version: 66.07
glider: 33
mission: 12
dive: 9
start: 4 13 110 2 43 43
data:
$ID,33
$MISSION,12
$DIVE,9
$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,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,-210839.77
$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,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,130410,023919,4806.043,-12222.181,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.9
$GPS2,130410,024250,4806.065,-12222.202,14,1.1,14,18.3
$SPEED_LIMITS,0.067,0.308
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.171,-0.142
$KALMAN_X,-744.5,128.5,-237.4,1523.7,-522.0
$KALMAN_Y,513.8,-210.9,267.3,-3219.6,514.7
$MHEAD_RNG_PITCHd_Wd,111.3,278,-12.9,-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,15,-0.97,-136.1,0.0,0.0,0,154,0.00,0.00,-136.30,0.000,2,0.000,0.000,23,1835,2295,0,0,0,0,0,0
$GC,156,-1.10,-241.5,3.4,-3.2,27,243,7.97,1.23,-73.30,0.000,4,0.209,0.124,1473,2506,3438,0,0,1,0,0,0
$GC,299,-1.10,-241.5,14.0,-9.7,54,305,0.00,1.25,0.00,0.000,6,0.000,0.114,1473,1800,3438,0,0,1,0,0,0
$GC,377,-1.10,-241.5,21.8,-10.2,67,381,0.00,1.27,0.00,0.000,4,0.000,0.119,1473,1100,3438,0,0,0,0,0,0
$GC,421,-1.10,-241.5,26.2,-9.8,71,425,0.00,1.23,0.00,0.000,6,0.000,0.104,1473,1800,3438,0,0,1,0,0,0
$GC,560,-1.10,-241.5,40.0,-9.4,84,563,0.00,1.25,0.00,0.000,4,0.000,0.127,1474,2504,3438,0,0,0,0,0,0
$GC,586,-1.10,-241.5,42.8,-9.5,86,592,0.00,1.27,0.00,0.000,6,0.000,0.114,1473,1794,3438,0,0,1,0,0,0
$GC,719,-1.10,-241.5,56.1,-10.1,99,723,0.00,1.23,0.00,0.000,4,0.000,0.122,1473,1100,3438,0,0,0,0,0,0
$GC,757,-1.10,-241.5,59.8,-10.2,102,765,0.00,1.25,0.00,0.000,6,0.000,0.104,1473,1803,3438,0,0,1,0,0,0
$GC,890,-1.10,-241.5,72.6,-9.5,115,894,0.00,1.25,0.00,0.000,4,0.000,0.129,1473,2502,3438,0,0,0,0,0,0
$GC,957,-1.10,-241.5,79.3,-8.6,121,961,0.00,1.25,0.00,0.000,6,0.000,0.119,1473,1801,3438,0,0,1,0,0,0
$GC,1095,-1.10,-241.5,93.2,-10.0,134,1099,0.00,1.25,0.00,0.000,4,0.000,0.122,1473,1100,3438,0,0,0,0,0,0
$GC,1162,-1.10,-241.5,99.8,-10.2,140,1166,0.00,1.23,0.00,0.000,6,0.000,0.107,1473,1798,3438,0,0,1,0,0,0
$STATE,1236,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1236,begin apogee
$GC,1239,-0.31,0.0,106.9,9.7,147,1418,0.80,0.00,172.25,0.889,6,0.119,0.000,1651,1808,2617,0,0,0,0,0,0
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1421,1.10,241.5,113.2,0.0,165,1598,1.35,0.00,171.32,0.862,6,0.092,0.000,1961,1807,1799,0,0,0,0,0,0
$GC,1720,1.10,241.5,90.1,11.0,194,1723,0.00,1.30,0.00,0.000,4,0.000,0.122,1961,1095,1799,0,0,0,0,0,0
$GC,1768,1.10,241.5,84.5,10.7,198,1775,0.00,1.27,0.00,0.000,6,0.000,0.107,1961,1804,1799,0,0,1,0,0,0
$GC,1902,1.10,241.5,69.0,11.7,211,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1805,1798,0,0,0,0,0,0
$GC,2029,1.10,241.5,54.8,10.8,223,2033,0.00,1.30,0.00,0.000,4,0.000,0.122,1961,1092,1799,0,0,0,0,0,0
$GC,2073,1.10,241.5,49.6,11.7,227,2078,0.00,1.25,0.00,0.000,6,0.000,0.109,1961,1797,1799,0,0,1,0,0,0
$GC,2211,1.10,241.5,34.2,11.2,240,2215,0.00,1.27,0.00,0.000,4,0.000,0.132,1961,2504,1799,0,0,1,0,0,0
$GC,2244,1.10,241.5,30.6,10.4,243,2248,0.00,1.25,0.00,0.000,6,0.000,0.117,1961,1798,1799,0,0,1,0,0,0
$GC,2380,1.10,241.5,15.8,10.8,259,2385,0.00,1.25,0.00,0.000,4,0.000,0.124,1961,1099,1799,0,0,0,0,0,0
$STATE,2496,end climb,SURFACE_DEPTH_REACHED
$STATE,2496,begin surface coast
$FINISH,1.6,1.019386
$STATE,2531,end surface coast,CONTROL_FINISHED_OK
$STATE,2531,begin surface
$SM_CCo,2546,179.55,0.802,0,0,924,500.11
$SM_GC,1.21,0.00,0.00,179.55,0.000,0.000,0.802,27,1805,924,-7.79,0.14,500.11
$IRIDIUM_FIX,4748.51,-12219.12,061011,202047
$TT8_MAMPS,0.02247
$HUMID,1078029023
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.1
$ALTIM_BOTTOM_PING,91.1,35.4
$24V_AH,24.0,51.819
$10V_AH,10.3,10.739
$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,18.225,25.100,343.575,179.550,0.000,30.486,27.130,86.170,1.500,0.000,15.624,442.451,1131.531,651.311,693.460,33.500,33.345,1015.548,0.000,497.161,0.000,11.705,0.000
$DEVICE_MAMPS,208.572,131.599,888.914,802.009,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,187.718,0.000,436.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323540
$DATA_FILE_SIZE,13537,286
$CAP_FILE_SIZE,47745,0
$CFSIZE,260280320,256655360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,130410,033013,4805.822,-12221.869,13,1.8,30,18.3