version: 66.07
glider: 33
mission: 16
dive: 4
start: 5 6 110 21 35 5
data:
$ID,33
$MISSION,16
$DIVE,4
$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,-216254.5
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,23
$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
$GPS1,060510,212834,4808.081,-12224.022,12,99.0,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.7
$GPS2,060510,213413,4808.096,-12224.057,11,1.0,16,18.3
$SPEED_LIMITS,0.100,0.358
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.342,-0.106
$KALMAN_X,-355.2,-216.7,-160.4,-227.5,-121.1
$KALMAN_Y,616.0,417.8,307.5,-1092.5,196.6
$MHEAD_RNG_PITCHd_Wd,88.9,1318,-12.4,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.14,-293.3,0.0,0.0,0,134,0.00,0.00,-116.45,0.000,2,0.000,0.000,20,1918,1541,0,0,0,0,0,0
$GC,136,-1.14,-293.3,3.0,-3.7,23,314,7.80,2.38,-160.02,0.000,4,0.206,0.117,1467,595,3983,0,0,0,0,0,0
$GC,503,-1.14,-293.3,26.8,-9.1,86,510,0.00,2.40,0.00,0.000,6,0.000,0.099,1467,1996,3983,0,0,1,0,0,0
$GC,637,-1.14,-293.3,37.6,-8.4,99,642,0.00,2.47,0.00,0.000,4,0.000,0.117,1467,3409,3983,0,0,0,0,0,0
$GC,732,-1.14,-293.3,45.9,-9.3,107,737,0.00,2.35,0.00,0.000,6,0.000,0.097,1468,1997,3983,0,0,1,0,0,0
$GC,865,-1.14,-293.3,56.9,-8.2,119,866,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,1997,3982,0,0,0,0,0,0
$GC,992,-1.14,-293.3,67.3,-7.9,131,997,0.00,2.47,0.00,0.000,4,0.000,0.119,1468,3412,3983,0,0,0,0,0,0
$GC,1020,-1.14,-293.3,69.5,-7.7,133,1024,0.00,2.38,0.00,0.000,6,0.000,0.097,1468,1995,3983,0,0,1,0,0,0
$GC,1158,-1.14,-293.3,80.6,-7.7,146,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,1995,3982,0,0,0,0,0,0
$GC,1289,-1.14,-293.3,90.7,-7.8,158,1293,0.00,2.47,0.00,0.000,4,0.000,0.122,1468,3410,3983,0,0,1,0,0,0
$GC,1365,-1.14,-293.3,97.4,-8.5,164,1372,0.00,2.38,0.00,0.000,6,0.000,0.097,1468,2007,3983,0,0,1,0,0,0
$STATE,1423,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1424,begin apogee
$GC,1427,-0.31,0.0,101.7,7.0,170,1610,0.80,0.00,178.90,0.886,6,0.117,0.000,1650,2007,3126,0,0,0,0,0,0
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1612,1.14,293.3,108.4,0.0,188,1828,1.38,2.70,204.43,0.859,4,0.082,0.124,1975,593,2132,0,0,0,0,0,0
$GC,1894,1.14,293.3,79.7,17.2,215,1901,0.00,2.50,0.00,0.000,6,0.000,0.104,1975,1989,2132,0,0,1,0,0,0
$GC,2028,1.14,293.3,57.8,16.7,228,2032,0.00,2.50,0.00,0.000,4,0.000,0.122,1975,591,2132,0,0,0,0,0,0
$GC,2048,1.14,293.3,54.3,17.1,229,2055,0.00,2.47,0.00,0.000,6,0.000,0.104,1975,2000,2132,0,0,1,0,0,0
$GC,2182,1.14,293.3,33.0,15.5,242,2186,0.00,2.53,0.00,0.000,4,0.000,0.122,1975,584,2132,0,0,1,0,0,0
$GC,2208,1.14,293.3,28.4,17.2,244,2213,0.00,2.42,0.00,0.000,6,0.000,0.104,1975,2003,2131,0,0,1,0,0,0
$GC,2345,1.14,293.3,8.2,12.7,263,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2003,2132,0,0,0,0,0,0
$STATE,2388,end climb,SURFACE_DEPTH_REACHED
$STATE,2388,begin surface coast
$FINISH,4.7,1.018590
$STATE,2462,end surface coast,CONTROL_FINISHED_OK
$STATE,2462,begin surface
$SM_CCo,2464,393.73,0.790,0,0,163,874.76
$SM_GC,1.68,8.27,0.00,0.00,0.067,0.000,0.000,26,2011,162,-7.74,0.31,875.05
$IRIDIUM_FIX,4748.51,-12226.29,301011,151516
$TT8_MAMPS,0.021721
$HUMID,1078120635
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.5,18.4
$ALTIM_BOTTOM_PING,90.7,30.1
$24V_AH,24.4,1.637
$10V_AH,10.4,1.125
$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,18.250,34.425,383.325,393.725,0.000,58.720,72.942,81.330,1.500,0.000,17.053,403.050,1172.561,931.263,778.317,32.295,32.333,1318.211,0.000,508.407,0.000,11.689,0.000
$DEVICE_MAMPS,206.089,124.150,886.431,789.594,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,184.301,0.000,432.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323560
$DATA_FILE_SIZE,13592,284
$CAP_FILE_SIZE,48641,0
$CFSIZE,260280320,256962560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,060510,222528,4807.955,-12223.584,8,2.4,27,18.3