version: 66.07
glider: 33
mission: 23
dive: 8
start: 8 27 110 1 13 25
data:
$ID,33
$MISSION,23
$DIVE,8
$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,-231204.58
$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,2100
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,14
$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
$GPS1,270810,010913,4805.518,-12221.520,25,1.8,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-40.9
$GPS2,270810,011304,4805.540,-12221.526,10,4.2,29,18.3
$SPEED_LIMITS,0.062,0.210
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.127,-0.167
$KALMAN_X,-408.2,0.0,0.0,1207.3,-398.5
$KALMAN_Y,591.2,0.0,0.0,-2334.7,476.7
$MHEAD_RNG_PITCHd_Wd,124.4,1194,-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,-146.6,0.0,0.0,0,215,0.00,0.00,-197.23,0.000,2,0.000,0.000,15,2206,2308,0,0,0,0,0,0
$GC,217,-0.99,-146.6,3.4,-2.3,34,278,7.50,2.60,-44.42,0.000,4,0.196,0.104,1427,3516,3180,0,0,0,0,0,0
$GC,296,-0.94,-146.6,9.8,-6.9,47,303,0.00,2.72,0.00,0.000,6,0.000,0.084,1427,2086,3180,0,0,0,0,0,0
$GC,371,-0.90,-146.6,15.1,-7.1,60,378,0.12,0.00,0.00,0.000,6,0.146,0.000,1453,2085,3180,0,0,0,0,0,0
$GC,445,-0.90,-146.6,20.5,-7.0,73,450,0.00,2.70,0.00,0.000,4,0.000,0.099,1453,678,3180,0,0,0,0,0,0
$GC,496,-0.90,-146.6,23.8,-7.0,77,500,0.00,2.72,0.00,0.000,6,0.000,0.089,1453,2102,3180,0,0,0,0,0,0
$GC,629,-0.90,-146.6,32.7,-6.6,89,630,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,2104,3180,0,0,0,0,0,0
$GC,756,-0.90,-146.6,42.3,-8.0,101,761,0.00,2.72,0.00,0.000,4,0.000,0.102,1452,689,3180,0,0,0,0,0,0
$GC,840,-0.90,-146.6,48.8,-7.5,108,844,0.00,2.70,0.00,0.000,6,0.000,0.094,1453,2099,3180,0,0,0,0,0,0
$GC,973,-0.90,-146.6,59.0,-7.7,120,977,0.00,2.75,0.00,0.000,4,0.000,0.104,1453,690,3180,0,0,0,0,0,0
$GC,1011,-0.90,-146.6,62.1,-8.8,123,1016,0.00,2.72,0.00,0.000,6,0.000,0.097,1453,2100,3180,0,0,0,0,0,0
$GC,1146,-0.90,-146.6,72.9,-8.3,135,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,2102,3180,0,0,0,0,0,0
$GC,1272,-0.90,-146.6,83.0,-8.0,147,1276,0.00,2.75,0.00,0.000,4,0.000,0.107,1453,684,3180,0,0,0,0,0,0
$GC,1360,-0.90,-146.6,90.1,-7.3,154,1367,0.00,2.75,0.00,0.000,6,0.000,0.099,1452,2103,3179,0,0,0,0,0,0
$GC,1494,-0.90,-146.6,100.3,-7.7,167,1499,0.00,2.75,0.00,0.000,4,0.000,0.107,1452,690,3180,0,0,0,0,0,0
$GC,1545,-0.90,-146.6,104.4,-7.7,171,1550,0.00,2.75,0.00,0.000,6,0.000,0.099,1453,2101,3179,0,0,0,0,0,0
$GC,1678,-0.90,-146.6,114.5,-7.5,183,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,2102,3180,0,0,0,0,0,0
$GC,1806,-0.90,-146.6,124.1,-8.0,195,1810,0.00,2.78,0.00,0.000,4,0.000,0.109,1452,690,3179,0,0,0,0,0,0
$STATE,2169,end dive,NO_VERTICAL_VELOCITY
$STATE,2170,begin apogee
$GC,2175,-0.31,0.0,124.3,0.0,227,2283,0.52,0.00,101.65,0.864,6,0.097,0.000,1583,1809,2682,0,0,0,0,0,0
$STATE,2283,end apogee,CONTROL_FINISHED_OK
$STATE,2284,begin climb
$GC,2285,0.99,146.6,124.1,0.0,238,2392,1.20,0.00,102.88,0.839,6,0.089,0.000,1866,1809,2185,0,0,0,0,0,0
$GC,2515,1.15,279.3,121.4,2.4,260,2611,0.15,0.00,92.90,0.829,6,0.094,0.000,1911,1809,1736,0,0,0,0,0,0
$GC,2736,1.11,279.3,106.1,8.7,281,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,1809,1735,0,0,0,0,0,0
$GC,2863,1.08,279.3,94.4,9.3,293,2869,0.12,2.83,0.00,0.000,4,0.142,0.109,1886,391,1735,0,0,0,0,0,0
$GC,2915,1.05,279.3,90.0,9.2,297,2919,0.00,2.75,0.00,0.000,6,0.000,0.097,1886,1808,1735,0,0,1,0,0,0
$GC,3047,1.05,279.3,78.9,8.1,309,3052,0.00,2.80,0.00,0.000,4,0.000,0.109,1886,391,1735,0,0,0,0,0,0
$GC,3098,1.02,279.3,74.6,8.8,313,3102,0.00,2.75,0.00,0.000,6,0.000,0.097,1886,1803,1735,0,0,0,0,0,0
$GC,3231,1.02,279.3,64.3,7.8,325,3235,0.00,2.78,0.00,0.000,4,0.000,0.109,1886,392,1735,0,0,0,0,0,0
$GC,3273,0.99,279.3,60.7,8.2,328,3282,0.00,2.72,0.00,0.000,6,0.000,0.097,1886,1795,1735,0,0,1,0,0,0
$GC,3407,0.99,279.3,50.5,7.3,341,3412,0.00,2.78,0.00,0.000,4,0.000,0.109,1886,392,1735,0,0,0,0,0,0
$GC,3461,0.97,279.3,46.3,8.1,345,3470,0.08,2.72,0.00,0.000,6,0.129,0.097,1858,1797,1735,0,0,1,0,0,0
$GC,3596,1.01,279.3,37.9,6.5,358,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1796,1735,0,0,0,0,0,0
$GC,3724,1.06,284.5,30.5,6.1,370,3737,0.10,2.78,5.22,0.616,4,0.112,0.109,1893,390,1717,0,0,0,0,0,0
$GC,3797,1.04,284.5,24.4,7.7,376,3805,0.00,2.75,0.00,0.000,6,0.000,0.097,1893,1801,1717,0,0,1,0,0,0
$GC,3935,1.04,284.5,15.0,7.0,395,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,1802,1717,0,0,0,0,0,0
$GC,4009,1.04,284.5,9.6,7.0,408,4016,0.00,2.78,0.00,0.000,4,0.000,0.109,1893,391,1717,0,0,0,0,0,0
$STATE,4093,end climb,SURFACE_DEPTH_REACHED
$STATE,4093,begin surface coast
$FINISH,3.8,1.019825
$STATE,4166,end surface coast,CONTROL_FINISHED_OK
$STATE,4166,begin surface
$SM_CCo,4184,150.55,0.775,0,0,988,500.11
$SM_GC,1.49,0.00,0.00,150.55,0.000,0.000,0.775,19,2103,988,-7.50,0.08,500.11
$IRIDIUM_FIX,4748.51,-12223.57,260810,232316
$TT8_MAMPS,0.021721
$HUMID,56.06
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.3
$24V_AH,24.8,38.905
$10V_AH,10.4,13.675
$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,17.550,71.375,302.650,150.550,0.000,25.194,25.504,94.291,3.500,0.000,31.688,994.172,1843.038,669.198,1022.751,50.289,0.471,1168.712,0.000,784.495,0.000,22.552,0.000
$DEVICE_MAMPS,196.157,109.252,864.084,774.696,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.879,0.000,663.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323504
$DATA_FILE_SIZE,23552,436
$CAP_FILE_SIZE,71450,0
$CFSIZE,260280320,251105280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,270810,022625,4805.219,-12221.206,7,1.4,12,18.3