version: 66.07
glider: 33
mission: 16
dive: 18
start: 5 7 110 13 54 52
data:
$ID,33
$MISSION,16
$DIVE,18
$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,-216380.73
$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,23
$R_STBD_OVSHOOT,21
$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
$GPS1,070510,134931,4806.203,-12222.254,14,2.0,19,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-61.0
$GPS2,070510,135358,4806.186,-12222.241,20,2.3,39,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.192
$KALMAN_X,-1078.5,343.2,46.9,1966.5,-6.2
$KALMAN_Y,692.2,-549.0,-142.7,-3277.2,26.0
$MHEAD_RNG_PITCHd_Wd,308.3,4002,-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,14,-0.95,-146.6,0.0,0.0,0,289,0.00,0.00,-269.80,0.000,2,0.000,0.000,26,1991,2939,0,0,0,0,0,0
$GC,291,-0.95,-146.6,3.0,-2.0,54,357,8.07,2.58,-48.40,0.000,4,0.206,0.112,1507,3406,3624,0,0,1,0,0,0
$GC,374,-0.95,-146.6,7.2,-6.3,70,380,0.00,2.40,0.00,0.000,6,0.000,0.089,1507,1999,3624,0,0,0,0,0,0
$GC,447,-0.95,-146.6,11.5,-5.7,83,452,0.00,2.45,0.00,0.000,4,0.000,0.112,1507,592,3624,0,0,0,0,0,0
$GC,480,-0.95,-146.6,13.8,-6.1,89,486,0.00,2.38,0.00,0.000,6,0.000,0.094,1507,2001,3624,0,0,1,0,0,0
$GC,553,-0.95,-146.6,17.9,-5.6,102,559,0.00,2.47,0.00,0.000,4,0.000,0.114,1507,3406,3624,0,0,0,0,0,0
$GC,631,-0.95,-146.6,23.1,-6.7,112,635,0.00,2.38,0.00,0.000,6,0.000,0.092,1507,1997,3624,0,0,1,0,0,0
$GC,770,-0.95,-146.6,31.5,-5.2,125,774,0.00,2.45,0.00,0.000,4,0.000,0.114,1507,587,3624,0,0,0,0,0,0
$GC,808,-0.95,-146.6,34.0,-5.8,128,812,0.00,2.38,0.00,0.000,6,0.000,0.097,1507,2001,3624,0,0,1,0,0,0
$GC,941,-0.95,-146.6,41.6,-5.7,140,945,0.00,2.45,0.00,0.000,4,0.000,0.119,1507,3406,3624,0,0,0,0,0,0
$GC,979,-0.95,-146.6,43.9,-6.5,143,983,0.00,2.38,0.00,0.000,6,0.000,0.092,1507,2000,3624,0,0,0,0,0,0
$GC,1111,-0.95,-146.6,51.5,-5.3,155,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1999,3624,0,0,0,0,0,0
$GC,1239,-0.95,-146.6,58.6,-5.5,167,1243,0.00,2.47,0.00,0.000,4,0.000,0.117,1507,3409,3624,0,0,1,0,0,0
$GC,1311,-0.95,-146.6,62.7,-5.0,173,1315,0.00,2.35,0.00,0.000,6,0.000,0.092,1507,1999,3624,0,0,1,0,0,0
$GC,1444,-0.95,-146.6,70.1,-5.6,185,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1999,3624,0,0,0,0,0,0
$GC,1571,-0.95,-146.6,77.2,-5.7,197,1575,0.00,2.45,0.00,0.000,4,0.000,0.117,1507,3406,3624,0,0,0,0,0,0
$GC,1614,-0.95,-146.6,79.7,-5.6,200,1621,0.00,2.35,0.00,0.000,6,0.000,0.092,1507,2009,3624,0,0,1,0,0,0
$GC,1747,-0.95,-146.6,87.5,-6.2,213,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,2009,3624,0,0,0,0,0,0
$GC,1875,-0.95,-146.6,94.4,-5.6,225,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,2009,3624,0,0,0,0,0,0
$GC,2002,-0.95,-146.6,100.9,-5.2,237,2007,0.00,2.45,0.00,0.000,4,0.000,0.119,1507,3411,3624,0,0,0,0,0,0
$GC,2041,-0.95,-146.6,103.0,-5.0,240,2046,0.00,2.35,0.00,0.000,6,0.000,0.094,1507,1996,3624,0,0,1,0,0,0
$GC,2177,-0.95,-146.6,110.1,-5.1,252,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1996,3624,0,0,0,0,0,0
$GC,2301,-0.95,-146.6,116.4,-4.9,264,2305,0.00,2.45,0.00,0.000,4,0.000,0.119,1507,3406,3624,0,0,0,0,0,0
$GC,2355,-0.95,-146.6,119.3,-4.7,268,2361,0.00,2.35,0.00,0.000,6,0.000,0.092,1507,2005,3624,0,0,1,0,0,0
$GC,2489,-0.95,-146.6,120.4,-0.1,281,2493,0.00,2.42,0.00,0.000,4,0.000,0.117,1507,592,3624,0,0,0,0,0,0
$STATE,2706,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2706,begin apogee
$GC,2712,-0.31,0.0,120.5,0.3,300,2819,0.60,0.00,104.22,0.901,6,0.097,0.000,1653,2007,3126,0,0,0,0,0,0
$STATE,2820,end apogee,CONTROL_FINISHED_OK
$STATE,2820,begin climb
$GC,2822,0.95,146.6,120.4,0.0,311,2933,1.17,0.00,105.25,0.876,6,0.092,0.000,1924,2007,2628,0,0,0,0,0,0
$GC,3059,0.95,146.6,104.2,9.6,334,3063,0.00,2.58,0.00,0.000,4,0.000,0.117,1924,586,2628,0,0,0,0,0,0
$GC,3098,0.95,146.6,99.9,11.2,337,3102,0.00,2.45,0.00,0.000,6,0.000,0.099,1924,1999,2628,0,0,1,0,0,0
$GC,3231,0.95,146.6,87.5,9.5,349,3235,0.00,2.53,0.00,0.000,4,0.000,0.117,1924,587,2628,0,0,0,0,0,0
$GC,3291,0.95,146.6,81.4,8.9,354,3296,0.00,2.42,0.00,0.000,6,0.000,0.099,1924,1998,2628,0,0,1,0,0,0
$GC,3424,0.95,146.6,68.9,9.8,366,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1999,2628,0,0,0,0,0,0
$GC,3552,0.95,146.6,57.9,8.0,378,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1999,2628,0,0,0,0,0,0
$GC,3679,0.95,146.6,47.6,7.7,390,3683,0.00,2.47,0.00,0.000,4,0.000,0.117,1924,591,2628,0,0,0,0,0,0
$GC,3733,0.95,146.6,43.0,7.9,394,3739,0.00,2.42,0.00,0.000,6,0.000,0.099,1924,1999,2628,0,0,1,0,0,0
$GC,3866,0.95,146.6,31.6,8.8,407,3870,0.00,2.47,0.00,0.000,4,0.000,0.122,1924,3408,2628,0,0,0,0,0,0
$GC,3881,0.95,146.6,30.1,7.9,408,3888,0.00,2.40,0.00,0.000,6,0.000,0.092,1924,1997,2628,0,0,1,0,0,0
$GC,4015,0.95,146.6,20.6,7.4,421,4019,0.00,2.45,0.00,0.000,4,0.000,0.117,1924,587,2628,0,0,0,0,0,0
$GC,4104,0.95,146.6,13.4,6.9,435,4110,0.00,2.38,0.00,0.000,6,0.000,0.102,1924,2003,2628,0,0,1,0,0,0
$GC,4177,0.95,146.6,7.7,7.0,448,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2002,2628,0,0,0,0,0,0
$GC,4249,1.13,291.2,5.0,2.3,461,4271,0.17,0.00,19.02,0.797,2,0.092,0.000,1976,2003,2539,0,0,0,0,0,0
$STATE,4272,end climb,SURFACE_DEPTH_REACHED
$STATE,4272,begin surface coast
$FINISH,3.3,1.020248
$STATE,4423,end surface coast,CONTROL_FINISHED_OK
$STATE,4423,begin surface
$SM_CCo,4437,481.77,0.787,0,0,179,870.03
$SM_GC,1.22,0.00,0.00,481.77,0.000,0.000,0.787,21,2002,179,-7.82,0.06,870.03
$IRIDIUM_FIX,4748.51,-12226.29,311011,060624
$TT8_MAMPS,0.021721
$HUMID,1078009668
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.5
$24V_AH,24.3,4.087
$10V_AH,10.5,1.680
$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,18.325,72.925,228.500,481.775,0.000,30.147,25.408,117.795,2.500,0.000,41.044,781.719,2275.474,966.317,1119.751,56.808,33.331,1519.127,0.000,840.000,0.000,18.907,0.000
$DEVICE_MAMPS,206.089,121.667,901.329,787.111,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.493,0.000,751.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23575,492
$CAP_FILE_SIZE,79329,0
$CFSIZE,260280320,256434176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,070510,151758,4806.442,-12222.419,14,3.7,33,18.3