version: 66.07
glider: 33
mission: 23
dive: 7
start: 8 27 110 0 0 11
data:
$ID,33
$MISSION,23
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,6099
$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,80
$T_MISSION,90
$T_ABORT,2880
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,180
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,6084
$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,0.0048177
$HD_B,0.011392
$HD_C,1.0709e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-66
$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,-231203.33
$T_RSLEEP,7
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1650
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,2682
$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,-19.047844
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,260810,235620,4805.692,-12221.730,13,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-58.0
$GPS2,260810,235950,4805.700,-12221.737,18,1.7,18,18.3
$SPEED_LIMITS,0.062,0.210
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.163
$KALMAN_X,-20.3,0.0,0.0,560.7,-300.2
$KALMAN_Y,93.2,0.0,0.0,-1536.8,297.5
$MHEAD_RNG_PITCHd_Wd,122.4,1586,-12.9,-6.250
$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,-0.99,-146.6,0.0,0.0,0,105,0.00,0.00,-87.97,0.000,2,0.000,0.000,21,2215,2046,0,0,0,0,0,0
$GC,107,-0.99,-146.6,3.2,-2.2,15,184,7.38,0.00,-63.25,0.000,6,0.191,0.000,1426,2215,3177,0,0,0,0,0,0
$GC,252,-0.95,-146.6,13.6,-8.0,40,259,0.00,2.78,0.00,0.000,4,0.000,0.099,1426,783,3177,0,0,0,0,0,0
$GC,315,-0.91,-146.6,19.3,-8.7,51,323,0.12,2.75,0.00,0.000,6,0.146,0.094,1450,2202,3177,0,0,0,0,0,0
$GC,393,-0.91,-146.6,25.0,-7.0,59,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,2203,3177,0,0,0,0,0,0
$GC,520,-0.91,-146.6,35.1,-8.5,71,524,0.00,2.75,0.00,0.000,4,0.000,0.102,1450,784,3177,0,0,0,0,0,0
$GC,607,-0.91,-146.6,42.1,-7.3,78,615,0.00,2.78,0.00,0.000,6,0.000,0.097,1451,2198,3177,0,0,0,0,0,0
$GC,742,-0.91,-146.6,53.1,-9.2,91,746,0.00,2.75,0.00,0.000,4,0.000,0.107,1450,784,3177,0,0,0,0,0,0
$GC,806,-0.91,-146.6,58.8,-9.0,96,815,0.00,2.80,0.00,0.000,6,0.000,0.099,1450,2200,3177,0,0,0,0,0,0
$GC,941,-0.91,-146.6,69.8,-8.1,109,945,0.00,2.75,0.00,0.000,4,0.000,0.109,1450,784,3177,0,0,0,0,0,0
$GC,1018,-0.91,-146.6,76.5,-8.1,116,1023,0.00,2.78,0.00,0.000,6,0.000,0.102,1450,2201,3177,0,0,0,0,0,0
$GC,1151,-0.91,-146.6,87.5,-8.6,128,1156,0.00,2.78,0.00,0.000,4,0.000,0.107,1450,781,3177,0,0,0,0,0,0
$GC,1216,-0.91,-146.6,93.1,-8.5,133,1224,0.00,2.80,0.00,0.000,6,0.000,0.102,1450,2198,3177,0,0,0,0,0,0
$GC,1351,-0.91,-146.6,104.0,-7.7,146,1355,0.00,2.75,0.00,0.000,4,0.000,0.107,1450,785,3177,0,0,0,0,0,0
$GC,1415,-0.91,-146.6,109.5,-7.6,151,1427,0.00,2.80,0.00,0.000,6,0.000,0.102,1450,2199,3177,0,0,0,0,0,0
$STATE,1499,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1500,begin apogee
$GC,1503,-0.31,0.0,115.9,7.9,159,1611,0.52,0.00,101.00,0.867,6,0.112,0.000,1576,1896,2682,0,0,0,0,0,0
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1612,begin climb
$GC,1613,0.99,146.6,120.2,0.0,170,1725,1.23,3.05,102.38,0.839,4,0.092,0.119,1860,3315,2185,0,0,1,0,0,0
$GC,1830,1.12,255.5,118.6,3.1,189,1915,0.10,2.85,76.10,0.829,6,0.072,0.097,1901,1899,1815,0,0,0,0,0,0
$GC,2040,1.09,255.5,105.6,7.8,209,2044,0.00,2.80,0.00,0.000,4,0.000,0.109,1901,483,1815,0,0,0,0,0,0
$GC,2128,1.04,255.5,97.8,9.2,216,2136,0.12,2.80,0.00,0.000,6,0.144,0.097,1876,1923,1815,0,0,1,0,0,0
$GC,2262,1.04,255.5,88.2,7.0,229,2266,0.00,2.85,0.00,0.000,4,0.000,0.109,1876,485,1815,0,0,0,0,0,0
$GC,2391,1.02,255.5,78.7,6.8,240,2396,0.00,2.75,0.00,0.000,6,0.000,0.097,1876,1898,1815,0,0,0,0,0,0
$GC,2524,1.02,255.5,69.9,6.7,252,2529,0.00,2.80,0.00,0.000,4,0.000,0.109,1876,478,1815,0,0,0,0,0,0
$GC,2608,1.02,255.5,63.9,7.4,259,2612,0.00,2.75,0.00,0.000,6,0.000,0.097,1876,1904,1815,0,0,1,0,0,0
$GC,2741,1.02,255.5,54.1,7.7,271,2745,0.00,2.80,0.00,0.000,4,0.000,0.109,1876,480,1815,0,0,0,0,0,0
$GC,2828,1.02,255.5,47.4,6.9,278,2836,0.00,2.75,0.00,0.000,6,0.000,0.097,1876,1897,1815,0,0,1,0,0,0
$GC,2962,1.02,255.5,38.7,6.7,291,2967,0.00,2.78,0.00,0.000,4,0.000,0.112,1876,485,1815,0,0,0,0,0,0
$GC,3027,1.02,255.5,34.1,7.1,296,3035,0.00,2.78,0.00,0.000,6,0.000,0.099,1876,1899,1815,0,0,0,0,0,0
$GC,3162,1.02,258.6,25.7,6.2,309,3174,0.00,2.80,4.10,0.556,4,0.000,0.112,1876,484,1805,0,0,0,0,0,0
$GC,3271,1.02,258.6,18.5,7.0,320,3278,0.00,2.75,0.00,0.000,6,0.000,0.099,1876,1902,1805,0,0,0,0,0,0
$GC,3346,1.02,261.9,13.9,6.2,333,3353,0.00,0.00,3.72,0.519,6,0.000,0.000,1876,1902,1794,0,0,0,0,0,0
$GC,3420,1.03,267.4,9.3,6.1,346,3434,0.00,2.83,5.62,0.631,4,0.000,0.112,1876,480,1776,0,0,0,0,0,0
$STATE,3512,end climb,SURFACE_DEPTH_REACHED
$STATE,3512,begin surface coast
$FINISH,4.2,1.020507
$STATE,3614,end surface coast,CONTROL_FINISHED_OK
$STATE,3614,begin surface
$SM_CCo,3616,354.42,0.762,0,0,146,748.70
$SM_GC,1.10,7.80,0.00,0.00,0.070,0.000,0.000,16,2206,142,-7.42,0.17,749.88
$IRIDIUM_FIX,4748.51,-12217.40,260810,232345
$TT8_MAMPS,0.020972
$HUMID,56.73
$INTERNAL_PRESSURE,7.74444
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.6
$ALTIM_BOTTOM_PING,115.9,16.1
$24V_AH,24.8,38.791
$10V_AH,10.3,13.635
$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,17.275,79.475,292.925,354.425,0.000,27.288,27.227,84.646,3.500,0.000,19.227,895.451,1618.395,802.805,940.635,46.877,0.470,1271.776,0.000,727.258,0.000,23.932,0.000
$DEVICE_MAMPS,191.191,119.184,866.567,762.281,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.677,0.000,579.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323564
$DATA_FILE_SIZE,20199,380
$CAP_FILE_SIZE,67764,0
$CFSIZE,260280320,251150336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270810,010913,4805.518,-12221.520,25,1.8,32,18.3