version: 66.07
glider: 33
mission: 12
dive: 7
start: 4 13 110 0 54 39
data:
$ID,33
$MISSION,12
$DIVE,7
$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,-210837.27
$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,20
$C_ROLL_DIVE,1840
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,14
$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
$GPS1,130410,005010,4806.519,-12222.549,9,2.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-60.9
$GPS2,130410,005346,4806.513,-12222.553,12,99.0,31,18.3
$SPEED_LIMITS,0.100,0.358
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.217,-0.285
$KALMAN_X,-168.1,193.4,28.5,189.7,-303.3
$KALMAN_Y,65.7,-290.3,-66.6,-1542.0,370.4
$MHEAD_RNG_PITCHd_Wd,124.4,1170,-12.4,-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,-1.14,-293.3,0.0,0.0,0,138,0.00,0.00,-120.93,0.000,2,0.000,0.000,26,1849,2134,0,0,0,0,0,0
$GC,140,-1.14,-293.3,3.0,-3.7,24,242,7.93,1.27,-87.53,0.000,4,0.209,0.114,1466,1133,3612,0,0,0,0,0,0
$GC,315,-1.14,-293.3,18.7,-11.0,57,321,0.00,1.25,0.00,0.000,6,0.000,0.107,1466,1842,3612,0,0,1,0,0,0
$GC,389,-1.14,-293.3,26.8,-10.6,65,394,0.00,1.25,0.00,0.000,4,0.000,0.127,1466,2542,3611,0,0,0,0,0,0
$GC,434,-1.14,-293.3,31.8,-10.5,69,438,0.00,1.25,0.00,0.000,6,0.000,0.117,1466,1838,3612,0,0,1,0,0,0
$GC,572,-1.14,-293.3,46.3,-10.5,82,576,0.00,1.25,0.00,0.000,4,0.000,0.119,1465,1135,3612,0,0,0,0,0,0
$GC,666,-1.14,-293.3,56.8,-11.5,90,672,0.00,1.25,0.00,0.000,6,0.000,0.107,1465,1842,3612,0,0,1,0,0,0
$GC,800,-1.14,-293.3,70.7,-10.4,103,803,0.00,1.27,0.00,0.000,4,0.000,0.119,1465,1137,3611,0,0,0,0,0,0
$GC,837,-1.14,-293.3,74.9,-11.3,106,844,0.00,1.25,0.00,0.000,6,0.000,0.107,1466,1842,3611,0,0,1,0,0,0
$GC,971,-1.14,-293.3,88.9,-10.4,119,972,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,1843,3612,0,0,0,0,0,0
$GC,1098,-1.14,-293.3,102.1,-10.9,131,1102,0.00,1.27,0.00,0.000,4,0.000,0.119,1465,1135,3612,0,0,0,0,0,0
$GC,1176,-1.14,-293.3,109.6,-8.9,138,1183,0.00,1.23,0.00,0.000,6,0.000,0.109,1465,1832,3612,0,0,1,0,0,0
$STATE,1187,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1187,begin apogee
$GC,1190,-0.31,0.0,111.0,9.2,139,1403,0.82,0.00,208.07,0.899,6,0.114,0.000,1650,1836,2618,0,0,0,0,0,0
$STATE,1404,end apogee,CONTROL_FINISHED_OK
$STATE,1404,begin climb
$GC,1405,1.14,293.3,119.4,0.0,160,1621,1.38,1.33,208.60,0.867,4,0.092,0.122,1966,1129,1623,0,0,0,0,0,0
$GC,1811,1.14,293.3,79.7,12.5,198,1818,0.00,1.30,0.00,0.000,6,0.000,0.109,1966,1843,1623,0,0,1,0,0,0
$GC,1945,1.14,293.3,63.0,12.5,211,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1846,1623,0,0,0,0,0,0
$GC,2072,1.14,293.3,46.7,12.8,223,2076,0.00,1.30,0.00,0.000,4,0.000,0.122,1966,1132,1623,0,0,0,0,0,0
$GC,2188,1.14,293.3,32.7,11.5,233,2196,0.00,1.27,0.00,0.000,6,0.000,0.109,1966,1842,1623,0,0,1,0,0,0
$GC,2323,1.14,293.3,17.0,11.7,248,2329,0.00,1.30,0.00,0.000,4,0.000,0.122,1966,1132,1623,0,0,0,0,0,0
$GC,2407,1.14,293.3,7.2,11.4,263,2413,0.00,1.25,0.00,0.000,6,0.000,0.112,1966,1839,1623,0,0,1,0,0,0
$STATE,2446,end climb,SURFACE_DEPTH_REACHED
$STATE,2446,begin surface coast
$FINISH,1.3,1.017842
$STATE,2496,end surface coast,CONTROL_FINISHED_OK
$STATE,2496,begin surface
$SM_CCo,2510,142.70,0.807,0,0,924,500.11
$SM_GC,1.77,0.00,0.00,142.70,0.000,0.000,0.807,24,1841,924,-7.80,0.03,500.11
$IRIDIUM_FIX,4748.51,-12221.84,061011,181848
$TT8_MAMPS,0.021721
$HUMID,1078032893
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,110.3,18.7
$24V_AH,24.0,51.543
$10V_AH,10.3,10.680
$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,18.200,20.300,416.675,142.700,0.000,25.777,26.511,80.497,2.250,0.000,33.065,417.420,1050.899,658.081,726.615,32.695,33.331,1043.966,0.000,521.187,0.000,17.569,0.000
$DEVICE_MAMPS,208.572,126.633,898.846,806.975,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,181.870,0.000,424.861,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323516
$DATA_FILE_SIZE,13547,279
$CAP_FILE_SIZE,46585,0
$CFSIZE,260280320,256716800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,130410,014006,4806.305,-12222.368,30,1.0,41,18.3