version: 66.07
glider: 33
mission: 23
dive: 17
start: 8 27 110 12 8 0
data:
$ID,33
$MISSION,23
$DIVE,17
$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,-4
$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,450
$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,-231215.84
$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,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,19
$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
$GPS1,270810,115941,4806.680,-12222.503,135,99.0,154,18.3
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-63.4
$GPS2,270810,120716,4806.747,-12222.537,12,2.8,31,18.3
$SPEED_LIMITS,0.062,0.210
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,0.153
$KALMAN_X,-1238.8,0.0,0.0,784.0,-9.1
$KALMAN_Y,745.3,0.0,0.0,-255.1,125.7
$MHEAD_RNG_PITCHd_Wd,298.3,2942,-12.9,-6.250
$D_GRID,107
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.99,-146.6,0.0,0.0,0,81,0.00,0.00,-64.28,0.000,2,0.000,0.000,20,1918,1944,0,0,0,0,0,0
$GC,83,-0.99,-146.6,3.1,-2.8,11,173,7.32,2.80,-74.85,0.000,4,0.186,0.094,1427,477,3178,0,0,0,0,0,0
$GC,416,-0.95,-146.6,28.6,-8.7,61,421,0.00,2.70,0.00,0.000,6,0.000,0.082,1428,1898,3178,0,0,0,0,0,0
$GC,549,-0.93,-146.6,40.3,-8.3,73,554,0.00,2.80,0.00,0.000,4,0.000,0.109,1428,3316,3178,0,0,0,0,0,0
$GC,581,-0.91,-146.6,43.1,-8.2,75,589,0.08,2.75,0.00,0.000,6,0.127,0.089,1447,1902,3179,0,0,0,0,0,0
$GC,715,-0.91,-146.6,53.7,-7.3,88,716,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,1901,3179,0,0,0,0,0,0
$GC,842,-0.91,-146.6,64.0,-7.6,100,843,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,1901,3179,0,0,0,0,0,0
$GC,970,-0.91,-146.6,74.5,-8.0,112,971,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,1901,3178,0,0,0,0,0,0
$GC,1098,-0.91,-146.6,85.0,-8.3,124,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,1902,3179,0,0,0,0,0,0
$GC,1225,-0.91,-146.6,95.5,-7.9,136,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,1901,3179,0,0,0,0,0,0
$STATE,1345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1345,begin apogee
$GC,1349,-0.31,0.0,105.6,9.1,147,1456,0.55,0.00,102.07,0.847,6,0.114,0.000,1576,1797,2682,0,0,0,0,0,0
$STATE,1457,end apogee,CONTROL_FINISHED_OK
$STATE,1457,begin climb
$GC,1459,0.99,146.6,110.3,0.0,158,1570,1.25,0.00,103.95,0.822,6,0.092,0.000,1865,1797,2185,0,0,0,0,0,0
$GC,1696,1.17,300.1,110.2,1.8,181,1808,0.17,0.00,108.45,0.812,6,0.087,0.000,1919,1797,1665,0,0,0,0,0,0
$GC,1934,1.14,300.1,94.8,8.6,204,1938,0.00,2.78,0.00,0.000,4,0.000,0.107,1919,391,1664,0,0,0,0,0,0
$GC,1985,1.09,300.1,90.1,10.7,208,1991,0.15,2.75,0.00,0.000,6,0.139,0.094,1890,1798,1664,0,0,1,0,0,0
$GC,2118,1.09,300.1,79.6,7.1,220,2123,0.00,2.80,0.00,0.000,4,0.000,0.107,1889,384,1664,0,0,0,0,0,0
$GC,2183,1.09,300.1,74.0,9.0,225,2191,0.00,2.80,0.00,0.000,6,0.000,0.094,1889,1801,1664,0,0,0,0,0,0
$GC,2318,1.09,300.1,64.4,7.2,238,2322,0.00,2.78,0.00,0.000,4,0.000,0.107,1889,391,1664,0,0,0,0,0,0
$GC,2367,1.09,300.1,60.6,7.6,242,2372,0.00,2.72,0.00,0.000,6,0.000,0.094,1889,1802,1663,0,0,1,0,0,0
$GC,2501,1.09,300.1,51.1,7.0,254,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,1806,1664,0,0,0,0,0,0
$GC,2628,1.09,300.1,42.1,7.0,266,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,1805,1663,0,0,0,0,0,0
$GC,2755,1.09,300.1,33.6,6.6,278,2760,0.00,2.78,0.00,0.000,4,0.000,0.107,1889,390,1664,0,0,0,0,0,0
$GC,2876,1.09,300.1,25.6,6.5,288,2884,0.00,2.75,0.00,0.000,6,0.000,0.094,1889,1804,1663,0,0,1,0,0,0
$GC,3014,1.09,300.1,16.5,6.4,306,3021,0.00,2.83,0.00,0.000,4,0.000,0.119,1889,3210,1663,0,0,0,0,0,0
$GC,3049,1.09,300.1,14.2,6.8,312,3056,0.00,2.72,0.00,0.000,6,0.000,0.097,1889,1800,1663,0,0,1,0,0,0
$GC,3124,1.11,300.1,9.2,6.5,325,3131,0.00,2.78,0.00,0.000,4,0.000,0.109,1889,380,1663,0,0,0,0,0,0
$GC,3200,1.21,355.6,5.8,4.7,338,3248,0.10,2.72,39.15,0.770,6,0.117,0.094,1922,1807,1476,0,0,0,0,0,0
$STATE,3309,end climb,SURFACE_DEPTH_REACHED
$STATE,3309,begin surface coast
$FINISH,3.7,1.019763
$STATE,3490,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3490,begin surface
$SM_CCo,3504,66.22,0.772,0,0,1157,450.22
$SM_GC,1.79,0.00,0.00,66.22,0.000,0.000,0.772,23,1915,1157,-7.49,0.45,450.22
$IRIDIUM_FIX,4751.72,-12230.75,270810,121244
$TT8_MAMPS,0.021721
$HUMID,56.02
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,105.6,16.5
$24V_AH,24.7,39.930
$10V_AH,10.4,14.008
$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,17.575,44.650,353.625,66.225,0.000,53.355,59.552,189.173,3.000,0.000,33.319,885.950,1558.500,530.208,1025.172,64.768,0.468,935.528,0.000,637.437,0.000,20.897,0.000
$DEVICE_MAMPS,186.225,124.150,846.703,772.213,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.570,0.000,593.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323876
$DATA_FILE_SIZE,20276,389
$CAP_FILE_SIZE,62543,0
$CFSIZE,260280320,250793984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,270810,130907,4807.046,-12222.977,45,1.7,63,18.3