version: 66.07
glider: 33
mission: 12
dive: 13
start: 4 13 110 6 44 43
data:
$ID,33
$MISSION,12
$DIVE,13
$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,150
$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,-210844.77
$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,15
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,19
$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
$GPS1,130410,063955,4806.355,-12222.187,40,1.0,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-62.3
$GPS2,130410,064350,4806.370,-12222.196,13,1.2,13,18.3
$SPEED_LIMITS,0.067,0.308
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.177,0.252
$KALMAN_X,-564.3,-297.9,-96.0,1632.3,294.5
$KALMAN_Y,-175.6,236.8,60.6,-2208.8,-458.1
$MHEAD_RNG_PITCHd_Wd,306.7,3753,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-293.3,0.0,0.0,0,159,0.00,0.00,-141.05,0.000,2,0.000,0.000,26,1808,2313,0,0,0,0,0,0
$GC,161,-0.84,-293.3,3.1,-2.4,28,254,8.25,1.02,-78.70,0.000,4,0.206,0.119,1530,1262,3613,0,0,0,0,0,0
$GC,338,-0.84,-293.3,15.8,-7.9,61,344,0.00,0.95,0.00,0.000,6,0.000,0.109,1530,1795,3613,0,0,1,0,0,0
$GC,410,-0.84,-293.3,21.1,-7.8,73,414,0.00,0.98,0.00,0.000,4,0.000,0.146,1530,2314,3613,0,0,0,0,0,0
$GC,489,-0.84,-293.3,26.7,-7.0,80,492,0.00,0.95,0.00,0.000,6,0.000,0.127,1529,1793,3613,0,0,1,0,0,0
$GC,626,-0.84,-293.3,37.0,-7.8,93,630,0.00,0.93,0.00,0.000,4,0.000,0.122,1529,1274,3613,0,0,0,0,0,0
$GC,682,-0.84,-293.3,41.1,-7.6,98,686,0.00,0.93,0.00,0.000,6,0.000,0.109,1530,1796,3613,0,0,1,0,0,0
$GC,820,-0.84,-293.3,51.2,-7.6,111,824,0.00,0.98,0.00,0.000,4,0.000,0.149,1530,2316,3613,0,0,0,0,0,0
$GC,909,-0.84,-293.3,57.4,-6.8,119,913,0.00,0.93,0.00,0.000,6,0.000,0.127,1529,1807,3613,0,0,1,0,0,0
$GC,1047,-0.84,-293.3,67.0,-6.8,132,1051,0.00,0.95,0.00,0.000,4,0.000,0.122,1529,1270,3613,0,0,0,0,0,0
$GC,1093,-0.84,-293.3,70.2,-7.1,136,1096,0.00,0.93,0.00,0.000,6,0.000,0.112,1530,1794,3613,0,0,1,0,0,0
$GC,1230,-0.84,-293.3,80.0,-7.3,149,1235,0.00,0.95,0.00,0.000,4,0.000,0.134,1530,2319,3613,0,0,0,0,0,0
$GC,1313,-0.84,-293.3,85.4,-5.6,156,1319,0.00,0.95,0.00,0.000,6,0.000,0.122,1530,1795,3613,0,0,1,0,0,0
$GC,1446,-0.84,-293.3,94.7,-7.2,169,1449,0.00,0.93,0.00,0.000,4,0.000,0.122,1529,1275,3613,0,0,0,0,0,0
$GC,1513,-0.84,-293.3,99.2,-7.1,175,1517,0.00,0.93,0.00,0.000,6,0.000,0.109,1529,1798,3613,0,0,1,0,0,0
$GC,1651,-0.84,-293.3,108.3,-6.1,188,1655,0.00,0.95,0.00,0.000,4,0.000,0.134,1530,2323,3613,0,0,1,0,0,0
$STATE,1665,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1665,begin apogee
$GC,1669,-0.31,0.0,109.5,7.7,189,1886,0.50,0.00,209.32,0.899,6,0.104,0.000,1650,1793,2617,0,0,0,0,0,0
$STATE,1887,end apogee,CONTROL_FINISHED_OK
$STATE,1887,begin climb
$GC,1888,0.84,293.3,119.4,0.0,211,2105,1.10,0.95,209.43,0.862,4,0.089,0.122,1903,1275,1623,0,0,0,0,0,0
$GC,2184,0.84,293.3,100.7,9.9,239,2188,0.00,0.95,0.00,0.000,6,0.000,0.109,1903,1797,1623,0,0,1,0,0,0
$GC,2322,0.84,293.3,87.5,8.9,252,2325,0.00,0.95,0.00,0.000,4,0.000,0.122,1904,1281,1623,0,0,0,0,0,0
$GC,2400,0.84,293.3,80.1,9.1,259,2404,0.00,0.93,0.00,0.000,6,0.000,0.109,1903,1801,1623,0,0,1,0,0,0
$GC,2538,0.84,293.3,67.5,8.8,272,2542,0.00,0.93,0.00,0.000,4,0.000,0.127,1903,2322,1623,0,0,0,0,0,0
$GC,2587,0.84,293.3,62.9,9.3,276,2593,0.00,0.95,0.00,0.000,6,0.000,0.117,1903,1795,1623,0,0,1,0,0,0
$GC,2720,0.84,293.3,51.3,8.4,289,2724,0.00,0.93,0.00,0.000,4,0.000,0.124,1903,1279,1623,0,0,0,0,0,0
$GC,2833,0.84,293.3,41.5,9.2,299,2837,0.00,0.93,0.00,0.000,6,0.000,0.112,1903,1801,1623,0,0,1,0,0,0
$GC,2971,0.84,293.3,29.2,9.4,312,2975,0.00,0.95,0.00,0.000,4,0.000,0.122,1903,1279,1623,0,0,0,0,0,0
$GC,3031,0.84,293.3,24.0,8.6,317,3037,0.00,0.95,0.00,0.000,6,0.000,0.109,1903,1807,1623,0,0,1,0,0,0
$GC,3169,0.84,293.3,12.0,8.7,338,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,1808,1623,0,0,0,0,0,0
$GC,3241,0.84,293.3,6.2,7.7,351,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,1809,1623,0,0,0,0,0,0
$STATE,3278,end climb,SURFACE_DEPTH_REACHED
$STATE,3278,begin surface coast
$FINISH,1.1,1.019959
$STATE,3353,end surface coast,CONTROL_FINISHED_OK
$STATE,3353,begin surface
$SM_CCo,3366,143.23,0.802,0,0,924,500.11
$SM_GC,1.17,0.00,0.00,143.23,0.000,0.000,0.802,22,1812,924,-7.82,0.34,500.11
$IRIDIUM_FIX,4748.51,-12217.40,061011,232345
$TT8_MAMPS,0.021721
$HUMID,1078026442
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,90.2,38.9
$24V_AH,23.9,52.304
$10V_AH,10.4,10.874
$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,17.625,24.575,418.750,143.225,0.000,24.335,32.985,111.189,1.500,0.000,14.248,580.695,1533.919,674.649,924.597,45.032,33.325,1156.139,0.000,692.427,0.000,11.712,0.000
$DEVICE_MAMPS,206.089,148.980,898.846,802.009,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.049,0.000,565.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,20228,371
$CAP_FILE_SIZE,60591,0
$CFSIZE,260280320,256507904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,130410,074356,4806.766,-12222.538,10,1.8,10,18.3