version: 66.07
glider: 33
mission: 12
dive: 22
start: 4 13 110 16 37 38
data:
$ID,33
$MISSION,12
$DIVE,22
$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,-210856.11
$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,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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,4
$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
$GPS1,130410,162952,4807.357,-12223.911,31,2.1,50,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-58.7
$GPS2,130410,163644,4807.388,-12223.937,15,1.9,15,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,-0.175
$KALMAN_X,2274.3,1603.4,-9.7,-5334.0,-226.2
$KALMAN_Y,-1098.5,-1074.9,220.1,1744.7,314.8
$MHEAD_RNG_PITCHd_Wd,121.5,3514,-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,15,-0.95,-146.6,0.0,0.0,0,154,0.00,0.00,-136.23,0.000,2,0.000,0.000,23,1807,2293,0,0,0,0,0,0
$GC,156,-0.95,-146.6,3.3,-3.4,27,228,8.23,0.95,-55.45,0.000,4,0.211,0.129,1507,2323,3115,0,0,1,0,0,0
$GC,284,-0.95,-146.6,11.7,-8.3,51,290,0.00,0.93,0.00,0.000,6,0.000,0.117,1507,1810,3115,0,0,1,0,0,0
$GC,357,-0.95,-146.6,17.6,-8.6,64,363,0.00,0.95,0.00,0.000,4,0.000,0.117,1507,1274,3115,0,0,0,0,0,0
$GC,428,-0.95,-146.6,23.4,-8.3,73,435,0.00,0.95,0.00,0.000,6,0.000,0.107,1507,1799,3115,0,0,1,0,0,0
$GC,562,-0.95,-146.6,34.3,-8.4,86,565,0.00,0.98,0.00,0.000,4,0.000,0.134,1507,2323,3115,0,0,0,0,0,0
$GC,617,-0.95,-146.6,38.7,-8.0,91,621,0.00,0.95,0.00,0.000,6,0.000,0.119,1506,1793,3115,0,0,1,0,0,0
$GC,755,-0.95,-146.6,49.6,-8.1,104,756,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1793,3115,0,0,0,0,0,0
$GC,883,-0.95,-146.6,59.6,-8.1,116,886,0.00,0.98,0.00,0.000,4,0.000,0.134,1507,2322,3115,0,0,0,0,0,0
$GC,972,-0.95,-146.6,66.5,-7.6,124,976,0.00,0.93,0.00,0.000,6,0.000,0.122,1507,1803,3115,0,0,1,0,0,0
$GC,1110,-0.95,-146.6,76.9,-7.6,137,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1803,3115,0,0,0,0,0,0
$GC,1238,-0.95,-146.6,86.4,-6.8,149,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1803,3115,0,0,0,0,0,0
$GC,1367,-0.95,-146.6,95.6,-7.1,161,1371,0.00,0.95,0.00,0.000,4,0.000,0.137,1507,2319,3115,0,0,0,0,0,0
$GC,1422,-0.95,-146.6,99.8,-7.2,166,1431,0.00,0.93,0.00,0.000,6,0.000,0.122,1507,1803,3115,0,0,1,0,0,0
$STATE,1435,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1435,begin apogee
$GC,1439,-0.31,0.0,100.8,7.0,167,1548,0.65,0.00,106.07,0.881,6,0.117,0.000,1652,1803,2617,0,0,0,0,0,0
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1550,0.95,146.6,103.6,0.0,178,1663,1.17,1.02,105.65,0.854,4,0.094,0.132,1922,2324,2121,0,0,1,0,0,0
$GC,1730,0.95,146.6,95.6,7.0,195,1734,0.00,0.95,0.00,0.000,6,0.000,0.119,1922,1804,2121,0,0,1,0,0,0
$GC,1869,0.96,149.1,85.8,6.6,208,1878,0.00,0.00,3.95,0.556,6,0.000,0.000,1922,1804,2112,0,0,0,0,0,0
$GC,2005,0.96,149.1,76.3,6.9,221,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,1804,2112,0,0,0,0,0,0
$GC,2133,0.96,150.1,67.8,6.6,233,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,1804,2112,0,0,0,0,0,0
$GC,2260,0.96,150.1,59.1,6.9,245,2264,0.00,0.95,0.00,0.000,4,0.000,0.122,1923,1273,2112,0,0,0,0,0,0
$GC,2327,0.96,150.1,54.4,6.7,251,2331,0.00,0.93,0.00,0.000,6,0.000,0.112,1922,1798,2112,0,0,1,0,0,0
$GC,2465,0.96,150.1,45.0,7.2,264,2469,0.00,0.93,0.00,0.000,4,0.000,0.132,1922,2317,2112,0,0,0,0,0,0
$GC,2577,0.96,150.6,37.9,6.7,274,2581,0.00,0.93,0.00,0.000,6,0.000,0.119,1922,1796,2112,0,0,1,0,0,0
$GC,2715,0.98,169.1,29.0,6.1,287,2736,0.00,0.95,15.35,0.785,4,0.000,0.124,1922,1271,2044,0,0,0,0,0,0
$GC,2949,0.98,169.1,13.4,6.9,316,2955,0.00,0.93,0.00,0.000,6,0.000,0.114,1922,1795,2044,0,0,1,0,0,0
$GC,3023,1.00,182.9,8.9,6.2,329,3038,0.00,0.00,11.38,0.760,6,0.000,0.000,1922,1795,1997,0,0,0,0,0,0
$GC,3105,1.08,248.0,4.7,4.7,344,3122,0.12,0.00,14.10,0.767,2,0.102,0.000,1965,1799,1936,0,0,0,0,0,0
$STATE,3123,end climb,SURFACE_DEPTH_REACHED
$STATE,3123,begin surface coast
$FINISH,1.9,1.020055
$STATE,3229,end surface coast,CONTROL_FINISHED_OK
$STATE,3230,begin surface
$SM_CCo,3243,209.80,0.800,0,0,924,500.11
$SM_GC,1.23,0.00,0.00,209.80,0.000,0.000,0.800,27,1799,924,-7.79,-0.03,500.11
$IRIDIUM_FIX,4748.51,-12229.01,071011,101040
$TT8_MAMPS,0.021721
$HUMID,1078003216
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.8
$ALTIM_BOTTOM_PING,100.1,12.8
$24V_AH,24.0,53.528
$10V_AH,10.4,11.186
$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,18.425,17.050,256.500,209.800,0.000,59.605,54.702,147.581,2.000,0.000,16.876,598.354,1656.318,593.429,989.558,42.822,33.314,1018.194,0.000,641.500,0.000,16.022,0.000
$DEVICE_MAMPS,211.055,136.565,881.465,799.526,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.741,0.000,558.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323444
$DATA_FILE_SIZE,20277,366
$CAP_FILE_SIZE,60662,0
$CFSIZE,260280320,256200704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,130410,173556,4807.098,-12223.653,11,1.2,11,18.3