version: 66.07
glider: 33
mission: 12
dive: 21
start: 4 13 110 15 22 51
data:
$ID,33
$MISSION,12
$DIVE,21
$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,150
$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,-210854.77
$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,18
$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
$GPS1,130410,151740,4807.678,-12224.095,9,3.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-57.4
$GPS2,130410,152157,4807.698,-12224.101,14,3.6,33,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.095,-0.209
$KALMAN_X,2966.1,1166.0,9.1,-5804.4,465.1
$KALMAN_Y,-1827.6,-788.8,258.8,2715.7,-144.2
$MHEAD_RNG_PITCHd_Wd,137.2,4079,-12.3,-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,14,-0.95,-146.6,0.0,0.0,0,159,0.00,0.00,-141.38,0.000,2,0.000,0.000,26,1794,2336,0,0,0,0,0,0
$GC,161,-0.95,-146.6,3.1,-3.0,28,234,8.12,1.00,-59.50,0.000,4,0.206,0.127,1507,2324,3115,0,0,1,0,0,0
$GC,267,-0.95,-146.6,8.8,-7.4,48,273,0.00,0.93,0.00,0.000,6,0.000,0.117,1507,1811,3115,0,0,1,0,0,0
$GC,340,-0.95,-146.6,14.7,-8.0,61,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1810,3115,0,0,0,0,0,0
$GC,411,-0.95,-146.6,20.5,-8.4,74,415,0.00,0.95,0.00,0.000,4,0.000,0.119,1507,1271,3115,0,0,0,0,0,0
$GC,456,-0.95,-146.6,24.1,-8.1,78,459,0.00,0.93,0.00,0.000,6,0.000,0.107,1507,1794,3115,0,0,1,0,0,0
$GC,594,-0.95,-146.6,35.5,-8.3,91,598,0.00,0.95,0.00,0.000,4,0.000,0.132,1507,2322,3115,0,0,0,0,0,0
$GC,654,-0.95,-146.6,40.5,-8.4,96,660,0.00,0.95,0.00,0.000,6,0.000,0.119,1507,1795,3115,0,0,1,0,0,0
$GC,787,-0.95,-146.6,51.2,-7.7,109,788,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1795,3115,0,0,0,0,0,0
$GC,914,-0.95,-146.6,61.1,-8.0,121,918,0.00,0.95,0.00,0.000,4,0.000,0.132,1507,2316,3115,0,0,0,0,0,0
$GC,1019,-0.95,-146.6,69.2,-8.4,130,1026,0.00,0.93,0.00,0.000,6,0.000,0.119,1507,1800,3115,0,0,1,0,0,0
$GC,1153,-0.95,-146.6,78.9,-7.3,143,1156,0.00,0.95,0.00,0.000,4,0.000,0.122,1507,1275,3116,0,0,0,0,0,0
$GC,1186,-0.95,-146.6,81.6,-7.6,146,1190,0.00,0.93,0.00,0.000,6,0.000,0.109,1507,1799,3115,0,0,1,0,0,0
$GC,1324,-0.95,-146.6,92.1,-7.4,159,1328,0.00,0.95,0.00,0.000,4,0.000,0.134,1507,2325,3115,0,0,0,0,0,0
$GC,1402,-0.95,-146.6,97.5,-7.2,166,1406,0.00,0.93,0.00,0.000,6,0.000,0.122,1507,1805,3115,0,0,1,0,0,0
$GC,1540,-0.95,-146.6,107.2,-7.2,179,1544,0.00,0.95,0.00,0.000,4,0.000,0.119,1507,1271,3115,0,0,0,0,0,0
$GC,1566,-0.95,-146.6,109.4,-8.3,181,1573,0.00,0.95,0.00,0.000,6,0.000,0.107,1507,1802,3115,0,0,1,0,0,0
$GC,1700,-0.95,-146.6,114.0,0.2,194,1704,0.00,0.93,0.00,0.000,4,0.000,0.134,1507,2319,3115,0,0,0,0,0,0
$STATE,1826,end dive,NO_VERTICAL_VELOCITY
$STATE,1826,begin apogee
$GC,1831,-0.31,0.0,114.0,0.0,205,1941,0.57,0.00,106.20,0.891,6,0.089,0.000,1653,1793,2617,0,0,0,0,0,0
$STATE,1942,end apogee,CONTROL_FINISHED_OK
$STATE,1942,begin climb
$GC,1943,0.95,146.6,113.9,0.0,216,2054,1.15,0.00,106.28,0.862,6,0.084,0.000,1926,1793,2120,0,0,0,0,0,0
$GC,2180,0.95,146.6,102.6,7.0,239,2184,0.00,0.98,0.00,0.000,4,0.000,0.127,1926,2323,2120,0,0,1,0,0,0
$GC,2315,0.95,146.6,92.0,8.1,251,2319,0.00,0.93,0.00,0.000,6,0.000,0.117,1927,1811,2120,0,0,1,0,0,0
$GC,2453,0.95,146.6,81.5,7.6,264,2457,0.00,0.98,0.00,0.000,4,0.000,0.122,1926,1269,2120,0,0,0,0,0,0
$GC,2555,0.95,146.6,74.4,6.7,273,2558,0.00,0.95,0.00,0.000,6,0.000,0.112,1927,1800,2120,0,0,1,0,0,0
$GC,2693,0.95,146.6,64.6,7.5,286,2696,0.00,0.93,0.00,0.000,4,0.000,0.129,1926,2319,2120,0,0,0,0,0,0
$GC,2748,0.95,146.6,60.5,8.5,291,2752,0.00,0.93,0.00,0.000,6,0.000,0.117,1926,1794,2120,0,0,1,0,0,0
$GC,2887,0.96,156.0,51.6,6.4,304,2898,0.00,0.00,8.52,0.745,6,0.000,0.000,1926,1794,2088,0,0,0,0,0,0
$GC,3024,0.98,165.6,42.2,6.4,317,3038,0.00,1.00,8.43,0.737,4,0.000,0.132,1926,2328,2056,0,0,1,0,0,0
$GC,3138,0.98,165.6,34.3,7.1,327,3144,0.00,0.95,0.00,0.000,6,0.000,0.119,1926,1800,2057,0,0,1,0,0,0
$GC,3272,0.98,165.6,25.4,7.6,340,3275,0.00,0.95,0.00,0.000,4,0.000,0.124,1926,1278,2056,0,0,0,0,0,0
$GC,3462,0.98,166.2,12.8,6.6,366,3468,0.00,0.93,0.00,0.000,6,0.000,0.114,1926,1802,2056,0,0,1,0,0,0
$GC,3535,1.00,184.4,8.3,6.1,379,3555,0.00,0.00,14.55,0.782,6,0.000,0.000,1926,1803,1992,0,0,0,0,0,0
$STATE,3610,end climb,SURFACE_DEPTH_REACHED
$STATE,3610,begin surface coast
$FINISH,1.7,1.020615
$STATE,3701,end surface coast,CONTROL_FINISHED_OK
$STATE,3701,begin surface
$SM_CCo,3715,221.23,0.802,0,0,924,500.11
$SM_GC,1.17,0.00,0.00,221.23,0.000,0.000,0.802,23,1806,924,-7.81,0.17,500.11
$IRIDIUM_FIX,4751.72,-12228.02,071011,080851
$TT8_MAMPS,0.021721
$HUMID,1078017410
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.9
$24V_AH,24.0,53.407
$10V_AH,10.3,11.151
$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,17.875,24.600,243.975,221.225,0.000,30.722,39.464,97.177,2.500,0.000,34.950,676.337,1865.674,617.335,1002.681,45.260,33.310,1087.746,0.000,740.477,0.000,20.183,0.000
$DEVICE_MAMPS,206.089,134.082,891.397,802.009,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.259,0.000,624.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,20235,409
$CAP_FILE_SIZE,64537,0
$CFSIZE,260280320,256229376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,130410,162952,4807.357,-12223.911,31,2.1,50,18.3