version: 66.07
glider: 33
mission: 16
dive: 12
start: 5 7 110 6 19 28
data:
$ID,33
$MISSION,16
$DIVE,12
$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,75
$T_MISSION,90
$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,-216373.23
$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,18
$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
$GPS1,070510,061422,4806.012,-12222.064,9,3.8,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.9
$GPS2,070510,061834,4805.989,-12222.051,15,3.5,34,18.3
$SPEED_LIMITS,0.067,0.308
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.153,0.268
$KALMAN_X,-1756.2,-16.2,120.4,3171.0,-367.1
$KALMAN_Y,1841.6,110.8,-24.2,-5576.7,426.4
$MHEAD_RNG_PITCHd_Wd,312.0,4436,-7.7,-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,13,begin dive
$GC,14,-0.84,-293.3,0.0,0.0,0,188,0.00,0.00,-170.68,0.000,2,0.000,0.000,24,2003,2163,0,0,0,0,0,0
$GC,190,-0.84,-293.3,3.1,-1.2,34,338,8.10,2.53,-132.15,0.000,4,0.201,0.112,1531,590,3982,0,0,0,0,0,0
$GC,377,-0.84,-293.3,10.8,-7.0,70,383,0.00,2.42,0.00,0.000,6,0.000,0.097,1532,2010,3982,0,0,1,0,0,0
$GC,450,-0.84,-293.3,15.7,-6.4,83,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2009,3982,0,0,0,0,0,0
$GC,522,-0.84,-293.3,20.1,-6.2,96,526,0.00,2.47,0.00,0.000,4,0.000,0.119,1532,3406,3982,0,0,0,0,0,0
$GC,560,-0.84,-293.3,22.5,-6.5,99,564,0.00,2.40,0.00,0.000,6,0.000,0.092,1532,1998,3982,0,0,0,0,0,0
$GC,693,-0.84,-293.3,30.2,-6.0,111,694,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,1998,3982,0,0,0,0,0,0
$GC,820,-0.84,-293.3,37.7,-5.5,123,824,0.00,2.50,0.00,0.000,4,0.000,0.119,1532,3413,3982,0,0,0,0,0,0
$GC,870,-0.84,-293.3,40.6,-5.6,127,874,0.00,2.38,0.00,0.000,6,0.000,0.094,1532,2000,3982,0,0,1,0,0,0
$GC,1002,-0.84,-293.3,48.0,-5.5,139,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2000,3982,0,0,0,0,0,0
$GC,1130,-0.84,-293.3,55.1,-5.5,151,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2000,3982,0,0,0,0,0,0
$GC,1257,-0.84,-293.3,62.2,-5.6,163,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2000,3982,0,0,0,0,0,0
$GC,1386,-0.84,-293.3,69.0,-5.3,175,1390,0.00,2.50,0.00,0.000,4,0.000,0.122,1532,3409,3982,0,0,0,0,0,0
$GC,1428,-0.84,-293.3,71.7,-5.6,178,1435,0.00,2.38,0.00,0.000,6,0.000,0.094,1532,2005,3981,0,0,1,0,0,0
$GC,1562,-0.84,-293.3,80.7,-7.8,191,1566,0.00,2.45,0.00,0.000,4,0.000,0.122,1532,3406,3982,0,0,0,0,0,0
$GC,1604,-0.84,-293.3,83.7,-7.0,194,1612,0.00,2.38,0.00,0.000,6,0.000,0.092,1532,1997,3982,0,0,1,0,0,0
$GC,1738,-0.84,-293.3,93.3,-7.3,207,1742,0.00,2.40,0.00,0.000,4,0.000,0.119,1532,594,3982,0,0,0,0,0,0
$GC,1844,-0.84,-293.3,101.4,-7.6,216,1848,0.00,2.35,0.00,0.000,6,0.000,0.099,1532,2000,3982,0,0,1,0,0,0
$STATE,1929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1929,begin apogee
$GC,1932,-0.31,0.0,107.3,7.3,224,2116,0.50,0.00,180.38,0.881,6,0.094,0.000,1653,2003,3126,0,0,0,0,0,0
$STATE,2117,end apogee,CONTROL_FINISHED_OK
$STATE,2117,begin climb
$GC,2118,0.84,293.3,118.5,0.0,242,2334,1.08,2.67,206.38,0.854,4,0.082,0.122,1911,598,2132,0,0,1,0,0,0
$GC,2531,0.84,293.3,77.5,13.4,281,2536,0.00,2.45,0.00,0.000,6,0.000,0.102,1912,2003,2132,0,0,1,0,0,0
$GC,2664,0.84,293.3,60.9,12.4,293,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2003,2132,0,0,0,0,0,0
$GC,2791,0.84,293.3,45.2,12.0,305,2796,0.00,2.50,0.00,0.000,4,0.000,0.119,1912,592,2132,0,0,0,0,0,0
$GC,2857,0.84,293.3,37.1,11.6,310,2864,0.00,2.45,0.00,0.000,6,0.000,0.102,1911,1998,2132,0,0,1,0,0,0
$GC,2991,0.84,293.3,21.4,12.3,323,2995,0.00,2.50,0.00,0.000,4,0.000,0.122,1911,3410,2132,0,0,0,0,0,0
$GC,3028,0.84,293.3,16.6,12.3,328,3034,0.00,2.38,0.00,0.000,6,0.000,0.097,1912,2002,2132,0,0,1,0,0,0
$GC,3101,0.84,293.3,8.6,11.3,341,3107,0.00,2.47,0.00,0.000,4,0.000,0.119,1911,586,2132,0,0,0,0,0,0
$STATE,3150,end climb,SURFACE_DEPTH_REACHED
$STATE,3150,begin surface coast
$FINISH,2.4,1.018203
$STATE,3174,end surface coast,CONTROL_FINISHED_OK
$STATE,3174,begin surface
$SM_CCo,3190,394.77,0.780,0,0,179,870.03
$SM_GC,1.33,0.00,0.00,394.77,0.000,0.000,0.780,23,2007,179,-7.81,0.20,870.03
$IRIDIUM_FIX,4751.72,-12219.12,301011,232351
$TT8_MAMPS,0.021721
$HUMID,1078057410
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,90.3,36.6
$24V_AH,24.3,3.113
$10V_AH,10.5,1.419
$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,17.475,49.025,386.750,394.775,0.000,28.254,24.148,110.956,1.500,0.000,36.368,528.274,1439.535,962.492,878.197,43.354,33.332,1422.735,0.000,634.090,0.000,11.718,0.000
$DEVICE_MAMPS,201.123,121.667,881.465,779.662,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.667,0.000,540.059,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,16919,354
$CAP_FILE_SIZE,59624,0
$CFSIZE,260280320,256671744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,070510,071956,4806.251,-12222.197,10,1.8,10,18.3