version: 66.07
glider: 33
mission: 22
dive: 20
start: 8 1 110 5 11 23
data:
$ID,33
$MISSION,22
$DIVE,20
$D_SURF,4
$D_FLARE,3
$D_TGT,1080
$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,450
$T_MISSION,480
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,180
$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,2
$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,300
$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,-229842.06
$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,1850
$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,2300
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,2082
$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,-20.341413
$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,100
$ALTIM_PING_DELTA,10
$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
$GPS1,010810,050537,1832.896,-6601.316,31,1.7,32,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-55.5
$GPS2,010810,051101,1832.912,-6601.380,14,1.9,31,-12.7
$SPEED_LIMITS,0.080,0.230
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.245,-0.034
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,168.5,5912,-17.2,-8.000
$D_GRID,1080
$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,-1.24,-131.9,0.0,0.0,0,109,0.00,0.00,-92.45,0.000,2,0.000,0.000,12,2307,2322,0,0,0,0,0,0
$GC,111,-1.26,-146.6,4.5,-6.1,9,135,8.18,2.25,-8.45,0.000,4,0.191,0.072,1570,892,2579,0,0,0,0,0,0
$GC,203,-1.20,-146.6,20.4,-14.5,17,208,0.00,2.20,0.00,0.000,6,0.000,0.065,1570,2299,2580,0,0,0,0,0,0
$GC,528,-1.18,-146.6,55.4,-9.3,47,532,0.10,2.28,0.00,0.000,4,0.156,0.087,1591,3691,2582,0,0,0,0,0,0
$GC,628,-1.18,-146.6,65.1,-9.9,56,632,0.00,2.15,0.00,0.000,6,0.000,0.062,1592,2270,2582,0,0,0,0,0,0
$GC,953,-1.20,-146.6,92.3,-7.1,86,957,0.00,2.33,0.00,0.000,4,0.000,0.092,1592,3691,2584,0,0,0,0,0,0
$GC,1077,-1.20,-146.6,100.3,-5.7,97,1081,0.00,2.12,0.00,0.000,6,0.000,0.062,1592,2292,2584,0,0,0,0,0,0
$GC,1404,-1.23,-146.6,120.0,-5.3,127,1408,0.00,2.25,0.00,0.000,4,0.000,0.084,1592,3695,2585,0,0,0,0,0,0
$GC,1459,-1.23,-146.6,123.9,-5.8,131,1467,0.00,2.12,0.00,0.000,6,0.000,0.062,1592,2299,2585,0,0,0,0,0,0
$GC,1785,-1.26,-146.6,143.6,-6.9,162,1789,0.00,2.28,0.00,0.000,4,0.000,0.087,1592,3701,2586,0,0,0,0,0,0
$GC,1981,-1.26,-146.6,156.1,-5.2,175,1985,0.00,2.10,0.00,0.000,6,0.000,0.062,1592,2302,2587,0,0,0,0,0,0
$GC,2309,-1.28,-146.6,176.8,-6.4,191,2313,0.00,2.17,0.00,0.000,4,0.000,0.082,1592,904,2587,0,0,0,0,0,0
$GC,2329,-1.28,-146.6,178.1,-5.7,192,2334,0.00,2.17,0.00,0.000,6,0.000,0.072,1592,2287,2587,0,0,0,0,0,0
$GC,2657,-1.28,-146.6,200.0,-6.8,208,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2286,2587,0,0,0,0,0,0
$GC,2966,-1.28,-146.6,222.4,-7.3,223,2970,0.00,2.17,0.00,0.000,4,0.000,0.084,1592,907,2587,0,0,0,0,0,0
$GC,2998,-1.28,-146.6,225.1,-8.1,224,3006,0.00,2.20,0.00,0.000,6,0.000,0.074,1592,2296,2587,0,0,0,0,0,0
$GC,3315,-1.28,-146.6,249.3,-7.3,240,3319,0.00,2.28,0.00,0.000,4,0.000,0.089,1592,3710,2587,0,0,0,0,0,0
$GC,3346,-1.28,-146.6,252.0,-8.1,241,3354,0.00,2.17,0.00,0.000,6,0.000,0.065,1592,2309,2587,0,0,0,0,0,0
$GC,3662,-1.28,-146.6,276.7,-8.2,257,3666,0.00,2.30,0.00,0.000,4,0.000,0.089,1592,3709,2587,0,0,0,0,0,0
$GC,3683,-1.28,-146.6,278.5,-8.5,258,3688,0.00,2.20,0.00,0.000,6,0.000,0.065,1592,2303,2587,0,0,0,0,0,0
$GC,4010,-1.28,-146.6,305.1,-8.4,273,4014,0.00,2.30,0.00,0.000,4,0.000,0.092,1592,3702,2587,0,0,1,0,0,0
$GC,4126,-1.28,-146.6,316.4,-8.3,276,4131,0.00,2.20,0.00,0.000,6,0.000,0.067,1591,2299,2587,0,0,0,0,0,0
$GC,4445,-1.28,-146.6,346.0,-9.6,287,4449,0.00,2.33,0.00,0.000,4,0.000,0.092,1592,3704,2586,0,0,0,0,0,0
$GC,4488,-1.28,-146.6,350.2,-10.1,288,4493,0.00,2.20,0.00,0.000,6,0.000,0.067,1592,2307,2586,0,0,0,0,0,0
$GC,4812,-1.28,-146.6,379.3,-9.4,299,4816,0.00,2.30,0.00,0.000,4,0.000,0.094,1591,3705,2586,0,0,0,0,0,0
$GC,4854,-1.28,-146.6,383.6,-9.7,300,4859,0.00,2.22,0.00,0.000,6,0.000,0.067,1592,2300,2586,0,0,0,0,0,0
$GC,5184,-1.28,-146.6,414.8,-10.1,311,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2299,2585,0,0,0,0,0,0
$GC,5491,-1.28,-146.6,446.2,-10.1,321,5495,0.00,2.35,0.00,0.000,4,0.000,0.094,1592,3705,2584,0,0,0,0,0,0
$GC,5606,-1.28,-146.6,458.0,-10.3,324,5611,0.00,2.25,0.00,0.000,6,0.000,0.070,1591,2301,2584,0,0,0,0,0,0
$GC,5925,-1.28,-146.6,489.6,-10.3,335,5930,0.00,2.38,0.00,0.000,4,0.000,0.107,1592,3705,2583,0,0,1,0,0,0
$GC,5958,-1.28,-146.6,492.7,-9.6,336,5962,0.00,2.22,0.00,0.000,6,0.000,0.079,1592,2295,2583,0,0,0,0,0,0
$GC,6292,-1.28,-146.6,526.2,-10.7,347,6296,0.00,2.38,0.00,0.000,4,0.000,0.109,1592,3699,2581,0,0,0,0,0,0
$GC,6387,-1.28,-146.6,536.4,-11.3,350,6391,0.00,2.25,0.00,0.000,6,0.000,0.084,1591,2296,2580,0,0,0,0,0,0
$GC,6721,-1.28,-146.6,574.6,-12.2,361,6725,0.00,2.38,0.00,0.000,4,0.000,0.102,1591,3700,2580,0,0,0,0,0,0
$GC,6764,-1.28,-146.6,580.1,-13.4,362,6768,0.00,2.28,0.00,0.000,6,0.000,0.074,1592,2297,2579,0,0,0,0,0,0
$GC,7088,-1.28,-146.6,619.2,-12.4,373,7092,0.00,2.40,0.00,0.000,4,0.000,0.104,1592,3701,2578,0,0,0,0,0,0
$GC,7124,-1.28,-146.6,623.9,-12.2,374,7129,0.00,2.28,0.00,0.000,6,0.000,0.087,1591,2306,2578,0,0,0,0,0,0
$GC,7457,-1.28,-146.6,662.8,-12.1,385,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2305,2577,0,0,0,0,0,0
$STATE,7760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7760,begin apogee
$GC,7764,-0.31,0.0,699.1,11.5,395,7873,0.85,0.00,105.50,1.259,6,0.119,0.000,1781,1951,2082,0,0,0,0,0,0
$STATE,7873,end apogee,CONTROL_FINISHED_OK
$STATE,7874,begin climb
$GC,7875,1.26,146.6,703.6,0.0,398,7993,1.48,2.60,107.32,1.242,4,0.092,0.112,2122,547,1584,0,0,0,0,0,0
$GC,8009,1.62,406.0,708.5,-2.5,402,8218,0.35,2.38,196.57,1.237,6,0.077,0.087,2213,1953,706,0,0,1,0,0,0
$GC,8522,1.62,406.0,652.6,14.0,419,8526,0.00,2.42,0.00,0.000,4,0.000,0.109,2213,3346,704,0,0,0,0,0,0
$GC,8604,1.59,406.0,641.2,13.8,421,8608,0.00,2.38,0.00,0.000,6,0.000,0.092,2213,1955,703,0,0,1,0,0,0
$GC,8923,1.57,406.0,599.1,13.5,432,8928,0.10,2.45,0.00,0.000,4,0.159,0.109,2193,537,703,0,0,0,0,0,0
$GC,9052,1.57,406.0,581.7,13.3,436,9056,0.00,2.30,0.00,0.000,6,0.000,0.087,2193,1944,703,0,0,1,0,0,0
$GC,9386,1.57,406.0,537.9,13.1,447,9390,0.00,2.38,0.00,0.000,4,0.000,0.107,2193,540,702,0,0,0,0,0,0
$GC,9457,1.54,406.0,527.5,14.2,449,9461,0.00,2.33,0.00,0.000,6,0.000,0.084,2193,1948,703,0,0,1,0,0,0
$GC,9787,1.52,406.0,482.4,14.0,460,9791,0.00,2.38,0.00,0.000,4,0.000,0.104,2193,3363,703,0,0,0,0,0,0
$GC,9841,1.49,406.0,473.8,13.6,461,9849,0.00,2.35,0.00,0.000,6,0.000,0.087,2193,1945,701,0,0,1,0,0,0
$GC,10154,1.46,406.0,427.5,15.0,472,10159,0.12,2.38,0.00,0.000,4,0.154,0.102,2167,540,701,0,0,0,0,0,0
$GC,10249,1.46,406.0,413.2,14.4,475,10254,0.00,2.25,0.00,0.000,6,0.000,0.079,2167,1957,701,0,0,1,0,0,0
$GC,10584,1.46,406.0,366.7,13.8,486,10587,0.00,2.38,0.00,0.000,4,0.000,0.099,2167,538,701,0,0,0,0,0,0
$GC,10632,1.44,406.0,358.9,15.3,487,10637,0.00,2.28,0.00,0.000,6,0.000,0.077,2167,1940,701,0,0,1,0,0,0
$GC,10957,1.44,406.0,311.6,14.4,498,10961,0.00,2.33,0.00,0.000,4,0.000,0.097,2167,537,701,0,0,0,0,0,0
$GC,11005,1.41,406.0,303.7,16.0,499,11010,0.00,2.28,0.00,0.000,6,0.000,0.074,2167,1951,701,0,0,1,0,0,0
$GC,11339,1.38,406.0,250.8,16.3,515,11343,0.00,2.35,0.00,0.000,4,0.000,0.094,2167,539,701,0,0,0,0,0,0
$GC,11400,1.34,406.0,239.8,17.6,518,11405,0.12,2.20,0.00,0.000,6,0.151,0.074,2141,1954,701,0,0,1,0,0,0
$GC,11727,1.34,406.0,190.8,15.0,534,11731,0.00,2.35,0.00,0.000,4,0.000,0.092,2141,533,701,0,0,0,0,0,0
$GC,11804,1.32,406.0,178.2,15.8,537,11811,0.00,2.28,0.00,0.000,6,0.000,0.072,2142,1949,701,0,0,0,0,0,0
$GC,12123,1.32,406.0,127.8,15.4,559,12127,0.00,2.33,0.00,0.000,4,0.000,0.089,2141,535,701,0,0,0,0,0,0
$GC,12266,1.32,406.0,105.9,14.4,571,12270,0.00,2.25,0.00,0.000,6,0.000,0.074,2141,1962,701,0,0,0,0,0,0
$GC,12590,1.32,406.0,63.2,12.5,601,12594,0.00,2.25,0.00,0.000,4,0.000,0.092,2141,3347,701,0,0,0,0,0,0
$GC,12651,1.32,406.0,54.9,14.9,606,12655,0.00,2.20,0.00,0.000,6,0.000,0.070,2141,1935,701,0,0,0,0,0,0
$GC,12975,1.32,406.0,14.8,12.5,636,12979,0.00,2.22,0.00,0.000,4,0.000,0.094,2141,545,701,0,0,0,0,0,0
$STATE,13058,end climb,SURFACE_DEPTH_REACHED
$STATE,13059,begin surface coast
$FINISH,-0.2,0.996810
$STATE,13093,end surface coast,CONTROL_FINISHED_OK
$STATE,13093,begin surface
$SM_CCo,13170,0.00,0.000,0,0,701,407.71
$SM_GC,0.83,8.40,0.00,0.00,0.062,0.000,0.000,13,2311,701,-8.35,0.28,407.71
$IRIDIUM_FIX,1828.22,-6559.71,240112,181827
$TT8_MAMPS,0.021721
$HUMID,1078630313
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,24.00
$XPDR_PINGS,21
$ALTIM_TOP_PING,18.8,17.8
$ALTIM_BOTTOM_PING,681.3,34.6
$24V_AH,24.1,25.899
$10V_AH,10.5,9.274
$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,19.700,138.025,409.400,0.000,0.000,27.888,31.978,153.761,20.750,0.000,32.162,1765.222,9236.608,526.136,1858.509,103.871,0.000,1387.006,0.000,1481.896,0.000,101.247,0.000
$DEVICE_MAMPS,191.191,111.735,1258.881,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.402,0.000,982.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326620
$DATA_FILE_SIZE,33557,646
$CAP_FILE_SIZE,130564,0
$CFSIZE,260280320,251817984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,010810,085207,1831.184,-6601.198,41,1.1,42,-12.7