version: 66.07
glider: 33
mission: 12
dive: 25
start: 4 13 110 20 21 20
data:
$ID,33
$MISSION,12
$DIVE,25
$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,50
$T_MISSION,60
$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,-211069.84
$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
$GPS1,130410,201633,4806.952,-12223.334,14,2.5,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-63.6
$GPS2,130410,202007,4806.923,-12223.334,10,0.9,15,18.3
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.115,0.237
$KALMAN_X,2197.7,921.9,-516.4,-3332.2,-204.7
$KALMAN_Y,-3650.0,141.2,412.1,2041.5,-341.9
$MHEAD_RNG_PITCHd_Wd,7.7,2038,-18.1,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.31,-146.6,0.0,0.0,0,89,0.00,0.00,-71.68,0.000,2,0.000,0.000,26,2307,1726,0,0,0,0,0,0
$GC,91,-1.31,-146.6,3.3,-4.7,14,192,7.75,0.00,-89.93,0.000,6,0.211,0.000,1427,2306,3115,0,0,0,0,0,0
$GC,259,-1.31,-146.6,16.9,-10.2,46,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2306,3116,0,0,0,0,0,0
$GC,330,-1.31,-146.6,23.4,-9.6,56,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2306,3115,0,0,0,0,0,0
$GC,457,-1.31,-146.6,38.0,-11.3,68,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2306,3116,0,0,0,0,0,0
$GC,584,-1.31,-146.6,53.3,-12.1,80,585,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2306,3116,0,0,0,0,0,0
$GC,712,-1.31,-146.6,67.9,-11.4,92,713,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2306,3116,0,0,0,0,0,0
$GC,839,-1.31,-146.6,82.4,-11.6,104,840,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2306,3116,0,0,0,0,0,0
$GC,967,-1.31,-146.6,97.2,-11.4,116,968,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,2306,3115,0,0,0,0,0,0
$STATE,1000,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1000,begin apogee
$GC,1004,-0.31,0.0,100.6,10.9,119,1114,0.98,0.00,106.57,0.879,6,0.129,0.000,1645,2306,2618,0,0,0,0,0,0
$STATE,1115,end apogee,CONTROL_FINISHED_OK
$STATE,1115,begin climb
$GC,1116,1.31,146.6,104.2,0.0,130,1227,1.58,0.00,106.22,0.857,6,0.094,0.000,2005,2306,2121,0,0,0,0,0,0
$GC,1349,1.33,159.1,88.3,9.4,153,1362,0.00,0.00,10.80,0.760,6,0.000,0.000,2005,2306,2079,0,0,0,0,0,0
$GC,1486,1.33,162.6,74.6,9.8,166,1496,0.00,0.00,4.15,0.569,6,0.000,0.000,2005,2306,2067,0,0,0,0,0,0
$GC,1623,1.33,162.6,60.7,10.5,179,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2305,2066,0,0,0,0,0,0
$GC,1751,1.35,178.5,48.4,9.3,191,1766,0.00,0.00,13.10,0.770,6,0.000,0.000,2005,2306,2013,0,0,0,0,0,0
$GC,1888,1.36,184.7,34.9,9.7,204,1898,0.00,0.00,6.07,0.663,6,0.000,0.000,2005,2306,1991,0,0,0,0,0,0
$GC,2025,1.36,187.1,21.5,9.9,217,2030,0.00,0.00,3.42,0.497,6,0.000,0.000,2005,2306,1984,0,0,0,0,0,0
$GC,2159,1.39,212.4,8.2,8.8,239,2184,0.00,0.00,19.08,0.777,6,0.000,0.000,2005,2305,1897,0,0,0,0,0,0
$GC,2251,1.62,396.5,5.0,1.6,256,2354,0.25,0.00,98.40,0.797,2,0.084,0.000,2077,2305,1426,0,0,0,0,0,0
$STATE,2354,end climb,SURFACE_DEPTH_REACHED
$STATE,2355,begin surface coast
$FINISH,2.6,1.018527
$STATE,2601,end surface coast,CONTROL_FINISHED_OK
$STATE,2601,begin surface
$SM_CCo,2616,104.00,0.790,0,0,924,500.11
$SM_GC,1.89,0.00,0.00,104.00,0.000,0.000,0.790,24,2306,924,-7.80,0.17,500.11
$IRIDIUM_FIX,4748.51,-12224.57,071011,141440
$TT8_MAMPS,0.020972
$HUMID,1078010958
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.2
$ALTIM_BOTTOM_PING,100.6,14.5
$24V_AH,24.0,53.920
$10V_AH,10.4,11.292
$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,19.375,0.000,367.825,104.000,0.000,0.000,0.000,0.000,2.250,0.000,16.404,465.119,1228.961,544.012,524.002,39.600,33.321,867.394,0.000,472.286,0.000,18.845,0.000
$DEVICE_MAMPS,211.055,0.000,878.982,789.594,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.883,0.000,488.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323960
$DATA_FILE_SIZE,20180,320
$CAP_FILE_SIZE,52022,0
$CFSIZE,260280320,256102400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130410,210734,4806.854,-12223.434,9,2.9,28,18.3