surface coast
$FINISH,4.7,1.018834
$STATE,1854,end surface coast,CONTROL_FINISHED_OK
$STATE,1854,begin surface
$SM_CCo,1856,415.40,0.790,0,0,163,874.76
$SM_GC,1.47,8.68,0.00,0.00,0.070,0.000,0.000,20,1917,162,-7.76,0.48,875.05
$IRIDIUM_FIX,4751.72,-12219.12,301011,151531
$TT8_MAMPS,0.021721
$HUMID,1078130958
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,19.4
$ALTIM_BOTTOM_PING,81.3,36.4
$24V_AH,24.5,1.446
$10V_AH,10.4,1.094
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,18.800,19.825,360.575,415.400,0.000,0.000,0.000,0.000,2.250,0.000,16.742,297.730,733.325,933.993,461.439,19.589,31.411,1265.015,0.000,422.482,0.000,10.182,0.000
$DEVICE_MAMPS,203.606,129.116,898.846,789.594,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,142.390,0.000,339.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,10227,223
$CAP_FILE_SIZE,58598,0
$CFSIZE,260280320,256987136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,060510,212834,4808.081,-12224.022,12,99.0,31,18.3