version: 66.07
glider: 33
mission: 12
dive: 4
start: 4 12 110 22 15 23
data:
$ID,33
$MISSION,12
$DIVE,4
$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,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,500
$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,-210739.08
$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,1840
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,15
$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
$GPS1,120410,221049,4806.882,-12222.978,9,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-62.1
$GPS2,120410,221431,4806.859,-12222.961,14,1.4,30,18.3
$SPEED_LIMITS,0.100,0.358
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.037,0.121
$KALMAN_X,263.0,212.2,177.4,-921.9,65.1
$KALMAN_Y,-390.4,-288.7,-224.1,-272.8,-107.6
$MHEAD_RNG_PITCHd_Wd,324.5,265,-36.7,-10.000
$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,-2.34,-36.1,0.0,0.0,0,173,0.00,0.00,-155.80,0.000,2,0.000,0.000,25,1836,2395,0,0,0,0,0,0
$GC,175,-2.37,-66.3,3.1,-4.4,31,221,6.53,0.00,-36.90,0.000,6,0.211,0.000,1196,1836,2844,0,0,0,0,0,0
$GC,289,-2.37,-66.3,13.0,-13.0,52,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1196,1836,2844,0,0,0,0,0,0
$GC,365,-2.37,-66.3,22.8,-12.1,64,369,0.00,2.53,0.00,0.000,4,0.000,0.119,1196,3252,2844,0,0,0,0,0,0
$GC,470,-2.37,-66.3,38.5,-15.8,73,475,0.00,2.45,0.00,0.000,6,0.000,0.104,1196,1837,2844,0,0,1,0,0,0
$GC,603,-2.37,-66.3,59.6,-16.5,85,604,0.00,0.00,0.00,0.000,6,0.000,0.000,1196,1837,2844,0,0,0,0,0,0
$GC,731,-2.37,-66.3,80.7,-17.1,97,735,0.00,2.55,0.00,0.000,4,0.000,0.122,1196,3257,2844,0,0,0,0,0,0
$GC,802,-2.37,-66.3,92.8,-17.8,103,806,0.00,2.45,0.00,0.000,6,0.000,0.107,1196,1839,2844,0,0,1,0,0,0
$STATE,865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,865,begin apogee
$GC,868,-0.31,0.0,102.9,15.4,109,922,2.28,0.00,49.28,0.909,6,0.166,0.000,1647,1839,2617,0,0,0,0,0,0
$STATE,923,end apogee,CONTROL_FINISHED_OK
$STATE,923,begin climb
$GC,924,2.37,66.3,105.3,0.0,114,977,2.50,0.00,47.50,0.879,6,0.094,0.000,2238,1839,2393,0,0,0,0,0,0
$GC,1102,2.37,66.3,87.0,12.1,131,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1839,2393,0,0,0,0,0,0
$GC,1229,2.37,66.3,73.4,10.3,143,1233,0.00,2.53,0.00,0.000,4,0.000,0.124,2238,427,2393,0,0,0,0,0,0
$GC,1257,2.38,67.9,70.6,9.7,145,1261,0.00,2.47,0.00,0.000,6,0.000,0.109,2238,1847,2393,0,0,1,0,0,0
$GC,1389,2.38,72.7,58.3,9.1,157,1400,0.00,0.00,6.60,0.725,6,0.000,0.000,2238,1848,2370,0,0,0,0,0,0
$GC,1527,2.38,74.7,45.6,9.6,170,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1847,2370,0,0,0,0,0,0
$GC,1654,2.39,81.9,34.0,8.7,182,1665,0.00,0.00,7.88,0.745,6,0.000,0.000,2238,1848,2339,0,0,0,0,0,0
$GC,1792,2.39,81.9,20.0,10.1,195,1798,0.00,2.55,0.00,0.000,4,0.000,0.122,2238,427,2340,0,0,0,0,0,0
$GC,1853,2.39,81.9,12.5,12.3,206,1859,0.00,2.47,0.00,0.000,6,0.000,0.109,2238,1845,2339,0,0,1,0,0,0
$GC,1928,2.41,92.1,5.1,8.1,219,1944,0.00,2.55,8.55,0.747,4,0.000,0.124,2238,429,2306,0,0,1,0,0,0
$STATE,1948,end climb,SURFACE_DEPTH_REACHED
$STATE,1948,begin surface coast
$FINISH,3.2,1.021503
$STATE,2017,end surface coast,CONTROL_FINISHED_OK
$STATE,2017,begin surface
$SM_CCo,2035,282.73,0.814,0,0,924,500.11
$SM_GC,1.20,0.00,0.00,282.73,0.000,0.000,0.814,25,1847,924,-7.80,0.20,500.11
$IRIDIUM_FIX,4751.72,-12223.57,061011,161615
$TT8_MAMPS,0.021721
$HUMID,1078049668
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.2
$ALTIM_BOTTOM_PING,101.3,21.3
$24V_AH,24.3,51.097
$10V_AH,10.4,10.589
$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,21.050,25.050,119.800,282.725,0.000,0.000,0.000,0.000,2.000,0.000,30.996,387.250,989.506,558.850,446.125,20.671,32.323,829.134,0.000,389.522,0.000,16.061,0.000
$DEVICE_MAMPS,211.055,124.150,908.778,814.424,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,155.498,0.000,358.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323636
$DATA_FILE_SIZE,10180,235
$CAP_FILE_SIZE,55186,0
$CFSIZE,260280320,256802816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,120410,225449,4806.977,-12223.033,9,1.6,14,18.3