version: 66.07
glider: 33
mission: 12
dive: 12
start: 4 13 110 5 41 46
data:
$ID,33
$MISSION,12
$DIVE,12
$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,-210843.52
$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,10
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$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
$GPS1,130410,053658,4805.934,-12221.878,9,2.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-62.4
$GPS2,130410,054052,4805.943,-12221.883,11,2.1,30,18.3
$SPEED_LIMITS,0.067,0.308
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.155,0.266
$KALMAN_X,-725.8,-224.6,-328.4,2341.5,92.6
$KALMAN_Y,12.5,171.8,347.9,-3410.0,-313.4
$MHEAD_RNG_PITCHd_Wd,311.4,4622,-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,-293.3,0.0,0.0,0,153,0.00,0.00,-136.10,0.000,2,0.000,0.000,21,1794,2284,0,0,0,0,0,0
$GC,155,-0.84,-293.3,3.2,-3.0,27,257,8.32,0.68,-85.18,0.000,4,0.209,0.119,1531,1432,3613,0,0,0,0,0,0
$GC,330,-0.84,-293.3,14.5,-7.5,60,336,0.00,0.65,0.00,0.000,6,0.000,0.109,1531,1799,3613,0,0,1,0,0,0
$GC,403,-0.84,-293.3,20.4,-7.9,73,406,0.00,0.62,0.00,0.000,4,0.000,0.127,1531,2145,3613,0,0,0,0,0,0
$GC,485,-0.84,-293.3,26.5,-7.5,80,491,0.00,0.65,0.00,0.000,6,0.000,0.114,1531,1787,3613,0,0,1,0,0,0
$GC,618,-0.84,-293.3,36.2,-7.1,93,619,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,1787,3613,0,0,0,0,0,0
$GC,745,-0.84,-293.3,45.3,-6.9,105,749,0.00,0.65,0.00,0.000,4,0.000,0.129,1531,2143,3613,0,0,0,0,0,0
$GC,846,-0.84,-293.3,52.5,-7.7,114,850,0.00,0.62,0.00,0.000,6,0.000,0.119,1531,1798,3613,0,0,1,0,0,0
$GC,984,-0.84,-293.3,62.2,-7.2,127,988,0.00,0.60,0.00,0.000,4,0.000,0.122,1531,1453,3613,0,0,0,0,0,0
$GC,1022,-0.84,-293.3,64.8,-6.3,130,1028,0.00,0.62,0.00,0.000,6,0.000,0.109,1531,1802,3613,0,0,1,0,0,0
$GC,1156,-0.84,-293.3,74.1,-6.7,143,1160,0.00,0.60,0.00,0.000,4,0.000,0.129,1531,2145,3612,0,0,0,0,0,0
$GC,1212,-0.84,-293.3,78.0,-7.1,148,1216,0.00,0.60,0.00,0.000,6,0.000,0.119,1531,1807,3613,0,0,1,0,0,0
$GC,1350,-0.84,-293.3,87.5,-7.4,161,1353,0.00,0.62,0.00,0.000,4,0.000,0.122,1531,1447,3612,0,0,0,0,0,0
$GC,1399,-0.84,-293.3,90.8,-6.0,165,1405,0.00,0.65,0.00,0.000,6,0.000,0.109,1531,1804,3613,0,0,1,0,0,0
$GC,1532,-0.84,-293.3,99.4,-6.4,178,1536,0.00,0.60,0.00,0.000,4,0.000,0.127,1531,2147,3612,0,0,0,0,0,0
$STATE,1614,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1614,begin apogee
$GC,1618,-0.31,0.0,104.8,7.3,185,1835,0.50,0.00,209.05,0.889,6,0.107,0.000,1650,1795,2617,0,0,0,0,0,0
$STATE,1835,end apogee,CONTROL_FINISHED_OK
$STATE,1835,begin climb
$GC,1837,0.84,293.3,114.4,0.0,207,2053,1.10,0.62,209.27,0.862,4,0.089,0.122,1904,1440,1623,0,0,0,0,0,0
$GC,2085,0.84,293.3,99.7,9.3,231,2091,0.00,0.68,0.00,0.000,6,0.000,0.109,1904,1802,1623,0,0,1,0,0,0
$GC,2218,0.84,293.3,87.2,8.6,244,2222,0.00,0.68,0.00,0.000,4,0.000,0.119,1905,1437,1623,0,0,0,0,0,0
$GC,2278,0.84,293.3,81.5,9.1,249,2285,0.00,0.68,0.00,0.000,6,0.000,0.109,1904,1805,1623,0,0,1,0,0,0
$GC,2411,0.84,293.3,69.4,8.7,262,2415,0.00,0.65,0.00,0.000,4,0.000,0.119,1904,1446,1623,0,0,0,0,0,0
$GC,2501,0.84,293.3,61.5,8.9,270,2504,0.00,0.62,0.00,0.000,6,0.000,0.114,1904,1799,1623,0,0,1,0,0,0
$GC,2639,0.84,293.3,49.3,9.1,283,2642,0.00,0.65,0.00,0.000,4,0.000,0.122,1904,1441,1623,0,0,0,0,0,0
$GC,2728,0.84,293.3,41.5,8.0,291,2732,0.00,0.62,0.00,0.000,6,0.000,0.112,1904,1798,1623,0,0,1,0,0,0
$GC,2866,0.84,293.3,29.4,8.5,304,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,1803,1623,0,0,0,0,0,0
$GC,2994,0.84,293.3,18.2,9.0,317,3000,0.00,0.65,0.00,0.000,4,0.000,0.124,1904,1438,1623,0,0,0,0,0,0
$GC,3123,0.84,293.3,7.3,8.2,340,3129,0.00,0.65,0.00,0.000,6,0.000,0.114,1904,1805,1623,0,0,1,0,0,0
$STATE,3178,end climb,SURFACE_DEPTH_REACHED
$STATE,3178,begin surface coast
$FINISH,0.9,1.018606
$STATE,3258,end surface coast,CONTROL_FINISHED_OK
$STATE,3258,begin surface
$SM_CCo,3272,143.15,0.814,0,0,924,500.11
$SM_GC,1.26,0.00,0.00,143.15,0.000,0.000,0.814,26,1807,924,-7.79,0.23,500.11
$IRIDIUM_FIX,4745.30,-12220.12,061011,222245
$TT8_MAMPS,0.02247
$HUMID,1078030313
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.6
$ALTIM_BOTTOM_PING,100.0,24.4
$24V_AH,23.9,52.159
$10V_AH,10.3,10.840
$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,17.675,15.300,418.325,143.150,0.000,30.443,28.124,90.578,1.750,0.000,32.456,558.165,1495.984,677.013,895.616,38.480,33.315,1139.767,0.000,661.533,0.000,13.213,0.000
$DEVICE_MAMPS,208.572,129.116,888.914,814.424,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,239.858,0.000,555.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323552
$DATA_FILE_SIZE,17015,364
$CAP_FILE_SIZE,57634,0
$CFSIZE,260280320,256544768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,130410,063955,4806.355,-12222.187,40,1.0,40,18.3