version: 66.07
glider: 33
mission: 17
dive: 43
start: 5 24 110 23 11 16
data:
$ID,33
$MISSION,17
$DIVE,43
$D_SURF,4
$D_FLARE,3
$D_TGT,2400
$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,2160
$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,0.0044716001
$HD_B,0.016021
$HD_C,9.4708003e-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,350
$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,-221298.03
$T_RSLEEP,12
$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,12.5
$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,31
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,1735
$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,2000
$ALTIM_PING_DELTA,25
$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
$GPS1,240510,230719,1849.595,-6604.579,12,1.7,29,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-47.0
$GPS2,240510,231022,1849.600,-6604.597,13,2.2,32,-12.7
$SPEED_LIMITS,0.100,0.210
$TGT_NAME,66W_1830N_S
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.037,-0.206
$KALMAN_X,39521.4,-579.8,-2753.8,-47087.1,14376.8
$KALMAN_Y,-18494.6,-343.6,1829.8,40541.9,-327.1
$MHEAD_RNG_PITCHd_Wd,202.9,37186,-22.2,-10.000
$D_GRID,2400
$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,12,begin dive
$GC,14,-1.95,-146.6,0.0,0.0,0,107,0.00,0.00,-90.90,0.000,2,0.000,0.000,20,1927,2086,0,0,0,0,0,0
$GC,109,-1.95,-146.6,3.0,-5.7,9,126,5.78,2.30,-5.65,0.000,4,0.201,0.079,1118,489,2231,0,0,0,0,0,0
$GC,204,-1.95,-146.6,18.1,-16.3,17,208,0.00,2.15,0.00,0.000,6,0.000,0.062,1118,1910,2231,0,0,0,0,0,0
$GC,534,-1.95,-146.6,67.2,-12.4,48,537,0.00,2.25,0.00,0.000,4,0.000,0.079,1118,495,2231,0,0,0,0,0,0
$GC,571,-1.95,-146.6,71.7,-12.2,51,578,0.00,2.15,0.00,0.000,6,0.000,0.062,1118,1900,2231,0,0,0,0,0,0
$GC,897,-1.95,-146.6,106.1,-8.7,82,901,0.00,2.17,0.00,0.000,4,0.000,0.087,1118,3283,2231,0,0,0,0,0,0
$GC,1126,-1.95,-146.6,126.4,-7.9,102,1133,0.00,2.17,0.00,0.000,6,0.000,0.074,1118,1885,2231,0,0,0,0,0,0
$GC,1451,-1.95,-146.6,146.7,-6.8,133,1455,0.00,2.17,0.00,0.000,4,0.000,0.079,1118,3280,2231,0,0,0,0,0,0
$GC,2129,-1.95,-146.6,196.1,-5.8,165,2134,0.00,2.15,0.00,0.000,6,0.000,0.074,1118,1903,2231,0,0,0,0,0,0
$GC,2450,-1.95,-146.6,218.9,-7.8,181,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,1118,1903,2231,0,0,0,0,0,0
$GC,2760,-1.95,-146.6,246.0,-9.3,196,2764,0.00,2.20,0.00,0.000,4,0.000,0.082,1118,3284,2231,0,0,0,0,0,0
$GC,2848,-1.95,-146.6,255.7,-11.3,200,2853,0.00,2.17,0.00,0.000,6,0.000,0.079,1118,1903,2231,0,0,0,0,0,0
$GC,3174,-1.95,-146.6,290.2,-10.5,216,3178,0.00,2.20,0.00,0.000,4,0.000,0.084,1118,3284,2231,0,0,0,0,0,0
$GC,3331,-1.95,-146.6,308.5,-12.6,222,3337,0.00,2.17,0.00,0.000,6,0.000,0.072,1118,1908,2231,0,0,0,0,0,0
$GC,3643,-1.95,-146.6,349.2,-13.7,233,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,1118,1908,2231,0,0,0,0,0,0
$GC,3949,-1.95,-146.6,391.4,-14.0,243,3953,0.00,2.17,0.00,0.000,4,0.000,0.087,1118,3274,2231,0,0,0,0,0,0
$GC,4149,-1.95,-146.6,422.6,-16.0,249,4154,0.00,2.20,0.00,0.000,6,0.000,0.077,1118,1905,2231,0,0,0,0,0,0
$GC,4484,-1.95,-146.6,474.8,-15.9,260,4488,0.00,2.22,0.00,0.000,4,0.000,0.092,1118,3274,2231,0,0,0,0,0,0
$GC,4640,-1.95,-146.6,499.9,-15.3,264,4647,0.00,2.22,0.00,0.000,6,0.000,0.087,1118,1903,2230,0,0,0,0,0,0
$GC,4952,-1.95,-146.6,551.7,-17.2,275,4956,0.00,2.22,0.00,0.000,4,0.000,0.094,1118,3273,2230,0,0,0,0,0,0
$GC,5091,-1.95,-146.6,576.8,-19.9,279,5096,0.00,2.22,0.00,0.000,6,0.000,0.082,1118,1909,2229,0,0,0,0,0,0
$GC,5420,-1.95,-146.6,640.0,-19.6,290,5424,0.00,2.25,0.00,0.000,4,0.000,0.099,1118,3271,2227,0,0,0,0,0,0
$GC,5469,-1.95,-146.6,649.5,-18.8,291,5474,0.00,2.25,0.00,0.000,6,0.000,0.084,1118,1903,2226,0,0,0,0,0,0
$GC,5787,-1.95,-146.6,712.6,-20.3,302,5791,0.00,2.30,0.00,0.000,4,0.000,0.102,1119,3277,2224,0,0,0,0,0,0
$GC,5892,-1.95,-146.6,733.6,-20.2,305,5897,0.00,2.28,0.00,0.000,6,0.000,0.089,1118,1903,2223,0,0,1,0,0,0
$GC,6222,-1.95,-146.6,799.0,-20.2,316,6226,0.00,2.30,0.00,0.000,4,0.000,0.107,1118,3270,2221,0,0,0,0,0,0
$GC,6333,-1.95,-146.6,822.2,-21.9,319,6337,0.00,2.22,0.00,0.000,6,0.000,0.094,1118,1901,2220,0,0,1,0,0,0
$GC,6650,-1.95,-146.6,891.6,-21.8,330,6654,0.00,2.30,0.00,0.000,4,0.000,0.109,1118,3268,2218,0,0,0,0,0,0
$GC,6771,-1.95,-146.6,918.5,-21.2,333,6778,0.00,2.30,0.00,0.000,6,0.000,0.097,1118,1903,2217,0,0,1,0,0,0
$GC,7084,-1.95,-146.6,986.8,-22.0,344,7088,0.00,2.33,0.00,0.000,4,0.000,0.114,1118,3267,2216,0,0,0,0,0,0
$GC,7166,-1.95,-146.6,1004.5,-20.4,346,7171,0.00,2.33,0.00,0.000,6,0.000,0.099,1118,1898,2215,0,0,1,0,0,0
$GC,7521,-1.95,-146.6,1078.8,-21.0,352,7525,0.00,2.35,0.00,0.000,4,0.000,0.117,1118,3267,2213,0,0,0,0,0,0
$GC,7637,-1.95,-146.6,1104.2,-21.1,353,7642,0.00,2.33,0.00,0.000,6,0.000,0.104,1118,1904,2212,0,0,1,0,0,0
$GC,7952,-1.95,-146.6,1171.5,-21.5,359,7956,0.00,2.38,0.00,0.000,4,0.000,0.122,1118,3265,2211,0,0,0,0,0,0
$GC,8012,-1.95,-146.6,1184.7,-21.5,360,8016,0.00,2.33,0.00,0.000,6,0.000,0.107,1118,1894,2210,0,0,1,0,0,0
$GC,8383,-1.95,-146.6,1265.1,-21.7,366,8387,0.00,2.42,0.00,0.000,4,0.000,0.124,1118,3270,2208,0,0,0,0,0,0
$GC,8499,-1.95,-146.6,1290.9,-21.9,367,8504,0.00,2.38,0.00,0.000,6,0.000,0.109,1118,1899,2207,0,0,1,0,0,0
$GC,8815,-1.95,-146.6,1358.0,-21.3,373,8819,0.00,2.42,0.00,0.000,4,0.000,0.129,1118,3266,2206,0,0,0,0,0,0
$GC,8955,-1.95,-146.6,1387.7,-20.9,375,8959,0.00,2.33,0.00,0.000,6,0.000,0.114,1118,1902,2205,0,0,1,0,0,0
$GC,9307,-1.95,-146.6,1462.8,-21.5,381,9311,0.00,2.42,0.00,0.000,4,0.000,0.132,1118,3264,2204,0,0,0,0,0,0
$GC,9401,-1.95,-146.6,1483.7,-20.9,382,9406,0.00,2.38,0.00,0.000,6,0.000,0.114,1118,1909,2202,0,0,1,0,0,0
$GC,9738,-1.95,-146.6,1556.5,-21.6,388,9742,0.00,2.42,0.00,0.000,4,0.000,0.134,1118,3264,2202,0,0,0,0,0,0
$GC,9805,-1.95,-146.6,1571.1,-22.9,389,9809,0.00,2.35,0.00,0.000,6,0.000,0.117,1118,1899,2201,0,0,1,0,0,0
$GC,10170,-1.95,-146.6,1649.9,-21.6,395,10174,0.00,2.47,0.00,0.000,4,0.000,0.134,1118,3269,2200,0,0,0,0,0,0
$GC,10280,-1.95,-146.6,1673.8,-22.7,396,10285,0.00,2.42,0.00,0.000,6,0.000,0.119,1118,1900,2200,0,0,1,0,0,0
$GC,10601,-1.95,-146.6,1741.9,-21.3,402,10605,0.00,2.47,0.00,0.000,4,0.000,0.137,1118,3264,2199,0,0,1,0,0,0
$GC,10688,-1.95,-146.6,1760.9,-21.0,403,10693,0.00,2.40,0.00,0.000,6,0.000,0.119,1118,1907,2198,0,0,1,0,0,0
$GC,11033,-1.95,-146.6,1832.5,-21.0,409,11037,0.00,2.47,0.00,0.000,4,0.000,0.137,1118,3269,2197,0,0,0,0,0,0
$GC,11120,-1.95,-146.6,1851.0,-20.3,410,11125,0.00,2.42,0.00,0.000,6,0.000,0.122,1118,1904,2197,0,0,1,0,0,0
$GC,11463,-1.95,-146.6,1918.9,-19.9,416,11467,0.00,2.47,0.00,0.000,4,0.000,0.139,1118,3265,2196,0,0,0,0,0,0
$GC,11574,-1.95,-146.6,1940.7,-21.0,417,11579,0.00,2.42,0.00,0.000,6,0.000,0.122,1118,1904,2196,0,0,1,0,0,0
$GC,11895,-1.95,-146.6,2002.5,-19.4,423,11900,0.00,2.47,0.00,0.000,4,0.000,0.139,1118,3267,2195,0,0,0,0,0,0
$GC,12000,-1.95,-146.6,2023.4,-18.3,424,12005,0.00,2.45,0.00,0.000,6,0.000,0.122,1118,1897,2194,0,0,1,0,0,0
$GC,12326,-1.95,-146.6,2087.3,-19.7,430,12331,0.00,2.50,0.00,0.000,4,0.000,0.142,1118,3263,2194,0,0,0,0,0,0
$GC,12437,-1.95,-146.6,2110.3,-20.6,431,12442,0.00,2.42,0.00,0.000,6,0.000,0.122,1118,1907,2194,0,0,1,0,0,0
$GC,12758,-1.95,-146.6,2174.9,-20.1,437,12763,0.00,2.47,0.00,0.000,4,0.000,0.144,1118,3263,2194,0,0,0,0,0,0
$GC,12817,-1.95,-146.6,2187.5,-20.5,437,12824,0.00,2.42,0.00,0.000,6,0.000,0.124,1118,1906,2192,0,0,1,0,0,0
$GC,13131,-1.95,-146.6,2250.2,-20.5,443,13136,0.00,2.47,0.00,0.000,4,0.000,0.144,1118,3263,2192,0,0,1,0,0,0
$GC,13202,-1.95,-146.6,2265.7,-19.3,444,13208,0.00,2.45,0.00,0.000,6,0.000,0.124,1118,1899,2192,0,0,1,0,0,0
$GC,13563,-1.95,-146.6,2291.5,-1.0,450,13567,0.00,2.50,0.00,0.000,4,0.000,0.146,1118,3264,2192,0,0,1,0,0,0
$GC,14241,-1.95,-146.6,2291.5,-0.2,460,14245,0.00,2.45,0.00,0.000,6,0.000,0.127,1118,1905,2191,0,0,1,0,0,0
$GC,14601,-1.95,-146.6,2291.6,0.1,466,14605,0.00,2.47,0.00,0.000,4,0.000,0.146,1118,3265,2191,0,0,1,0,0,0
$GC,15279,-1.95,-146.6,2291.6,-1.7,476,15284,0.00,2.45,0.00,0.000,6,0.000,0.127,1118,1902,2191,0,0,1,0,0,0
$STATE,15638,end dive,NO_VERTICAL_VELOCITY
$STATE,15638,begin apogee
$GC,15642,-0.40,0.0,2291.5,0.0,482,15755,1.45,0.00,109.35,2.404,6,0.089,0.000,1466,1649,1735,0,0,0,0,0,0
$STATE,15756,end apogee,CONTROL_FINISHED_OK
$STATE,15756,begin climb
$GC,15757,1.95,146.6,2290.9,0.0,483,15893,2.22,3.05,123.85,2.346,4,0.089,0.159,1977,238,1238,0,0,1,0,0,0
$GC,16257,2.22,359.2,2286.5,0.3,490,16444,0.20,2.50,178.80,2.332,6,0.072,0.117,2038,1612,518,0,0,1,0,0,0
$GC,16764,2.22,359.2,2205.5,19.8,499,16768,0.00,2.75,0.00,0.000,4,0.000,0.144,2038,3053,517,0,0,0,0,0,0
$GC,16813,2.22,359.2,2195.8,17.1,499,16818,0.00,2.62,0.00,0.000,6,0.000,0.127,2038,1656,517,0,0,1,0,0,0
$GC,17128,2.22,359.2,2134.4,19.5,505,17132,0.00,2.65,0.00,0.000,4,0.000,0.146,2038,238,517,0,0,0,0,0,0
$GC,17210,2.22,359.2,2116.9,22.4,506,17215,0.00,2.53,0.00,0.000,6,0.000,0.122,2037,1638,517,0,0,1,0,0,0
$GC,17560,2.22,359.2,2045.1,20.8,512,17564,0.00,2.62,0.00,0.000,4,0.000,0.144,2038,3060,517,0,0,0,0,0,0
$GC,17608,2.22,359.2,2034.7,19.6,512,17613,0.00,2.58,0.00,0.000,6,0.000,0.127,2038,1651,517,0,0,1,0,0,0
$GC,17923,2.22,359.2,1968.6,21.1,518,17927,0.00,2.60,0.00,0.000,4,0.000,0.149,2038,238,517,0,0,0,0,0,0
$GC,17999,2.22,359.2,1950.7,24.4,519,18004,0.00,2.50,0.00,0.000,6,0.000,0.119,2037,1641,517,0,0,1,0,0,0
$GC,18355,2.22,359.2,1877.4,20.6,525,18359,0.00,2.58,0.00,0.000,4,0.000,0.142,2038,3062,517,0,0,0,0,0,0
$GC,18408,2.22,359.2,1866.3,19.3,525,18415,0.00,2.55,0.00,0.000,6,0.000,0.127,2038,1655,516,0,0,1,0,0,0
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$STATE,28646,end climb,SURFACE_DEPTH_REACHED
$STATE,28646,begin surface coast
$FINISH,-0.3,0.997212
$STATE,28669,end surface coast,CONTROL_FINISHED_OK
$STATE,28669,begin surface
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$INTERNAL_PRESSURE,7.93976
$TCM_TEMP,22.90
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.1,18.7
$24V_AH,22.6,8.436
$10V_AH,10.4,2.964
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.650,251.500,412.000,0.000,0.000,0.000,0.000,0.000,6.000,0.000,34.603,1993.888,22879.170,609.568,3199.119,148.471,33.354,2227.138,0.000,2990.364,0.000,27.273,0.000
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$MEM,326036
$DATA_FILE_SIZE,46831,832
$CAP_FILE_SIZE,272903,0
$CFSIZE,260280320,252297216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,0,0
$GPS,250510,071131,1845.447,-6605.494,38,1.2,38,-12.7