version: 66.07
glider: 33
mission: 17
dive: 14
start: 5 20 110 1 52 56
data:
$ID,33
$MISSION,17
$DIVE,14
$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,-218212.11
$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,30
$R_STBD_OVSHOOT,53
$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
$GPS1,200510,014706,1831.174,-6559.135,41,1.1,46,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-41.2
$GPS2,200510,015202,1831.184,-6559.153,12,1.6,12,-12.7
$SPEED_LIMITS,0.075,0.240
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.070,-0.229
$KALMAN_X,-884.0,-61.3,227.5,18859.5,3859.0
$KALMAN_Y,3749.0,-681.3,-163.7,-4989.5,21657.5
$MHEAD_RNG_PITCHd_Wd,175.6,2650,-13.9,-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,-1.34,-146.6,0.0,0.0,0,118,0.00,0.00,-101.68,0.000,2,0.000,0.000,20,1897,2180,0,0,0,0,0,0
$GC,120,-1.34,-146.6,3.7,-5.8,10,147,6.40,2.25,-14.48,0.000,4,0.196,0.082,1251,490,2571,0,0,0,0,0,0
$GC,270,-1.34,-146.6,25.9,-14.9,23,274,0.00,2.17,0.00,0.000,6,0.000,0.065,1251,1902,2571,0,0,0,0,0,0
$GC,599,-1.34,-146.6,66.6,-12.8,54,603,0.00,2.15,0.00,0.000,4,0.000,0.087,1251,3280,2571,0,0,0,0,0,0
$GC,628,-1.34,-146.6,70.1,-12.9,56,632,0.00,2.15,0.00,0.000,6,0.000,0.067,1251,1875,2572,0,0,0,0,0,0
$GC,951,-1.34,-146.6,101.5,-9.9,86,955,0.00,2.22,0.00,0.000,4,0.000,0.082,1251,3281,2571,0,0,0,0,0,0
$GC,1160,-1.34,-146.6,121.1,-8.3,104,1164,0.00,2.10,0.00,0.000,6,0.000,0.070,1251,1899,2571,0,0,0,0,0,0
$GC,1484,-1.34,-146.6,145.5,-7.3,134,1488,0.00,2.20,0.00,0.000,4,0.000,0.092,1251,3283,2571,0,0,0,0,0,0
$GC,1628,-1.34,-146.6,157.4,-7.4,142,1634,0.00,2.15,0.00,0.000,6,0.000,0.072,1251,1905,2571,0,0,0,0,0,0
$GC,1944,-1.34,-146.6,183.2,-8.4,158,1948,0.00,2.17,0.00,0.000,4,0.000,0.084,1251,3287,2571,0,0,0,0,0,0
$GC,1977,-1.34,-146.6,186.1,-9.0,159,1983,0.00,2.12,0.00,0.000,6,0.000,0.072,1251,1900,2571,0,0,0,0,0,0
$GC,2291,-1.34,-146.6,212.9,-9.0,175,2295,0.00,2.22,0.00,0.000,4,0.000,0.089,1251,505,2571,0,0,0,0,0,0
$GC,2357,-1.34,-146.6,219.7,-10.1,178,2362,0.00,2.12,0.00,0.000,6,0.000,0.067,1251,1884,2571,0,0,0,0,0,0
$GC,2685,-1.34,-146.6,254.6,-10.9,194,2689,0.00,2.22,0.00,0.000,4,0.000,0.087,1252,3290,2571,0,0,0,0,0,0
$GC,2791,-1.34,-146.6,265.5,-9.2,199,2795,0.00,2.15,0.00,0.000,6,0.000,0.074,1251,1897,2571,0,0,0,0,0,0
$GC,3132,-1.34,-146.6,304.4,-11.0,215,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,1251,1897,2571,0,0,0,0,0,0
$GC,3439,-1.34,-146.6,335.2,-10.4,225,3443,0.00,2.25,0.00,0.000,4,0.000,0.092,1251,3289,2571,0,0,0,0,0,0
$GC,3533,-1.34,-146.6,345.6,-11.8,228,3537,0.00,2.17,0.00,0.000,6,0.000,0.077,1251,1898,2571,0,0,0,0,0,0
$GC,3873,-1.34,-146.6,383.9,-11.6,239,3877,0.00,2.28,0.00,0.000,4,0.000,0.094,1251,3292,2571,0,0,0,0,0,0
$GC,4552,-1.34,-146.6,401.4,-0.0,259,4556,0.00,2.22,0.00,0.000,6,0.000,0.079,1251,1912,2571,0,0,0,0,0,0
$STATE,4788,end dive,NO_VERTICAL_VELOCITY
$STATE,4788,begin apogee
$GC,4792,-0.42,0.0,401.1,0.0,267,4896,0.85,0.00,101.00,1.016,6,0.094,0.000,1460,1649,2074,0,0,0,0,0,0
$STATE,4897,end apogee,CONTROL_FINISHED_OK
$STATE,4897,begin climb
$GC,4898,1.34,146.6,401.1,0.0,270,5009,1.62,2.50,102.10,0.986,4,0.092,0.109,1842,254,1577,0,0,0,0,0,0
$GC,5047,1.51,283.5,400.4,2.8,274,5149,0.10,2.28,94.93,0.973,6,0.072,0.072,1883,1653,1113,0,0,0,0,0,0
$GC,5483,1.51,283.5,363.0,9.6,289,5487,0.00,2.38,0.00,0.000,4,0.000,0.104,1883,244,1113,0,0,0,0,0,0
$GC,5544,1.51,283.5,355.1,13.0,291,5549,0.00,2.17,0.00,0.000,6,0.000,0.077,1883,1645,1113,0,0,1,0,0,0
$GC,5878,1.51,283.5,319.7,11.2,302,5882,0.00,2.35,0.00,0.000,4,0.000,0.104,1883,244,1113,0,0,0,0,0,0
$GC,6202,1.51,283.5,279.8,12.7,314,6209,0.00,2.20,0.00,0.000,6,0.000,0.074,1883,1654,1111,0,0,1,0,0,0
$GC,6518,1.51,283.5,244.1,10.5,330,6522,0.00,2.33,0.00,0.000,4,0.000,0.102,1883,245,1111,0,0,0,0,0,0
$GC,6606,1.51,283.5,233.1,13.4,334,6611,0.00,2.20,0.00,0.000,6,0.000,0.074,1883,1648,1111,0,0,0,0,0,0
$GC,6933,1.51,283.5,194.0,12.1,350,6937,0.00,2.30,0.00,0.000,4,0.000,0.099,1883,245,1111,0,0,0,0,0,0
$GC,7166,1.51,283.5,164.7,12.9,360,7173,0.00,2.20,0.00,0.000,6,0.000,0.072,1883,1656,1111,0,0,0,0,0,0
$GC,7487,1.51,283.5,128.8,11.0,384,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1656,1110,0,0,0,0,0,0
$GC,7806,1.51,283.5,93.1,9.9,414,7810,0.00,2.28,0.00,0.000,4,0.000,0.094,1883,238,1110,0,0,0,0,0,0
$GC,7845,1.51,283.5,88.7,10.9,417,7849,0.00,2.15,0.00,0.000,6,0.000,0.070,1883,1651,1110,0,0,0,0,0,0
$GC,8168,1.51,283.5,60.8,8.6,447,8172,0.00,2.17,0.00,0.000,4,0.000,0.082,1883,3041,1110,0,0,0,0,0,0
$GC,8258,1.51,283.5,53.3,8.2,455,8262,0.00,2.17,0.00,0.000,6,0.000,0.074,1883,1637,1110,0,0,0,0,0,0
$GC,8587,1.51,283.5,23.1,9.3,486,8591,0.00,2.20,0.00,0.000,4,0.000,0.092,1883,250,1110,0,0,0,0,0,0
$STATE,8788,end climb,SURFACE_DEPTH_REACHED
$STATE,8788,begin surface coast
$FINISH,-0.0,0.998298
$STATE,8823,end surface coast,CONTROL_FINISHED_OK
$STATE,8823,begin surface
$SM_CCo,8839,108.50,0.723,0,0,547,450.22
$SM_GC,0.44,0.00,0.00,108.50,0.000,0.000,0.723,10,1911,547,-7.08,0.31,450.22
$IRIDIUM_FIX,1823.67,-6557.63,121111,161607
$TT8_MAMPS,0.020972
$HUMID,1078047087
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,24.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.5
$24V_AH,24.8,2.673
$10V_AH,10.6,0.928
$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,16.300,76.200,298.025,108.500,0.000,25.596,32.965,160.278,1.250,0.000,13.604,995.991,6069.935,511.214,1607.363,64.557,33.362,1212.575,0.000,1298.686,0.000,2.632,0.000
$DEVICE_MAMPS,196.157,109.252,1015.547,722.553,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.721,0.000,773.937,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328648
$DATA_FILE_SIZE,26891,507
$CAP_FILE_SIZE,89255,0
$CFSIZE,260280320,254111744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200510,042307,1830.188,-6559.191,29,1.4,30,-12.7