version: 66.07
glider: 33
mission: 23
dive: 12
start: 8 27 110 6 48 42
data:
$ID,33
$MISSION,23
$DIVE,12
$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,12
$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,-231209.58
$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,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,13
$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
$GPS1,270810,064310,4804.880,-12220.866,10,3.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-49.6
$GPS2,270810,064758,4804.886,-12220.909,16,3.1,35,18.3
$SPEED_LIMITS,0.062,0.210
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.190
$KALMAN_X,-1089.3,0.0,0.0,2645.4,-67.2
$KALMAN_Y,462.0,0.0,0.0,-3405.2,-83.0
$MHEAD_RNG_PITCHd_Wd,316.2,6918,-12.9,-6.250
$D_GRID,108
$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,-146.6,0.0,0.0,0,197,0.00,0.00,-179.57,0.000,2,0.000,0.000,18,2005,2172,0,0,0,0,0,0
$GC,199,-0.99,-146.6,3.3,-3.1,31,277,7.47,2.62,-59.65,0.000,4,0.194,0.102,1429,3316,3179,0,0,0,0,0,0
$GC,485,-0.99,-146.6,23.0,-8.3,78,490,0.00,2.72,0.00,0.000,6,0.000,0.087,1428,1898,3179,0,0,0,0,0,0
$GC,618,-0.96,-146.6,33.6,-8.1,90,623,0.00,2.70,0.00,0.000,4,0.000,0.099,1429,483,3179,0,0,0,0,0,0
$GC,650,-0.93,-146.6,36.4,-7.3,92,658,0.00,2.72,0.00,0.000,6,0.000,0.087,1429,1904,3178,0,0,0,0,0,0
$GC,784,-0.90,-146.6,47.4,-8.1,105,786,0.12,0.00,0.00,0.000,6,0.144,0.000,1455,1906,3179,0,0,0,0,0,0
$GC,911,-0.90,-146.6,56.9,-7.3,117,913,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,1906,3179,0,0,0,0,0,0
$GC,1039,-0.90,-146.6,66.6,-7.5,129,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,1906,3178,0,0,0,0,0,0
$GC,1166,-0.90,-146.6,76.2,-7.2,141,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,1906,3178,0,0,0,0,0,0
$GC,1294,-0.90,-146.6,85.9,-7.4,153,1298,0.00,2.78,0.00,0.000,4,0.000,0.104,1455,483,3178,0,0,0,0,0,0
$GC,1333,-0.90,-146.6,89.0,-8.3,156,1337,0.00,2.72,0.00,0.000,6,0.000,0.092,1455,1904,3178,0,0,0,0,0,0
$GC,1465,-0.90,-146.6,99.1,-7.6,168,1470,0.00,2.80,0.00,0.000,4,0.000,0.114,1455,3312,3178,0,0,0,0,0,0
$GC,1496,-0.90,-146.6,101.4,-7.2,170,1504,0.00,2.75,0.00,0.000,6,0.000,0.094,1455,1909,3178,0,0,0,0,0,0
$STATE,1587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1587,begin apogee
$GC,1591,-0.31,0.0,108.1,7.3,179,1700,0.55,0.00,101.28,0.842,6,0.112,0.000,1579,1797,2681,0,0,0,0,0,0
$STATE,1701,end apogee,CONTROL_FINISHED_OK
$STATE,1701,begin climb
$GC,1702,0.99,146.6,111.6,0.0,190,1814,1.23,3.00,102.38,0.822,4,0.094,0.112,1865,3210,2185,0,0,1,0,0,0
$GC,1863,1.15,279.1,111.7,2.4,204,1963,0.10,2.83,92.85,0.807,6,0.074,0.094,1906,1802,1735,0,0,1,0,0,0
$GC,2090,1.12,279.1,97.0,8.3,225,2095,0.00,2.80,0.00,0.000,4,0.000,0.107,1905,384,1735,0,0,0,0,0,0
$GC,2200,1.07,279.1,86.4,9.5,234,2209,0.12,2.75,0.00,0.000,6,0.151,0.092,1881,1810,1735,0,0,1,0,0,0
$GC,2334,1.07,279.1,76.2,7.8,247,2339,0.00,2.83,0.00,0.000,4,0.000,0.107,1881,386,1735,0,0,0,0,0,0
$GC,2433,1.07,279.1,67.8,8.6,255,2441,0.00,2.75,0.00,0.000,6,0.000,0.092,1881,1802,1734,0,0,1,0,0,0
$GC,2567,1.07,279.1,57.4,7.8,268,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,1803,1734,0,0,0,0,0,0
$GC,2695,1.07,279.1,48.2,6.8,280,2699,0.00,2.78,0.00,0.000,4,0.000,0.107,1881,384,1734,0,0,0,0,0,0
$GC,2789,1.07,279.1,40.9,7.8,288,2793,0.00,2.72,0.00,0.000,6,0.000,0.092,1881,1799,1734,0,0,0,0,0,0
$GC,2922,1.07,279.1,31.3,7.2,300,2927,0.00,2.80,0.00,0.000,4,0.000,0.109,1881,384,1734,0,0,0,0,0,0
$GC,2987,1.07,279.1,26.8,7.2,305,2995,0.00,2.78,0.00,0.000,6,0.000,0.094,1880,1805,1734,0,0,0,0,0,0
$GC,3123,1.07,279.1,18.2,6.3,320,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,1805,1734,0,0,0,0,0,0
$GC,3196,1.07,279.1,13.2,6.4,333,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,1806,1735,0,0,0,0,0,0
$GC,3270,1.07,282.0,8.7,6.2,346,3284,0.00,2.83,3.60,0.492,4,0.000,0.109,1881,390,1725,0,0,0,0,0,0
$STATE,3345,end climb,SURFACE_DEPTH_REACHED
$STATE,3345,begin surface coast
$FINISH,3.0,1.019860
$STATE,3424,end surface coast,CONTROL_FINISHED_OK
$STATE,3424,begin surface
$SM_CCo,3441,115.90,0.777,0,0,1156,450.22
$SM_GC,2.09,0.00,0.00,115.90,0.000,0.000,0.777,23,1912,1156,-7.49,0.34,450.22
$IRIDIUM_FIX,4745.30,-12227.28,270810,050526
$TT8_MAMPS,0.021721
$HUMID,54.17
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.3
$24V_AH,24.7,39.392
$10V_AH,10.3,13.839
$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,17.275,55.850,300.100,115.900,0.000,29.587,39.186,120.135,2.750,0.000,37.095,831.804,1441.772,610.016,928.400,66.163,0.472,1052.034,0.000,659.209,0.000,17.953,0.000
$DEVICE_MAMPS,193.674,124.150,841.737,777.179,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.456,0.000,568.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323808
$DATA_FILE_SIZE,20236,373
$CAP_FILE_SIZE,61183,0
$CFSIZE,260280320,250961920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,270810,074930,4805.207,-12221.151,39,1.6,58,18.3