version: 66.07
glider: 33
mission: 12
dive: 23
start: 4 13 110 17 48 20
data:
$ID,33
$MISSION,12
$DIVE,23
$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,-210886.56
$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,1300
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,361
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,22
$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
$GPS1,130410,174332,4807.109,-12223.686,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-60.3
$GPS2,130410,174726,4807.116,-12223.703,15,1.2,15,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.206,0.103
$KALMAN_X,2177.6,1546.7,-249.6,-4658.4,-481.5
$KALMAN_Y,-1046.5,-930.4,314.9,956.0,376.2
$MHEAD_RNG_PITCHd_Wd,45.2,1853,-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,-146.6,0.0,0.0,0,158,0.00,0.00,-140.57,0.000,2,0.000,0.000,26,1293,2313,0,0,0,0,0,0
$GC,160,-0.95,-146.6,3.2,-2.8,28,227,8.18,0.00,-54.78,0.000,6,0.209,0.000,1507,1293,3115,0,0,0,0,0,0
$GC,294,-0.95,-146.6,12.2,-7.8,53,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1292,3115,0,0,0,0,0,0
$GC,365,-0.95,-146.6,17.9,-7.9,66,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1293,3115,0,0,0,0,0,0
$GC,434,-0.95,-146.6,23.4,-8.0,75,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1293,3115,0,0,0,0,0,0
$GC,562,-0.95,-146.6,33.9,-7.6,87,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1293,3115,0,0,0,0,0,0
$GC,690,-0.95,-146.6,44.2,-8.3,99,691,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1293,3115,0,0,0,0,0,0
$GC,817,-0.95,-146.6,54.2,-7.9,111,818,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,1293,3115,0,0,0,0,0,0
$GC,944,-0.95,-146.6,64.6,-8.6,123,946,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1293,3115,0,0,0,0,0,0
$GC,1072,-0.95,-146.6,74.3,-7.3,135,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,1293,3115,0,0,0,0,0,0
$GC,1199,-0.95,-146.6,84.1,-8.3,147,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,1293,3115,0,0,0,0,0,0
$GC,1327,-0.95,-146.6,93.7,-7.5,159,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1293,3115,0,0,0,0,0,0
$STATE,1358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1358,begin apogee
$GC,1361,-0.31,0.0,95.9,7.1,162,1471,0.65,0.00,106.07,0.876,6,0.117,0.000,1653,1293,2617,0,0,0,0,0,0
$STATE,1471,end apogee,CONTROL_FINISHED_OK
$STATE,1471,begin climb
$GC,1473,0.95,146.6,99.3,0.0,173,1582,1.20,0.00,105.72,0.849,6,0.092,0.000,1928,1292,2121,0,0,0,0,0,0
$GC,1707,0.95,146.6,88.2,6.8,196,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1292,2121,0,0,0,0,0,0
$GC,1834,0.96,149.2,79.0,6.6,208,1840,0.00,0.00,3.92,0.559,6,0.000,0.000,1928,1293,2112,0,0,0,0,0,0
$GC,1962,0.96,149.2,70.4,6.8,220,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1292,2112,0,0,0,0,0,0
$GC,2089,0.96,149.2,61.6,7.1,232,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1292,2112,0,0,0,0,0,0
$GC,2217,0.96,149.2,52.9,6.8,244,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1292,2112,0,0,0,0,0,0
$GC,2345,0.97,157.9,44.6,6.4,256,2355,0.00,0.00,7.68,0.723,6,0.000,0.000,1928,1293,2083,0,0,0,0,0,0
$GC,2482,0.97,162.4,35.4,6.5,269,2493,0.00,0.00,5.10,0.641,6,0.000,0.000,1928,1293,2066,0,0,0,0,0,0
$GC,2620,0.99,180.1,26.7,6.1,282,2635,0.00,0.00,13.73,0.782,6,0.000,0.000,1928,1292,2008,0,0,0,0,0,0
$GC,2759,1.03,208.2,18.0,5.8,298,2785,0.00,0.00,21.25,0.795,6,0.000,0.000,1928,1292,1911,0,0,0,0,0,0
$GC,2852,1.05,229.6,12.5,6.0,315,2873,0.10,0.00,16.55,0.772,6,0.114,0.000,1960,1292,1839,0,0,0,0,0,0
$GC,2940,1.20,348.1,7.7,3.1,331,3031,0.10,0.00,84.05,0.802,6,0.114,0.000,1993,1292,1438,0,0,0,0,0,0
$STATE,3075,end climb,SURFACE_DEPTH_REACHED
$STATE,3075,begin surface coast
$FINISH,1.8,1.019190
$STATE,3229,end surface coast,CONTROL_FINISHED_OK
$STATE,3229,begin surface
$SM_CCo,3243,106.28,0.790,0,0,924,500.11
$SM_GC,1.61,0.00,0.00,106.28,0.000,0.000,0.790,24,1292,924,-7.81,-0.23,500.11
$IRIDIUM_FIX,4751.72,-12223.57,071011,121203
$TT8_MAMPS,0.021721
$HUMID,1078036764
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,80.4,34.8
$24V_AH,24.0,53.654
$10V_AH,10.4,11.220
$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,18.600,0.000,364.075,106.275,0.000,0.000,0.000,0.000,1.500,0.000,16.696,551.010,1638.709,570.636,621.632,30.206,33.316,949.135,0.000,562.652,0.000,13.051,0.000
$DEVICE_MAMPS,208.572,0.000,876.499,789.594,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.040,0.000,586.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323864
$DATA_FILE_SIZE,23666,384
$CAP_FILE_SIZE,59985,0
$CFSIZE,260280320,256163840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,184504,4807.065,-12223.634,10,4.2,29,18.3