version: 66.07
glider: 33
mission: 12
dive: 24
start: 4 13 110 19 11 55
data:
$ID,33
$MISSION,12
$DIVE,24
$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,-4
$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,-210997.64
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,361
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,16
$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
$GPS1,130410,190645,4807.049,-12223.427,14,1.6,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-60.0
$GPS2,130410,191038,4807.039,-12223.391,10,1.2,10,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.131,0.189
$KALMAN_X,2184.9,1229.1,-483.7,-3729.2,-299.7
$KALMAN_Y,-2637.5,-186.3,508.6,1476.2,-214.0
$MHEAD_RNG_PITCHd_Wd,16.5,1845,-12.3,-6.667
$D_GRID,101
$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,-0.95,-146.6,0.0,0.0,0,98,0.00,0.00,-81.32,0.000,2,0.000,0.000,23,2302,1797,0,0,0,0,0,0
$GC,100,-0.95,-146.6,3.1,-3.3,16,191,8.35,0.00,-77.75,0.000,6,0.216,0.000,1506,2308,3115,0,0,0,0,0,0
$GC,258,-0.95,-146.6,14.4,-8.1,46,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2308,3115,0,0,0,0,0,0
$GC,330,-0.95,-146.6,20.2,-8.1,59,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2308,3115,0,0,0,0,0,0
$GC,457,-0.95,-146.6,30.0,-7.4,71,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2308,3115,0,0,0,0,0,0
$GC,585,-0.95,-146.6,40.3,-8.1,83,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,2308,3115,0,0,0,0,0,0
$GC,712,-0.95,-146.6,50.4,-7.8,95,713,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2308,3115,0,0,0,0,0,0
$GC,842,-0.95,-146.6,60.5,-7.9,107,843,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2308,3115,0,0,0,0,0,0
$GC,967,-0.95,-146.6,70.9,-8.0,119,968,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2308,3115,0,0,0,0,0,0
$GC,1095,-0.95,-146.6,81.1,-8.1,131,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2308,3115,0,0,0,0,0,0
$GC,1226,-0.95,-146.6,90.9,-7.6,143,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,2308,3115,0,0,0,0,0,0
$STATE,1306,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1306,begin apogee
$GC,1309,-0.31,0.0,97.2,7.8,151,1419,0.65,0.00,106.28,0.884,6,0.119,0.000,1650,2308,2618,0,0,0,0,0,0
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1421,0.95,146.6,100.1,0.0,162,1532,1.23,0.00,106.47,0.854,6,0.094,0.000,1928,2307,2121,0,0,0,0,0,0
$GC,1654,0.95,146.6,88.9,7.0,185,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2307,2121,0,0,0,0,0,0
$GC,1782,0.95,146.6,80.3,7.1,197,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2307,2120,0,0,0,0,0,0
$GC,1909,0.95,146.6,72.0,6.7,209,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2307,2121,0,0,0,0,0,0
$GC,2037,0.97,163.2,64.0,6.2,221,2052,0.00,0.00,13.35,0.790,6,0.000,0.000,1929,2307,2065,0,0,0,0,0,0
$GC,2174,0.97,163.2,55.0,6.8,234,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2307,2065,0,0,0,0,0,0
$GC,2302,0.97,163.2,46.3,6.9,246,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2307,2065,0,0,0,0,0,0
$GC,2430,0.98,167.6,37.7,6.5,258,2440,0.00,0.00,5.03,0.636,6,0.000,0.000,1928,2307,2050,0,0,0,0,0,0
$GC,2567,1.01,195.0,29.3,5.8,271,2589,0.00,0.00,20.58,0.802,6,0.000,0.000,1928,2307,1957,0,0,0,0,0,0
$GC,2715,1.01,195.0,18.8,7.1,286,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2307,1957,0,0,0,0,0,0
$GC,2787,1.02,204.0,13.9,6.4,299,2798,0.00,0.00,7.88,0.713,6,0.000,0.000,1929,2307,1927,0,0,0,0,0,0
$GC,2865,1.08,252.5,9.5,5.2,313,2906,0.12,0.00,35.15,0.800,6,0.107,0.000,1968,2306,1761,0,0,0,0,0,0
$GC,2974,1.22,362.0,4.9,3.3,333,3005,0.00,0.00,29.08,0.785,2,0.000,0.000,1967,2307,1628,0,0,0,0,0,0
$STATE,3006,end climb,SURFACE_DEPTH_REACHED
$STATE,3006,begin surface coast
$FINISH,2.7,1.019704
$STATE,3163,end surface coast,CONTROL_FINISHED_OK
$STATE,3163,begin surface
$SM_CCo,3177,145.95,0.797,0,0,924,500.11
$SM_GC,1.76,0.00,0.00,145.95,0.000,0.000,0.797,26,2306,924,-7.79,0.17,500.11
$IRIDIUM_FIX,4748.51,-12224.57,071011,131354
$TT8_MAMPS,0.021721
$HUMID,1078013539
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,90.9,25.9
$24V_AH,24.0,53.795
$10V_AH,10.4,11.260
$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,18.625,0.000,323.800,145.950,0.000,0.000,0.000,0.000,1.750,0.000,11.333,562.361,1649.466,556.014,590.826,44.398,33.313,907.135,0.000,537.942,0.000,14.544,0.000
$DEVICE_MAMPS,216.021,0.000,883.948,797.043,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,244.185,0.000,560.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323872
$DATA_FILE_SIZE,20265,367
$CAP_FILE_SIZE,66962,0
$CFSIZE,260280320,256122880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,200816,4806.994,-12223.354,13,2.3,32,18.3