version: 66.07
glider: 33
mission: 12
dive: 2
start: 4 12 110 20 0 5
data:
$ID,33
$MISSION,12
$DIVE,2
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-4
$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,720
$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,-210531.44
$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,1750
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,1730
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,2618
$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,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.378853
$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
$GPS1,120410,195520,4807.237,-12222.545,13,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-56.2
$GPS2,120410,195855,4807.208,-12222.518,10,1.6,15,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.261,-0.034
$KALMAN_X,87.1,87.1,87.1,10.1,194.2
$KALMAN_Y,-76.3,-76.3,-76.3,-300.6,-170.0
$MHEAD_RNG_PITCHd_Wd,244.2,710,-18.1,-10.000
$D_GRID,107
$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,-1.13,-146.6,0.0,0.0,0,243,0.00,0.00,-225.05,0.000,2,0.000,0.000,27,1724,2348,0,0,0,0,0,0
$GC,245,-1.13,-146.6,3.3,-3.4,45,327,7.95,2.55,-66.00,0.000,4,0.201,0.119,1499,3141,3115,0,0,1,0,0,0
$GC,384,-1.13,-146.6,8.6,-6.4,71,389,0.00,2.47,0.00,0.000,6,0.000,0.107,1499,1723,3115,0,0,1,0,0,0
$GC,456,-1.13,-146.6,13.0,-5.2,84,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1499,1723,3115,0,0,0,0,0,0
$GC,528,-1.13,-146.6,17.9,-6.0,97,534,0.00,2.55,0.00,0.000,4,0.000,0.122,1499,3137,3115,0,0,0,0,0,0
$GC,551,-1.13,-146.6,19.5,-7.4,101,556,0.00,2.45,0.00,0.000,6,0.000,0.107,1499,1728,3116,0,0,1,0,0,0
$GC,625,-1.13,-146.6,24.5,-6.8,109,626,0.00,0.00,0.00,0.000,6,0.000,0.000,1499,1728,3115,0,0,0,0,0,0
$GC,753,-1.13,-146.6,33.1,-6.5,121,757,0.00,2.55,0.00,0.000,4,0.000,0.124,1499,3138,3116,0,0,0,0,0,0
$GC,829,-1.13,-146.6,39.0,-6.9,127,836,0.00,2.50,0.00,0.000,6,0.000,0.109,1499,1730,3116,0,0,1,0,0,0
$GC,963,-1.13,-146.6,48.7,-7.1,140,964,0.00,0.00,0.00,0.000,6,0.000,0.000,1499,1731,3116,0,0,0,0,0,0
$GC,1090,-1.13,-146.6,57.7,-7.0,152,1095,0.00,2.55,0.00,0.000,4,0.000,0.127,1499,3135,3115,0,0,1,0,0,0
$GC,1167,-1.13,-146.6,63.4,-7.9,158,1174,0.00,2.50,0.00,0.000,6,0.000,0.112,1499,1731,3116,0,0,1,0,0,0
$GC,1301,-1.13,-146.6,73.1,-7.4,171,1305,0.00,2.55,0.00,0.000,4,0.000,0.127,1499,3137,3115,0,0,1,0,0,0
$GC,1328,-1.13,-146.6,74.9,-7.2,173,1332,0.00,2.47,0.00,0.000,6,0.000,0.112,1499,1727,3115,0,0,1,0,0,0
$GC,1461,-1.13,-146.6,84.7,-7.3,185,1465,0.00,2.55,0.00,0.000,4,0.000,0.127,1498,314,3116,0,0,0,0,0,0
$GC,1481,-1.13,-146.6,86.0,-6.1,186,1487,0.00,2.45,0.00,0.000,6,0.000,0.104,1499,1730,3115,0,0,1,0,0,0
$GC,1614,-1.13,-146.6,95.7,-7.0,199,1619,0.00,2.58,0.00,0.000,4,0.000,0.127,1499,3134,3116,0,0,1,0,0,0
$GC,1679,-1.13,-146.6,100.3,-6.6,204,1686,0.00,2.50,0.00,0.000,6,0.000,0.112,1499,1731,3116,0,0,1,0,0,0
$STATE,1716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1717,begin apogee
$GC,1720,-0.26,0.0,102.6,6.2,208,1829,0.85,0.00,104.28,0.916,6,0.117,0.000,1691,1677,2617,0,0,0,0,0,0
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1831,1.13,146.6,104.5,0.0,219,1940,1.33,0.00,103.45,0.881,6,0.079,0.000,2004,1677,2121,0,0,0,0,0,0
$GC,2066,1.13,146.6,85.4,11.9,242,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1677,2121,0,0,0,0,0,0
$GC,2193,1.13,146.6,70.4,11.0,254,2197,0.00,2.53,0.00,0.000,4,0.000,0.127,2004,3080,2121,0,0,1,0,0,0
$GC,2266,1.13,146.6,62.1,11.3,260,2270,0.00,2.47,0.00,0.000,6,0.000,0.112,2004,1681,2121,0,0,1,0,0,0
$GC,2398,1.13,146.6,47.1,11.1,272,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1681,2121,0,0,0,0,0,0
$GC,2526,1.13,146.6,32.9,11.4,284,2530,0.00,2.53,0.00,0.000,4,0.000,0.129,2004,3080,2121,0,0,1,0,0,0
$GC,2597,1.13,146.6,24.5,11.6,290,2602,0.00,2.47,0.00,0.000,6,0.000,0.112,2004,1679,2121,0,0,1,0,0,0
$GC,2735,1.13,146.6,9.2,11.1,310,2741,0.00,2.53,0.00,0.000,4,0.000,0.127,2004,3080,2121,0,0,1,0,0,0
$STATE,2790,end climb,SURFACE_DEPTH_REACHED
$STATE,2790,begin surface coast
$FINISH,3.0,1.020590
$STATE,2842,end surface coast,CONTROL_FINISHED_OK
$STATE,2842,begin surface
$SM_CCo,2859,389.05,0.812,0,0,178,720.06
$SM_GC,1.17,0.00,0.00,389.05,0.000,0.000,0.812,23,1728,178,-7.94,-0.06,720.06
$IRIDIUM_FIX,4748.51,-12224.57,061011,141446
$TT8_MAMPS,0.021721
$HUMID,1078063861
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,19.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.1,18.9
$ALTIM_BOTTOM_PING,90.2,31.8
$24V_AH,24.3,50.843
$10V_AH,10.3,10.525
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,18.525,50.250,207.725,389.050,0.000,0.000,0.000,0.000,2.250,0.000,16.768,515.142,1343.382,821.978,615.397,41.967,30.183,1216.127,0.000,560.298,0.000,11.703,0.000
$DEVICE_MAMPS,201.123,171.327,916.227,811.941,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.457,0.000,501.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324020
$DATA_FILE_SIZE,16926,329
$CAP_FILE_SIZE,73898,0
$CFSIZE,260280320,256835584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,120410,205519,4807.143,-12222.896,15,1.9,32,18.3