version: 66.07
glider: 33
mission: 17
dive: 12
start: 5 19 110 20 22 24
data:
$ID,33
$MISSION,17
$DIVE,12
$D_SURF,4
$D_FLARE,3
$D_TGT,1800
$D_ABORT,5800
$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,800
$T_MISSION,830
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,5761
$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,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,18.5
$TGT_DEFAULT_LON,-125
$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,-218209.61
$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,1550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,2074
$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,-20.171059
$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,500
$ALTIM_PING_DELTA,20
$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
$GPS1,190510,201644,1832.171,-6559.320,12,1.9,13,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-35.6
$GPS2,190510,202106,1832.200,-6559.325,22,1.2,29,-12.7
$SPEED_LIMITS,0.075,0.240
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,-0.240
$KALMAN_X,-2574.5,908.6,80.2,19422.2,-783.3
$KALMAN_Y,-2887.4,1402.8,346.9,921.4,-620.5
$MHEAD_RNG_PITCHd_Wd,192.7,4243,-13.9,-7.500
$D_GRID,324
$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,15,-1.34,-146.6,0.0,0.0,0,118,0.00,0.00,-101.62,0.000,2,0.000,0.000,14,1931,2120,0,0,0,0,0,0
$GC,121,-1.34,-146.6,3.8,-7.2,10,152,6.53,2.35,-17.15,0.000,4,0.204,0.089,1250,495,2572,0,0,0,0,0,0
$GC,268,-1.34,-146.6,22.3,-12.8,23,276,0.00,2.12,0.00,0.000,6,0.000,0.062,1250,1889,2571,0,0,0,0,0,0
$GC,594,-1.34,-146.6,62.6,-12.0,54,598,0.00,2.20,0.00,0.000,4,0.000,0.084,1250,3276,2572,0,0,0,0,0,0
$GC,733,-1.34,-146.6,78.5,-11.5,66,737,0.00,2.15,0.00,0.000,6,0.000,0.072,1250,1884,2572,0,0,0,0,0,0
$GC,1062,-1.34,-146.6,111.2,-7.9,97,1066,0.00,2.20,0.00,0.000,4,0.000,0.084,1250,3274,2572,0,0,0,0,0,0
$GC,1178,-1.34,-146.6,122.2,-9.8,107,1185,0.00,2.12,0.00,0.000,6,0.000,0.074,1250,1906,2572,0,0,0,0,0,0
$GC,1503,-1.34,-146.6,150.4,-8.9,138,1507,0.00,2.17,0.00,0.000,4,0.000,0.084,1250,3280,2572,0,0,0,0,0,0
$GC,1575,-1.34,-146.6,156.9,-9.5,141,1580,0.00,2.15,0.00,0.000,6,0.000,0.070,1250,1904,2573,0,0,0,0,0,0
$GC,1903,-1.34,-146.6,184.2,-7.5,157,1907,0.00,2.17,0.00,0.000,4,0.000,0.092,1250,3271,2573,0,0,0,0,0,0
$GC,2082,-1.34,-146.6,199.2,-8.7,165,2086,0.00,2.12,0.00,0.000,6,0.000,0.070,1250,1899,2573,0,0,0,0,0,0
$GC,2407,-1.34,-146.6,224.7,-7.5,181,2411,0.00,2.20,0.00,0.000,4,0.000,0.089,1250,496,2573,0,0,0,0,0,0
$GC,2474,-1.34,-146.6,230.6,-8.7,184,2478,0.00,2.08,0.00,0.000,6,0.000,0.070,1250,1882,2573,0,0,0,0,0,0
$GC,2807,-1.34,-146.6,259.8,-9.2,200,2811,0.00,2.22,0.00,0.000,4,0.000,0.087,1250,3289,2573,0,0,0,0,0,0
$GC,2855,-1.34,-146.6,265.0,-10.5,202,2860,0.00,2.17,0.00,0.000,6,0.000,0.072,1250,1907,2573,0,0,0,0,0,0
$GC,3177,-1.34,-146.6,298.7,-11.1,218,3181,0.00,2.22,0.00,0.000,4,0.000,0.089,1250,3292,2573,0,0,0,0,0,0
$GC,3282,-1.34,-146.6,311.1,-11.0,222,3287,0.00,2.20,0.00,0.000,6,0.000,0.074,1250,1904,2573,0,0,0,0,0,0
$STATE,3427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3427,begin apogee
$GC,3431,-0.42,0.0,327.4,11.3,227,3536,0.93,0.00,102.05,0.944,6,0.124,0.000,1459,1650,2074,0,0,0,0,0,0
$STATE,3537,end apogee,CONTROL_FINISHED_OK
$STATE,3537,begin climb
$GC,3538,1.34,146.6,331.6,0.0,230,3648,1.65,2.47,101.95,0.924,4,0.094,0.107,1844,253,1577,0,0,0,0,0,0
$GC,3697,1.38,181.0,327.6,6.3,235,3728,0.00,2.22,24.98,0.881,6,0.000,0.070,1844,1650,1460,0,0,1,0,0,0
$GC,4040,1.41,202.5,304.8,6.8,247,4061,0.00,2.35,15.90,0.847,4,0.000,0.102,1844,252,1386,0,0,0,0,0,0
$GC,4194,1.41,202.5,292.7,7.7,253,4200,0.00,2.20,0.00,0.000,6,0.000,0.072,1844,1643,1386,0,0,0,0,0,0
$GC,4522,1.43,218.1,269.7,7.0,269,4535,0.00,0.00,11.40,0.817,6,0.000,0.000,1844,1642,1335,0,0,0,0,0,0
$GC,4832,1.43,218.1,244.3,8.7,284,4836,0.00,2.30,0.00,0.000,4,0.000,0.102,1844,251,1335,0,0,0,0,0,0
$GC,4960,1.43,218.1,232.2,10.3,290,4964,0.00,2.15,0.00,0.000,6,0.000,0.072,1844,1645,1335,0,0,0,0,0,0
$GC,5285,1.43,218.1,203.8,9.0,306,5288,0.00,2.30,0.00,0.000,4,0.000,0.099,1844,255,1335,0,0,0,0,0,0
$GC,5435,1.43,218.1,188.8,9.1,312,5442,0.00,2.17,0.00,0.000,6,0.000,0.070,1845,1656,1335,0,0,0,0,0,0
$GC,5750,1.43,218.1,160.8,7.9,328,5754,0.00,2.20,0.00,0.000,4,0.000,0.087,1844,3034,1335,0,0,0,0,0,0
$GC,5879,1.43,218.1,151.1,7.9,334,5883,0.00,2.15,0.00,0.000,6,0.000,0.079,1844,1652,1334,0,0,1,0,0,0
$GC,6209,1.43,218.1,124.5,8.0,364,6213,0.00,2.28,0.00,0.000,4,0.000,0.097,1844,245,1334,0,0,0,0,0,0
$GC,6269,1.43,218.1,119.7,8.2,369,6276,0.00,2.15,0.00,0.000,6,0.000,0.067,1845,1653,1334,0,0,0,0,0,0
$GC,6594,1.44,224.9,95.2,7.3,400,6605,0.00,2.17,6.07,0.651,4,0.000,0.082,1844,3028,1311,0,0,0,0,0,0
$GC,6790,1.46,247.1,79.1,6.7,417,6811,0.08,2.17,15.80,0.745,6,0.082,0.072,1879,1653,1236,0,0,0,0,0,0
$GC,7135,1.46,247.1,51.7,8.9,450,7139,0.00,2.17,0.00,0.000,4,0.000,0.079,1879,3028,1236,0,0,0,0,0,0
$GC,7274,1.46,247.1,39.8,8.0,462,7280,0.00,2.17,0.00,0.000,6,0.000,0.072,1879,1653,1236,0,0,0,0,0,0
$GC,7598,1.46,247.1,13.7,9.1,493,7602,0.00,2.22,0.00,0.000,4,0.000,0.089,1879,248,1236,0,0,0,0,0,0
$STATE,7709,end climb,SURFACE_DEPTH_REACHED
$STATE,7709,begin surface coast
$FINISH,-0.3,1.010236
$STATE,7767,end surface coast,CONTROL_FINISHED_OK
$STATE,7767,begin surface
$SM_CCo,7782,132.48,0.730,0,0,549,450.22
$SM_GC,0.71,0.00,0.00,132.48,0.000,0.000,0.730,13,1904,549,-7.07,0.11,450.22
$IRIDIUM_FIX,1825.94,-6557.63,121111,121248
$TT8_MAMPS,0.020972
$HUMID,1078008377
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,24.80
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.2,18.4
$24V_AH,24.9,2.461
$10V_AH,10.6,0.810
$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,16.475,75.675,278.150,132.475,0.000,22.428,24.898,125.718,2.500,0.000,29.983,968.471,5221.574,550.827,1395.082,76.224,33.342,1161.555,0.000,1124.546,0.000,2.631,0.000
$DEVICE_MAMPS,203.606,106.769,943.540,730.002,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.286,0.000,775.126,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328768
$DATA_FILE_SIZE,26847,508
$CAP_FILE_SIZE,82344,0
$CFSIZE,260280320,254214144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,190510,223528,1831.334,-6559.216,14,3.7,34,-12.7