version: 66.07
glider: 33
mission: 14
dive: 13
start: 4 22 110 9 12 29
data:
$ID,33
$MISSION,14
$DIVE,13
$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,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,-7
$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,600
$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,-213861.67
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,3126
$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,-20.618473
$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
$GPS1,220410,090446,4806.408,-12222.340,15,6.1,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-52.6
$GPS2,220410,091135,4806.438,-12222.370,16,5.8,35,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.191
$KALMAN_X,-4501.8,-312.9,-4.7,5190.8,-316.5
$KALMAN_Y,6580.9,426.3,-92.0,-8435.1,396.3
$MHEAD_RNG_PITCHd_Wd,127.8,932,-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,-146.6,0.0,0.0,0,249,0.00,0.00,-230.80,0.000,2,0.000,0.000,26,1905,2379,0,0,0,0,0,0
$GC,251,-0.95,-146.6,3.0,-3.0,46,343,8.23,0.00,-78.70,0.000,6,0.209,0.000,1508,1908,3624,0,0,0,0,0,0
$GC,410,-0.95,-146.6,16.8,-11.5,76,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,1908,3624,0,0,0,0,0,0
$GC,485,-0.95,-146.6,25.3,-11.9,86,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,1908,3624,0,0,0,0,0,0
$GC,612,-0.95,-146.6,40.7,-11.7,98,617,0.00,2.55,0.00,0.000,4,0.000,0.127,1508,3312,3624,0,0,0,0,0,0
$GC,813,-0.95,-146.6,64.4,-11.2,115,820,0.00,2.47,0.00,0.000,6,0.000,0.104,1508,1903,3624,0,0,1,0,0,0
$GC,947,-0.95,-146.6,78.5,-10.5,128,951,0.00,2.58,0.00,0.000,4,0.000,0.129,1508,3312,3624,0,0,0,0,0,0
$GC,1075,-0.95,-146.6,92.2,-11.1,139,1080,0.00,2.47,0.00,0.000,6,0.000,0.107,1508,1896,3624,0,0,1,0,0,0
$GC,1208,-0.95,-146.6,105.8,-10.5,151,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,1895,3624,0,0,0,0,0,0
$STATE,1252,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1252,begin apogee
$GC,1256,-0.31,0.0,110.0,10.4,155,1366,0.62,0.00,106.62,0.884,6,0.127,0.000,1648,1840,3126,0,0,0,0,0,0
$STATE,1367,end apogee,CONTROL_FINISHED_OK
$STATE,1367,begin climb
$GC,1368,0.95,146.6,114.7,0.0,166,1485,1.20,2.67,105.43,0.859,4,0.097,0.124,1924,443,2629,0,0,0,0,0,0
$GC,1654,1.31,439.4,119.8,-2.2,193,1870,0.35,2.47,207.57,0.859,6,0.079,0.107,2017,1857,1637,0,0,1,0,0,0
$GC,2003,1.31,439.4,85.6,13.5,227,2007,0.00,2.58,0.00,0.000,4,0.000,0.124,2017,3254,1636,0,0,0,0,0,0
$STATE,2620,end climb,SURFACE_DEPTH_REACHED
$STATE,2620,begin surface coast
$FINISH,1.3,1.019972
$STATE,2660,end surface coast,CONTROL_FINISHED_OK
$STATE,2660,begin surface
$SM_CCo,2677,110.75,0.795,0,0,1093,600.20
$SM_GC,1.20,0.00,0.00,110.75,0.000,0.000,0.795,22,1899,1093,-7.81,-0.03,600.20
$IRIDIUM_FIX,4748.51,-12220.12,161011,030324
$TT8_MAMPS,0.021721
$HUMID,1078032893
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,110.0,13.7
$24V_AH,24.0,56.284
$10V_AH,10.4,11.850
$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,18.750,20.275,419.625,110.750,0.000,47.234,55.277,150.504,2.750,0.000,36.988,419.910,1120.730,682.660,956.983,35.295,33.320,1112.214,0.000,609.279,0.000,23.260,0.000
$DEVICE_MAMPS,208.572,156.429,883.948,794.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.391,0.000,456.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323500
$DATA_FILE_SIZE,16858,300
$CAP_FILE_SIZE,48675,0
$CFSIZE,260280320,256520192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,220410,095944,4806.408,-12222.261,13,1.2,13,18.3