version: 66.07
glider: 33
mission: 14
dive: 16
start: 4 22 110 11 49 26
data:
$ID,33
$MISSION,14
$DIVE,16
$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,-213865.42
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,220410,114501,4805.925,-12221.765,8,1.1,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.7
$GPS2,220410,114832,4805.938,-12221.789,14,1.4,14,18.3
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.094,-0.176
$KALMAN_X,-5771.1,10.6,-84.5,6931.8,-677.9
$KALMAN_Y,8257.9,-43.7,206.5,-10859.8,898.3
$MHEAD_RNG_PITCHd_Wd,133.7,285,-15.0,-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,-1.07,-105.7,0.0,0.0,0,138,0.00,0.00,-120.82,0.000,2,0.000,0.000,22,1908,2280,0,0,0,0,0,0
$GC,140,-1.12,-146.6,3.3,-3.8,24,233,8.15,2.55,-74.88,0.000,4,0.216,0.117,1473,494,3624,0,0,1,0,0,0
$GC,439,-1.12,-146.6,38.2,-12.4,67,446,0.00,2.42,0.00,0.000,6,0.000,0.102,1473,1888,3624,0,0,1,0,0,0
$GC,573,-1.12,-146.6,55.2,-12.7,80,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,1891,3624,0,0,0,0,0,0
$GC,701,-1.12,-146.6,71.3,-13.1,92,702,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,1891,3624,0,0,0,0,0,0
$GC,828,-1.12,-146.6,86.8,-12.4,104,829,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,1891,3624,0,0,0,0,0,0
$GC,955,-1.12,-146.6,102.1,-11.7,116,956,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,1891,3624,0,0,0,0,0,0
$STATE,1007,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1007,begin apogee
$GC,1011,-0.31,0.0,108.0,11.2,121,1121,0.82,0.00,106.70,0.876,6,0.129,0.000,1651,1845,3125,0,0,0,0,0,0
$STATE,1122,end apogee,CONTROL_FINISHED_OK
$STATE,1122,begin climb
$GC,1123,1.12,146.6,113.0,0.0,132,1235,1.35,0.00,105.25,0.857,6,0.097,0.000,1959,1845,2628,0,0,0,0,0,0
$GC,1361,1.36,346.0,118.6,-1.7,155,1514,0.22,2.72,142.30,0.859,4,0.087,0.129,2022,3250,1953,0,0,1,0,0,0
$GC,1851,1.36,346.0,70.0,11.3,200,1855,0.00,2.45,0.00,0.000,6,0.000,0.104,2022,1848,1953,0,0,1,0,0,0
$GC,1983,1.36,346.0,54.9,11.5,212,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1848,1953,0,0,0,0,0,0
$GC,2111,1.36,346.0,40.9,11.0,224,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1848,1953,0,0,0,0,0,0
$GC,2238,1.36,346.0,27.2,10.1,236,2242,0.00,2.47,0.00,0.000,4,0.000,0.122,2022,441,1953,0,0,0,0,0,0
$STATE,2439,end climb,SURFACE_DEPTH_REACHED
$STATE,2439,begin surface coast
$FINISH,1.3,1.020569
$STATE,2479,end surface coast,CONTROL_FINISHED_OK
$STATE,2480,begin surface
$SM_CCo,2496,176.30,0.795,0,0,1093,600.20
$SM_GC,0.92,0.00,0.00,176.30,0.000,0.000,0.795,24,1908,1093,-7.81,0.23,600.20
$IRIDIUM_FIX,4748.51,-12219.12,161011,050514
$TT8_MAMPS,0.021721
$HUMID,1078013539
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.4
$ALTIM_BOTTOM_PING,90.6,37.3
$24V_AH,24.0,56.689
$10V_AH,10.3,11.933
$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,18.975,15.275,354.250,176.300,0.000,28.389,32.986,83.816,1.500,0.000,15.701,408.641,1141.791,615.991,704.247,30.426,33.319,968.042,0.000,507.235,0.000,11.709,0.000
$DEVICE_MAMPS,216.021,156.429,876.499,794.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.172,0.000,416.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323540
$DATA_FILE_SIZE,13560,273
$CAP_FILE_SIZE,40863,0
$CFSIZE,260280320,256446464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,220410,123444,4805.665,-12221.633,12,1.6,12,18.3