version: 66.07
glider: 33
mission: 16
dive: 19
start: 5 7 110 15 23 0
data:
$ID,33
$MISSION,16
$DIVE,19
$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,-216381.98
$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,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
$GPS1,070510,151758,4806.442,-12222.419,14,3.7,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.3
$GPS2,070510,152206,4806.402,-12222.365,15,1.7,31,18.3
$SPEED_LIMITS,0.067,0.308
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,0.248
$KALMAN_X,-496.1,221.3,8.2,1390.4,237.9
$KALMAN_Y,-38.9,-402.6,-29.8,-2405.8,-263.2
$MHEAD_RNG_PITCHd_Wd,305.4,3583,-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,12,begin dive
$GC,14,-0.84,-293.3,0.0,0.0,0,188,0.00,0.00,-170.75,0.000,2,0.000,0.000,21,2003,2181,0,0,0,0,0,0
$GC,190,-0.84,-293.3,3.1,-1.2,34,342,8.07,0.00,-137.57,0.000,6,0.199,0.000,1531,2003,3982,0,0,0,0,0,0
$GC,409,-0.84,-293.3,12.1,-7.7,76,414,0.00,2.47,0.00,0.000,4,0.000,0.114,1531,3406,3982,0,0,0,0,0,0
$GC,447,-0.84,-293.3,14.8,-7.0,83,454,0.00,2.42,0.00,0.000,6,0.000,0.089,1531,2004,3982,0,0,0,0,0,0
$GC,521,-0.84,-293.3,20.0,-7.4,96,525,0.00,2.47,0.00,0.000,4,0.000,0.114,1531,590,3982,0,0,0,0,0,0
$GC,564,-0.84,-293.3,23.3,-7.2,99,571,0.00,2.40,0.00,0.000,6,0.000,0.092,1531,2000,3982,0,0,1,0,0,0
$GC,697,-0.84,-293.3,33.1,-7.6,112,702,0.00,2.47,0.00,0.000,4,0.000,0.117,1531,3402,3982,0,0,0,0,0,0
$GC,781,-0.84,-293.3,39.1,-6.7,119,785,0.00,2.33,0.00,0.000,6,0.000,0.092,1531,1996,3982,0,0,1,0,0,0
$GC,919,-0.84,-293.3,49.0,-7.6,132,923,0.00,2.40,0.00,0.000,4,0.000,0.114,1531,594,3982,0,0,0,0,0,0
$GC,1037,-0.84,-293.3,57.6,-7.7,142,1041,0.00,2.35,0.00,0.000,6,0.000,0.097,1531,1998,3982,0,0,1,0,0,0
$GC,1175,-0.84,-293.3,67.7,-7.7,155,1179,0.00,2.47,0.00,0.000,4,0.000,0.119,1531,3408,3982,0,0,0,0,0,0
$GC,1315,-0.84,-293.3,78.1,-7.1,167,1319,0.00,2.35,0.00,0.000,6,0.000,0.092,1531,2000,3982,0,0,1,0,0,0
$GC,1447,-0.84,-293.3,88.1,-8.2,179,1452,0.00,2.42,0.00,0.000,4,0.000,0.117,1531,595,3982,0,0,0,0,0,0
$GC,1558,-0.84,-293.3,96.2,-6.8,188,1565,0.00,2.38,0.00,0.000,6,0.000,0.094,1531,2003,3982,0,0,1,0,0,0
$GC,1692,-0.84,-293.3,105.6,-7.3,201,1696,0.00,2.45,0.00,0.000,4,0.000,0.122,1531,3409,3982,0,0,0,0,0,0
$GC,1813,-0.84,-293.3,114.8,-7.2,211,1820,0.00,2.38,0.00,0.000,6,0.000,0.092,1531,2001,3982,0,0,1,0,0,0
$GC,1948,-0.84,-293.3,121.0,-0.1,224,1952,0.00,2.40,0.00,0.000,4,0.000,0.117,1531,595,3982,0,0,0,0,0,0
$GC,2628,-0.84,-293.3,120.9,0.1,284,2632,0.00,2.35,0.00,0.000,6,0.000,0.099,1531,2003,3982,0,0,1,0,0,0
$STATE,2706,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2706,begin apogee
$GC,2709,-0.31,0.0,121.0,-0.4,291,2899,0.50,0.00,181.70,0.894,6,0.089,0.000,1656,2004,3125,0,0,0,0,0,0
$STATE,2900,end apogee,CONTROL_FINISHED_OK
$STATE,2900,begin climb
$GC,2901,0.84,293.3,121.2,0.0,310,3119,1.05,2.65,208.45,0.859,4,0.084,0.122,1902,3404,2131,0,0,0,0,0,0
$GC,3254,0.84,293.3,89.3,12.9,343,3259,0.00,2.45,0.00,0.000,6,0.000,0.094,1902,2003,2131,0,0,1,0,0,0
$GC,3387,0.84,293.3,73.4,12.1,355,3391,0.00,2.50,0.00,0.000,4,0.000,0.117,1902,593,2131,0,0,0,0,0,0
$GC,3441,0.84,293.3,66.2,12.5,359,3447,0.00,2.45,0.00,0.000,6,0.000,0.099,1902,1994,2131,0,0,1,0,0,0
$GC,3574,0.84,293.3,50.6,12.0,372,3578,0.00,2.50,0.00,0.000,4,0.000,0.117,1903,592,2131,0,0,0,0,0,0
$GC,3612,0.84,293.3,46.1,11.7,375,3619,0.00,2.45,0.00,0.000,6,0.000,0.097,1902,2003,2131,0,0,1,0,0,0
$GC,3747,0.84,293.3,30.4,11.5,388,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2003,2131,0,0,0,0,0,0
$GC,3874,0.84,293.3,15.8,11.1,403,3880,0.00,2.50,0.00,0.000,4,0.000,0.119,1902,587,2131,0,0,0,0,0,0
$GC,3896,0.84,293.3,13.2,11.7,407,3902,0.00,2.40,0.00,0.000,6,0.000,0.099,1902,2003,2131,0,0,1,0,0,0
$GC,3969,0.84,293.3,5.7,9.9,420,3975,0.00,2.47,0.00,0.000,4,0.000,0.117,1902,592,2131,0,0,0,0,0,0
$STATE,3990,end climb,SURFACE_DEPTH_REACHED
$STATE,3990,begin surface coast
$FINISH,1.9,1.014259
$STATE,4036,end surface coast,CONTROL_FINISHED_OK
$STATE,4037,begin surface
$SM_CCo,4053,397.23,0.780,0,0,179,870.03
$SM_GC,1.73,0.00,0.00,397.23,0.000,0.000,0.780,20,2012,179,-7.82,0.34,870.03
$IRIDIUM_FIX,4745.30,-12220.12,311011,080817
$TT8_MAMPS,0.021721
$HUMID,1078025152
$INTERNAL_PRESSURE,7.66631
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.6
$24V_AH,24.2,4.279
$10V_AH,10.4,1.723
$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,17.350,63.325,390.150,397.225,0.000,22.412,27.318,106.446,2.500,0.000,32.334,669.990,1877.670,985.091,1129.620,47.108,33.328,1557.256,0.000,870.598,0.000,18.918,0.000
$DEVICE_MAMPS,198.640,121.667,893.880,779.662,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,284.925,0.000,658.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323572
$DATA_FILE_SIZE,23584,432
$CAP_FILE_SIZE,69396,0
$CFSIZE,260280320,256405504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,070510,163816,4806.444,-12222.466,13,99.0,32,18.3