version: 66.07
glider: 33
mission: 17
dive: 13
start: 5 19 110 22 41 52
data:
$ID,33
$MISSION,17
$DIVE,13
$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,0
$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,-218210.86
$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,58
$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
$GPS1,190510,223528,1831.334,-6559.216,14,3.7,34,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-44.7
$GPS2,190510,224058,1831.354,-6559.217,10,4.4,29,-12.7
$SPEED_LIMITS,0.075,0.240
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.009,-0.074
$KALMAN_X,-2134.3,486.7,269.0,19400.7,-1044.1
$KALMAN_Y,-1852.0,1264.4,-14.8,-1175.1,265.5
$MHEAD_RNG_PITCHd_Wd,199.3,2860,-43.3,-7.500
$D_GRID,1800
$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,-3.63,-16.9,0.0,0.0,0,117,0.00,0.00,-100.97,0.000,2,0.000,0.000,13,1905,2112,0,0,0,0,0,0
$GC,119,-3.64,-23.5,3.5,-5.6,10,131,3.95,2.25,-1.75,0.000,4,0.211,0.077,752,482,2155,0,0,0,0,0,0
$GC,310,-3.64,-23.5,52.7,-27.0,27,314,0.00,2.15,0.00,0.000,6,0.000,0.065,753,1906,2154,0,0,0,0,0,0
$GC,640,-3.64,-23.5,112.2,-11.2,58,644,0.00,2.15,0.00,0.000,4,0.000,0.079,752,3287,2154,0,0,0,0,0,0
$GC,956,-3.66,-35.6,135.2,-3.9,86,961,0.00,2.12,-0.32,0.000,6,0.000,0.067,752,1879,2205,0,0,0,0,0,0
$GC,1286,-3.66,-35.6,162.4,-9.5,111,1290,0.00,2.22,0.00,0.000,4,0.000,0.079,752,3294,2204,0,0,0,0,0,0
$GC,1555,-3.66,-37.9,183.6,-6.8,123,1559,0.00,2.12,0.00,0.000,6,0.000,0.070,752,1903,2204,0,0,0,0,0,0
$GC,1887,-3.66,-37.9,214.7,-11.6,139,1890,0.00,2.17,0.00,0.000,4,0.000,0.084,752,503,2204,0,0,0,0,0,0
$GC,2334,-3.66,-37.9,280.1,-16.5,159,2339,0.00,2.15,0.00,0.000,6,0.000,0.070,752,1893,2204,0,0,0,0,0,0
$GC,2669,-3.66,-37.9,338.7,-18.3,172,2673,0.00,2.17,0.00,0.000,4,0.000,0.084,752,3290,2205,0,0,0,0,0,0
$GC,3190,-3.69,-63.0,444.0,-0.1,187,3195,0.00,2.20,0.00,0.000,6,0.000,0.074,752,1911,2205,0,0,0,0,0,0
$STATE,3513,end dive,NO_VERTICAL_VELOCITY
$STATE,3513,begin apogee
$GC,3517,-0.42,0.0,444.8,0.0,198,3551,3.22,0.00,28.15,1.011,6,0.144,0.000,1456,1655,2074,0,0,0,0,0,0
$STATE,3552,end apogee,CONTROL_FINISHED_OK
$STATE,3552,begin climb
$GC,3553,3.69,63.0,445.0,0.0,199,3608,3.65,2.40,43.62,1.001,4,0.084,0.094,2361,3043,1860,0,0,1,0,0,0
$GC,3618,3.74,100.8,444.2,-3.7,201,3653,0.00,2.33,27.65,0.968,6,0.000,0.084,2361,1656,1732,0,0,1,0,0,0
$GC,3983,3.77,126.3,444.6,-0.0,213,4007,0.00,2.42,18.48,0.966,4,0.000,0.109,2361,254,1645,0,0,0,0,0,0
$GC,4495,3.80,151.8,444.1,-0.0,228,4520,0.00,2.20,18.55,0.973,6,0.000,0.079,2361,1645,1559,0,0,1,0,0,0
$GC,4855,3.80,151.8,427.2,8.1,240,4859,0.00,2.30,0.00,0.000,4,0.000,0.094,2361,3046,1559,0,0,0,0,0,0
$GC,5533,3.82,168.8,380.2,2.5,260,5550,0.00,2.28,12.05,0.916,6,0.000,0.087,2361,1651,1502,0,0,1,0,0,0
$GC,5855,3.82,168.8,359.5,9.5,270,5859,0.00,2.28,0.00,0.000,4,0.000,0.094,2361,3048,1502,0,0,0,0,0,0
$GC,6157,3.82,168.9,336.0,7.5,279,6162,0.00,2.28,0.00,0.000,6,0.000,0.087,2361,1651,1502,0,0,1,0,0,0
$GC,6492,3.82,172.7,314.6,6.4,290,6501,0.00,2.35,4.35,0.670,4,0.000,0.104,2361,235,1488,0,0,0,0,0,0
$GC,6990,3.82,172.7,277.2,8.3,309,6995,0.00,2.22,0.00,0.000,6,0.000,0.079,2361,1650,1488,0,0,1,0,0,0
$GC,7317,3.82,172.7,247.9,9.4,325,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1651,1487,0,0,0,0,0,0
$GC,7626,3.82,172.7,216.3,10.5,340,7630,0.00,2.22,0.00,0.000,4,0.000,0.089,2361,3049,1488,0,0,0,0,0,0
$GC,7742,3.82,172.7,203.5,9.9,345,7747,0.00,2.25,0.00,0.000,6,0.000,0.079,2361,1646,1487,0,0,1,0,0,0
$GC,8065,3.82,172.7,174.9,7.9,361,8069,0.00,2.28,0.00,0.000,4,0.000,0.097,2361,239,1487,0,0,0,0,0,0
$GC,8743,3.82,172.7,138.5,8.5,399,8748,0.00,2.17,0.00,0.000,6,0.000,0.072,2361,1652,1487,0,0,0,0,0,0
$GC,9073,3.82,172.7,112.0,10.2,430,9077,0.00,2.28,0.00,0.000,4,0.000,0.092,2361,245,1487,0,0,0,0,0,0
$GC,9545,3.83,175.7,84.1,6.6,472,9557,0.00,2.17,3.97,0.539,6,0.000,0.070,2361,1681,1477,0,0,0,0,0,0
$GC,9874,3.84,187.6,69.1,4.0,503,9888,0.10,2.33,9.48,0.700,4,0.124,0.092,2392,241,1438,0,0,0,0,0,0
$GC,10561,3.84,187.6,22.3,8.5,564,10569,0.00,2.15,0.00,0.000,6,0.000,0.065,2392,1660,1438,0,0,0,0,0,0
$STATE,10801,end climb,SURFACE_DEPTH_REACHED
$STATE,10801,begin surface coast
$FINISH,-0.1,1.023362
$STATE,10844,end surface coast,CONTROL_FINISHED_OK
$STATE,10844,begin surface
$SM_CCo,10860,173.07,0.728,0,0,549,450.22
$SM_GC,0.78,0.00,0.00,173.07,0.000,0.000,0.728,20,1897,549,-7.04,-0.08,450.22
$IRIDIUM_FIX,1825.94,-6557.63,121111,141428
$TT8_MAMPS,0.020972
$HUMID,1077978700
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.9
$24V_AH,25.0,2.554
$10V_AH,10.7,0.876
$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,20.800,63.350,166.300,173.075,0.000,30.256,72.224,137.153,0.500,0.000,31.233,1241.447,7291.042,452.850,2311.229,77.178,33.343,1400.620,0.000,1936.150,0.000,2.636,0.000
$DEVICE_MAMPS,211.055,109.252,1010.581,727.519,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.450,0.000,901.407,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328652
$DATA_FILE_SIZE,30118,591
$CAP_FILE_SIZE,106598,0
$CFSIZE,260280320,254140416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,200510,014706,1831.174,-6559.135,41,1.1,46,-12.7