version: 66.07
glider: 33
mission: 16
dive: 14
start: 5 7 110 8 54 19
data:
$ID,33
$MISSION,16
$DIVE,14
$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,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,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,-216375.73
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,070510,084906,4806.097,-12222.013,19,1.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.0
$GPS2,070510,085325,4806.084,-12222.007,14,1.6,19,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,0.201
$KALMAN_X,-1174.0,89.8,-131.1,2790.2,212.7
$KALMAN_Y,851.2,-99.0,238.1,-4465.5,-482.5
$MHEAD_RNG_PITCHd_Wd,312.5,4319,-12.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.95,-146.6,0.0,0.0,0,260,0.00,0.00,-240.65,0.000,2,0.000,0.000,20,1994,2733,0,0,0,0,0,0
$GC,262,-0.95,-146.6,3.1,-1.7,48,344,7.97,2.53,-68.25,0.000,4,0.201,0.112,1508,3406,3623,0,0,0,0,0,0
$GC,445,-0.95,-146.6,11.9,-6.7,82,451,0.00,2.38,0.00,0.000,6,0.000,0.092,1508,2000,3623,0,0,1,0,0,0
$GC,518,-0.95,-146.6,16.4,-6.1,95,524,0.00,2.47,0.00,0.000,4,0.000,0.114,1507,590,3623,0,0,0,0,0,0
$GC,541,-0.95,-146.6,18.1,-6.5,99,546,0.00,2.38,0.00,0.000,6,0.000,0.094,1508,2000,3623,0,0,1,0,0,0
$GC,617,-0.95,-146.6,22.7,-6.4,109,621,0.00,2.45,0.00,0.000,4,0.000,0.117,1508,3406,3622,0,0,0,0,0,0
$GC,700,-0.95,-146.6,28.1,-6.9,116,704,0.00,2.38,0.00,0.000,6,0.000,0.092,1508,1995,3623,0,0,1,0,0,0
$GC,833,-0.95,-146.6,36.4,-6.1,128,834,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,1994,3623,0,0,0,0,0,0
$GC,960,-0.95,-146.6,43.9,-6.3,140,964,0.00,2.50,0.00,0.000,4,0.000,0.117,1508,3405,3623,0,0,0,0,0,0
$GC,1026,-0.95,-146.6,48.0,-6.1,145,1032,0.00,2.40,0.00,0.000,6,0.000,0.092,1508,2001,3623,0,0,0,0,0,0
$GC,1160,-0.95,-146.6,55.8,-6.0,158,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,2001,3623,0,0,0,0,0,0
$GC,1287,-0.95,-146.6,63.2,-6.1,170,1291,0.00,2.42,0.00,0.000,4,0.000,0.114,1508,593,3622,0,0,0,0,0,0
$GC,1314,-0.95,-146.6,64.9,-5.9,172,1318,0.00,2.33,0.00,0.000,6,0.000,0.097,1508,1999,3623,0,0,1,0,0,0
$GC,1447,-0.95,-146.6,72.5,-5.6,184,1451,0.00,2.47,0.00,0.000,4,0.000,0.119,1507,3411,3623,0,0,0,0,0,0
$GC,1519,-0.95,-146.6,76.6,-5.2,190,1523,0.00,2.35,0.00,0.000,6,0.000,0.094,1508,2000,3623,0,0,1,0,0,0
$GC,1651,-0.95,-146.6,84.3,-6.1,202,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,2000,3623,0,0,0,0,0,0
$GC,1779,-0.95,-146.6,91.6,-5.9,214,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,2000,3622,0,0,0,0,0,0
$GC,1906,-0.95,-146.6,98.6,-5.7,226,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,2000,3623,0,0,0,0,0,0
$GC,2034,-0.95,-146.6,105.2,-5.2,238,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,1999,3623,0,0,0,0,0,0
$STATE,2096,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2096,begin apogee
$GC,2099,-0.31,0.0,108.4,5.2,244,2208,0.62,0.00,103.70,0.881,6,0.112,0.000,1651,1999,3126,0,0,0,0,0,0
$STATE,2209,end apogee,CONTROL_FINISHED_OK
$STATE,2209,begin climb
$GC,2211,0.95,146.6,110.7,0.0,255,2323,1.20,2.65,104.55,0.854,4,0.082,0.122,1930,589,2628,0,0,0,0,0,0
$GC,2377,0.95,146.6,101.3,9.6,271,2385,0.00,2.50,0.00,0.000,6,0.000,0.099,1930,1987,2628,0,0,1,0,0,0
$GC,2511,0.95,146.6,88.3,9.6,284,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1987,2628,0,0,0,0,0,0
$GC,2639,0.95,146.6,76.0,9.5,296,2643,0.00,2.47,0.00,0.000,4,0.000,0.119,1930,594,2628,0,0,0,0,0,0
$GC,2734,0.95,146.6,67.2,9.7,304,2739,0.00,2.42,0.00,0.000,6,0.000,0.102,1930,2004,2629,0,0,1,0,0,0
$GC,2867,0.95,146.6,55.5,8.5,316,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2004,2628,0,0,0,0,0,0
$GC,2994,0.95,146.6,44.4,8.8,328,2999,0.00,2.50,0.00,0.000,4,0.000,0.119,1930,594,2628,0,0,0,0,0,0
$GC,3060,0.95,146.6,37.8,10.3,333,3067,0.00,2.42,0.00,0.000,6,0.000,0.099,1930,2001,2628,0,0,1,0,0,0
$GC,3193,0.95,146.6,26.9,7.9,346,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2001,2628,0,0,0,0,0,0
$GC,3323,0.95,146.6,16.6,7.8,361,3329,0.00,2.47,0.00,0.000,4,0.000,0.122,1930,3408,2628,0,0,0,0,0,0
$GC,3429,0.95,146.6,7.9,8.5,380,3435,0.00,2.35,0.00,0.000,6,0.000,0.097,1930,2002,2628,0,0,1,0,0,0
$STATE,3490,end climb,SURFACE_DEPTH_REACHED
$STATE,3490,begin surface coast
$FINISH,3.0,1.020518
$STATE,3570,end surface coast,CONTROL_FINISHED_OK
$STATE,3570,begin surface
$SM_CCo,3583,496.30,0.782,0,0,179,870.03
$SM_GC,0.94,0.00,0.00,496.30,0.000,0.000,0.782,20,2000,179,-7.82,0.00,870.03
$IRIDIUM_FIX,4748.51,-12221.84,311011,010140
$TT8_MAMPS,0.021721
$HUMID,1078022571
$INTERNAL_PRESSURE,7.65654
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.2
$ALTIM_BOTTOM_PING,90.5,37.7
$24V_AH,24.3,3.435
$10V_AH,10.5,1.516
$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,17.775,48.850,208.250,496.300,0.000,29.321,33.883,120.230,1.500,0.000,19.996,627.536,1811.797,945.742,920.035,48.098,33.341,1392.486,0.000,669.097,0.000,11.719,0.000
$DEVICE_MAMPS,201.123,121.667,881.465,782.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,268.560,0.000,618.840,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323824
$DATA_FILE_SIZE,20241,405
$CAP_FILE_SIZE,63523,0
$CFSIZE,260280320,256593920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,070510,100328,4806.324,-12222.200,16,2.5,35,18.3