version: 66.07
glider: 33
mission: 16
dive: 16
start: 5 7 110 11 27 30
data:
$ID,33
$MISSION,16
$DIVE,16
$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,-216378.23
$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,19
$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
$GPS1,070510,111928,4806.198,-12222.211,12,2.3,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-61.9
$GPS2,070510,112636,4806.167,-12222.193,20,2.0,36,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.052,-0.063
$KALMAN_X,-1324.9,342.6,6.8,2321.2,1.6
$KALMAN_Y,1197.8,-538.3,-138.6,-3848.1,-17.1
$MHEAD_RNG_PITCHd_Wd,122.3,390,-37.1,-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,14,-2.34,-18.8,0.0,0.0,0,284,0.00,0.00,-264.88,0.000,2,0.000,0.000,18,1996,2936,0,0,0,0,0,0
$GC,286,-2.37,-38.5,3.2,-2.0,53,328,6.45,2.45,-26.12,0.000,4,0.209,0.102,1198,596,3257,0,0,0,0,0,0
$GC,395,-2.37,-38.5,10.4,-10.5,73,401,0.00,2.38,0.00,0.000,6,0.000,0.092,1198,2009,3257,0,0,1,0,0,0
$GC,467,-2.37,-38.5,17.2,-9.8,86,473,0.00,2.42,0.00,0.000,4,0.000,0.109,1198,3409,3257,0,0,0,0,0,0
$GC,484,-2.37,-38.5,18.5,-8.8,89,490,0.00,2.38,0.00,0.000,6,0.000,0.087,1198,1994,3257,0,0,0,0,0,0
$GC,554,-2.37,-38.5,25.9,-10.7,97,558,0.00,2.38,0.00,0.000,4,0.000,0.104,1198,594,3257,0,0,0,0,0,0
$GC,990,-2.37,-38.5,81.9,-12.4,135,997,0.00,2.38,0.00,0.000,6,0.000,0.094,1198,1996,3257,0,0,1,0,0,0
$GC,1124,-2.37,-38.5,98.7,-13.0,148,1128,0.00,2.42,0.00,0.000,4,0.000,0.114,1198,3411,3257,0,0,0,0,0,0
$STATE,1156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1156,begin apogee
$GC,1162,-0.31,0.0,103.2,13.7,150,1198,2.15,0.00,30.33,0.872,6,0.164,0.000,1648,2000,3125,0,0,0,0,0,0
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1200,2.37,38.5,104.6,0.0,154,1237,2.42,2.53,28.10,0.839,4,0.082,0.119,2249,594,2995,0,0,0,0,0,0
$GC,1337,2.37,38.5,94.1,7.3,166,1341,0.00,2.45,0.00,0.000,6,0.000,0.102,2249,2001,2995,0,0,1,0,0,0
$GC,1476,2.38,47.3,86.5,4.6,179,1486,0.00,0.00,7.78,0.742,6,0.000,0.000,2248,2001,2964,0,0,0,0,0,0
$GC,1613,2.38,51.4,79.2,5.7,192,1623,0.00,0.00,4.65,0.628,6,0.000,0.000,2248,2001,2951,0,0,0,0,0,0
$GC,1751,2.39,55.7,71.2,5.7,205,1762,0.00,2.50,4.75,0.638,4,0.000,0.119,2249,3411,2936,0,0,0,0,0,0
$GC,2065,2.40,62.8,52.6,5.0,233,2077,0.00,2.40,6.55,0.710,6,0.000,0.097,2248,1997,2913,0,0,1,0,0,0
$GC,2203,2.41,70.5,46.0,4.8,246,2215,0.00,2.47,6.82,0.713,4,0.000,0.117,2249,589,2885,0,0,0,0,0,0
$GC,2473,2.41,70.7,25.6,6.6,270,2478,0.00,2.40,0.00,0.000,6,0.000,0.102,2249,1999,2885,0,0,1,0,0,0
$GC,2608,2.41,70.7,16.0,7.1,287,2614,0.00,2.45,0.00,0.000,4,0.000,0.117,2248,592,2886,0,0,1,0,0,0
$GC,3289,2.44,97.4,10.1,0.4,408,3315,0.00,2.38,19.52,0.804,6,0.000,0.102,2248,2007,2795,0,0,1,0,0,0
$GC,3383,2.45,101.1,6.9,5.8,425,3394,0.00,2.47,4.30,0.588,4,0.000,0.117,2249,593,2783,0,0,1,0,0,0
$STATE,3426,end climb,SURFACE_DEPTH_REACHED
$STATE,3427,begin surface coast
$FINISH,2.5,1.021200
$STATE,3473,end surface coast,CONTROL_FINISHED_OK
$STATE,3473,begin surface
$SM_CCo,3491,529.28,0.792,0,0,179,870.03
$SM_GC,1.16,0.00,0.00,529.28,0.000,0.000,0.792,24,1998,179,-7.80,-0.03,870.03
$IRIDIUM_FIX,4748.51,-12226.29,311011,040415
$TT8_MAMPS,0.021721
$HUMID,1078027732
$INTERNAL_PRESSURE,7.66631
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,100.7,21.9
$24V_AH,24.3,3.743
$10V_AH,10.5,1.598
$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,20.775,43.675,112.800,529.275,0.000,52.876,112.513,111.795,2.000,0.000,37.381,693.606,1662.967,883.370,1174.104,49.566,33.335,1361.469,0.000,801.628,0.000,16.054,0.000
$DEVICE_MAMPS,208.572,119.184,871.533,792.077,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.366,0.000,671.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20185,441
$CAP_FILE_SIZE,60629,0
$CFSIZE,260280320,256536576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,070510,123536,4806.017,-12222.048,16,1.4,32,18.3