version: 66.07
glider: 33
mission: 20
dive: 3
start: 7 14 110 21 57 29
data:
$ID,33
$MISSION,20
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,5800
$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,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,150
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,5761
$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,13
$HD_A,0.0044716001
$HD_B,0.016021
$HD_C,9.4708003e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,800
$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,-226863.48
$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,1685
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12.5
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,3473
$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,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.083075
$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
$GPS1,140710,215331,4805.531,-12221.778,12,1.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-56.1
$GPS2,140710,215708,4805.478,-12221.749,12,1.5,12,18.3
$SPEED_LIMITS,0.100,0.210
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.105,0.181
$KALMAN_X,889.8,0.0,0.0,109.0,202.2
$KALMAN_Y,-793.4,0.0,0.0,-1157.3,-313.7
$MHEAD_RNG_PITCHd_Wd,311.6,1015,-22.2,-10.000
$D_GRID,109
$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,-1.95,-146.6,0.0,0.0,0,178,0.00,0.00,-160.40,0.000,2,0.000,0.000,20,2049,2730,0,0,0,0,0,0
$GC,180,-1.95,-146.6,3.5,-4.6,28,251,6.55,0.00,-57.58,0.000,6,0.201,0.000,1254,2050,3960,0,0,0,0,0,0
$GC,319,-1.95,-146.6,18.3,-15.8,52,325,0.00,0.88,0.00,0.000,4,0.000,0.089,1254,1512,3960,0,0,0,0,0,0
$GC,336,-1.95,-146.6,21.4,-17.2,54,343,0.00,0.88,0.00,0.000,6,0.000,0.084,1253,2055,3960,0,0,1,0,0,0
$GC,469,-1.95,-146.6,45.5,-18.9,67,473,0.00,0.82,0.00,0.000,4,0.000,0.097,1254,2574,3960,0,0,0,0,0,0
$GC,775,-1.95,-146.6,105.7,-20.0,94,779,0.00,0.88,0.00,0.000,6,0.000,0.097,1253,2045,3960,0,0,0,0,0,0
$STATE,796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,796,begin apogee
$GC,799,-0.40,0.0,110.0,19.0,96,901,1.60,0.00,97.10,0.832,6,0.142,0.000,1596,2045,3473,0,0,0,0,0,0
$STATE,901,end apogee,CONTROL_FINISHED_OK
$STATE,901,begin climb
$GC,903,1.95,146.6,116.0,0.0,106,1014,2.17,0.93,100.07,0.834,4,0.092,0.112,2111,1529,2976,0,0,0,0,0,0
$GC,1220,2.16,316.5,112.3,2.2,134,1341,0.17,0.90,114.60,0.837,6,0.094,0.104,2162,2046,2400,0,0,1,0,0,0
$GC,1474,2.16,316.5,79.0,18.0,158,1478,0.00,0.90,0.00,0.000,4,0.000,0.112,2162,2573,2400,0,0,0,0,0,0
$GC,1523,2.16,316.5,70.1,17.8,162,1530,0.00,0.93,0.00,0.000,6,0.000,0.104,2162,2049,2399,0,0,0,0,0,0
$GC,1657,2.16,316.5,48.5,16.4,175,1660,0.00,0.88,0.00,0.000,4,0.000,0.109,2162,2564,2399,0,0,0,0,0,0
$GC,1713,2.16,316.5,40.5,14.6,180,1717,0.00,0.88,0.00,0.000,6,0.000,0.107,2162,2058,2399,0,0,0,0,0,0
$GC,1852,2.16,316.5,22.4,12.1,193,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2058,2399,0,0,0,0,0,0
$GC,1985,2.16,316.5,7.1,11.9,215,1992,0.00,0.88,0.00,0.000,4,0.000,0.109,2162,2574,2398,0,0,0,0,0,0
$GC,2037,2.51,595.0,5.4,-2.7,224,2207,0.22,0.90,163.55,0.777,2,0.072,0.104,2231,2047,1565,0,0,0,0,0,0
$STATE,2208,end climb,SURFACE_DEPTH_REACHED
$STATE,2208,begin surface coast
$FINISH,3.0,1.017271
$STATE,2241,end surface coast,CONTROL_FINISHED_OK
$STATE,2241,begin surface
$SM_CCo,2257,163.43,0.752,0,0,763,800.07
$SM_GC,1.80,0.00,0.00,163.43,0.000,0.000,0.752,21,2043,763,-7.66,-0.20,800.07
$IRIDIUM_FIX,4748.51,-12224.57,140710,212104
$TT8_MAMPS,0.021721
$HUMID,1078772248
$INTERNAL_PRESSURE,7.60771
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$24V_AH,24.9,18.203
$10V_AH,10.4,6.616
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,20.400,10.625,475.325,163.425,0.000,0.000,0.000,0.000,1.750,0.000,13.076,486.288,708.652,724.926,543.142,24.825,0.373,1101.143,0.000,498.558,0.000,13.152,0.000
$DEVICE_MAMPS,201.123,111.735,836.771,752.349,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,166.308,0.000,395.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323596
$DATA_FILE_SIZE,13578,259
$CAP_FILE_SIZE,80231,0
$CFSIZE,260280320,252583936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140710,223921,4805.599,-12221.779,38,3.7,57,18.3