version: 66.07
glider: 33
mission: 22
dive: 23
start: 8 1 110 14 38 53
data:
$ID,33
$MISSION,22
$DIVE,23
$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,-229845.81
$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,33
$R_STBD_OVSHOOT,11
$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
$GPS1,010810,143337,1830.478,-6601.101,36,1.3,36,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-56.4
$GPS2,010810,143832,1830.480,-6601.189,15,1.4,15,-12.7
$SPEED_LIMITS,0.080,0.230
$TGT_NAME,66W_1906N_N
$TGT_LATLONG,1906.000,-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,14.5,65817,-16.3,-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,-1.20,-146.6,0.0,0.0,0,85,0.00,0.00,-68.18,0.000,2,0.000,0.000,15,2321,2211,0,0,0,0,0,0
$GC,87,-1.20,-146.6,3.5,-5.0,7,114,8.18,2.28,-14.07,0.000,4,0.189,0.082,1584,3728,2579,0,0,0,0,0,0
$GC,497,-1.17,-146.6,47.3,-10.6,43,501,0.00,2.20,0.00,0.000,6,0.000,0.060,1585,2270,2579,0,0,0,0,0,0
$GC,822,-1.14,-146.6,75.5,-8.0,73,826,0.00,2.08,0.00,0.000,4,0.000,0.079,1584,917,2580,0,0,0,0,0,0
$GC,901,-1.14,-146.6,81.7,-7.3,80,905,0.00,2.15,0.00,0.000,6,0.000,0.065,1584,2332,2580,0,0,0,0,0,0
$GC,1225,-1.14,-146.6,102.5,-6.0,110,1229,0.00,2.20,0.00,0.000,4,0.000,0.074,1585,908,2581,0,0,0,0,0,0
$GC,1367,-1.14,-146.6,111.8,-6.2,122,1371,0.00,2.12,0.00,0.000,6,0.000,0.065,1585,2302,2581,0,0,0,0,0,0
$GC,1693,-1.14,-146.6,130.0,-6.4,152,1697,0.00,2.22,0.00,0.000,4,0.000,0.084,1584,3697,2581,0,0,0,0,0,0
$GC,1770,-1.14,-146.6,134.6,-5.2,158,1778,0.00,2.12,0.00,0.000,6,0.000,0.062,1584,2296,2582,0,0,0,0,0,0
$GC,2105,-1.14,-146.6,153.5,-5.7,187,2109,0.00,2.25,0.00,0.000,4,0.000,0.084,1584,3698,2582,0,0,0,0,0,0
$GC,2440,-1.14,-146.6,173.7,-4.7,202,2445,0.00,2.12,0.00,0.000,6,0.000,0.062,1585,2311,2583,0,0,0,0,0,0
$GC,2768,-1.14,-146.6,194.5,-6.7,218,2772,0.00,2.22,0.00,0.000,4,0.000,0.087,1584,3691,2583,0,0,0,0,0,0
$GC,2856,-1.14,-146.6,201.0,-7.9,222,2860,0.00,2.15,0.00,0.000,6,0.000,0.065,1585,2302,2582,0,0,0,0,0,0
$GC,3183,-1.14,-146.6,224.2,-7.2,238,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2298,2582,0,0,0,0,0,0
$GC,3493,-1.14,-146.6,248.1,-7.9,253,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2298,2582,0,0,0,0,0,0
$GC,3803,-1.14,-146.6,270.3,-7.5,268,3807,0.00,2.28,0.00,0.000,4,0.000,0.089,1584,3694,2581,0,0,0,0,0,0
$GC,3891,-1.14,-146.6,277.2,-7.6,272,3895,0.00,2.15,0.00,0.000,6,0.000,0.067,1585,2310,2581,0,0,0,0,0,0
$GC,4221,-1.14,-146.6,301.8,-7.7,288,4225,0.00,2.25,0.00,0.000,4,0.000,0.089,1584,3689,2581,0,0,0,0,0,0
$GC,4321,-1.12,-146.6,311.1,-9.8,291,4325,0.00,2.17,0.00,0.000,6,0.000,0.067,1584,2300,2581,0,0,0,0,0,0
$GC,4656,-1.12,-146.6,343.2,-9.5,302,4660,0.00,2.28,0.00,0.000,4,0.000,0.089,1584,3688,2579,0,0,0,0,0,0
$GC,4773,-1.10,-146.6,355.2,-10.0,305,4778,0.08,2.17,0.00,0.000,6,0.124,0.067,1605,2307,2579,0,0,0,0,0,0
$GC,5093,-1.10,-146.6,382.2,-8.6,316,5097,0.00,2.25,0.00,0.000,4,0.000,0.092,1605,3688,2577,0,0,0,0,0,0
$GC,5180,-1.10,-146.6,390.4,-8.7,318,5188,0.00,2.20,0.00,0.000,6,0.000,0.067,1605,2296,2577,0,0,0,0,0,0
$GC,5493,-1.10,-146.6,418.7,-9.3,329,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2296,2576,0,0,0,0,0,0
$GC,5799,-1.10,-146.6,448.5,-9.6,339,5803,0.00,2.30,0.00,0.000,4,0.000,0.094,1605,3693,2574,0,0,0,0,0,0
$GC,5861,-1.10,-146.6,454.7,-9.4,341,5865,0.00,2.20,0.00,0.000,6,0.000,0.072,1605,2299,2574,0,0,0,0,0,0
$GC,6196,-1.10,-146.6,488.7,-10.2,352,6200,0.00,2.25,0.00,0.000,4,0.000,0.087,1605,895,2573,0,0,0,0,0,0
$GC,6246,-1.10,-146.6,493.6,-9.5,353,6250,0.00,2.20,0.00,0.000,6,0.000,0.077,1605,2284,2573,0,0,0,0,0,0
$GC,6558,-1.10,-146.6,524.9,-10.4,363,6562,0.00,2.38,0.00,0.000,4,0.000,0.099,1605,3709,2572,0,0,0,0,0,0
$GC,6634,-1.10,-146.6,533.2,-10.6,365,6639,0.00,2.28,0.00,0.000,6,0.000,0.082,1605,2304,2571,0,0,0,0,0,0
$GC,6958,-1.10,-146.6,564.8,-10.0,376,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2301,2570,0,0,0,0,0,0
$GC,7265,-1.10,-146.6,594.7,-9.7,386,7269,0.00,2.40,0.00,0.000,4,0.000,0.109,1605,3708,2568,0,0,0,0,0,0
$GC,7341,-1.10,-146.6,602.5,-9.3,388,7346,0.00,2.28,0.00,0.000,6,0.000,0.077,1605,2304,2568,0,0,0,0,0,0
$STATE,7351,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7351,begin apogee
$GC,7355,-0.31,0.0,603.7,10.2,388,7460,0.75,0.00,101.70,1.182,6,0.117,0.000,1777,1940,2082,0,0,0,0,0,0
$STATE,7461,end apogee,CONTROL_FINISHED_OK
$STATE,7461,begin climb
$GC,7462,1.20,146.6,606.8,0.0,392,7575,1.42,2.45,104.90,1.162,4,0.092,0.104,2111,544,1584,0,0,0,0,0,0
$GC,7816,1.37,287.9,601.5,2.8,402,7926,0.12,2.33,102.85,1.162,6,0.072,0.087,2158,1959,1105,0,0,1,0,0,0
$GC,8255,1.37,287.9,563.7,9.4,417,8259,0.00,2.40,0.00,0.000,4,0.000,0.102,2158,538,1103,0,0,0,0,0,0
$GC,8298,1.37,287.9,559.4,9.5,418,8303,0.00,2.33,0.00,0.000,6,0.000,0.092,2158,1942,1102,0,0,1,0,0,0
$GC,8622,1.37,287.9,529.5,9.5,429,8626,0.00,2.35,0.00,0.000,4,0.000,0.102,2158,543,1101,0,0,0,0,0,0
$GC,8670,1.35,287.9,524.4,10.9,430,8675,0.00,2.30,0.00,0.000,6,0.000,0.089,2157,1945,1101,0,0,1,0,0,0
$GC,8989,1.35,287.9,493.3,9.8,441,8993,0.00,2.35,0.00,0.000,4,0.000,0.102,2157,541,1101,0,0,0,0,0,0
$GC,9060,1.32,287.9,485.7,10.8,443,9064,0.00,2.30,0.00,0.000,6,0.000,0.082,2158,1950,1100,0,0,1,0,0,0
$GC,9389,1.32,287.9,450.7,10.9,454,9393,0.00,2.38,0.00,0.000,4,0.000,0.099,2158,540,1100,0,0,0,0,0,0
$GC,9500,1.29,287.9,438.0,10.2,457,9506,0.10,2.28,0.00,0.000,6,0.124,0.079,2131,1946,1100,0,0,1,0,0,0
$GC,9824,1.29,287.9,407.4,9.5,468,9828,0.00,2.35,0.00,0.000,4,0.000,0.099,2132,3359,1099,0,0,0,0,0,0
$GC,9906,1.29,287.9,398.4,11.6,470,9911,0.00,2.30,0.00,0.000,6,0.000,0.082,2132,1953,1098,0,0,1,0,0,0
$GC,10231,1.29,287.9,366.2,10.1,481,10235,0.00,2.33,0.00,0.000,4,0.000,0.099,2131,544,1098,0,0,0,0,0,0
$GC,10268,1.29,287.9,362.1,10.9,482,10273,0.00,2.25,0.00,0.000,6,0.000,0.074,2131,1946,1098,0,0,1,0,0,0
$GC,10598,1.29,287.9,327.6,10.9,493,10602,0.00,2.33,0.00,0.000,4,0.000,0.097,2131,3352,1098,0,0,0,0,0,0
$GC,10625,1.29,287.9,324.3,12.3,494,10630,0.00,2.25,0.00,0.000,6,0.000,0.079,2131,1948,1097,0,0,0,0,0,0
$GC,10950,1.29,287.9,289.4,10.9,506,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,1948,1097,0,0,0,0,0,0
$GC,11261,1.29,287.9,254.5,11.8,521,11265,0.00,2.28,0.00,0.000,4,0.000,0.094,2131,545,1097,0,0,0,0,0,0
$GC,11315,1.26,287.9,247.6,11.2,523,11323,0.00,2.22,0.00,0.000,6,0.000,0.072,2131,1944,1098,0,0,1,0,0,0
$GC,11631,1.26,287.9,211.0,11.4,539,11635,0.00,2.30,0.00,0.000,4,0.000,0.092,2131,544,1097,0,0,0,0,0,0
$GC,11671,1.22,287.9,205.9,12.6,541,11675,0.00,2.20,0.00,0.000,6,0.000,0.072,2131,1952,1097,0,0,0,0,0,0
$GC,11998,1.22,287.9,168.7,11.4,557,12002,0.00,2.28,0.00,0.000,4,0.000,0.092,2131,3353,1097,0,0,0,0,0,0
$GC,12086,1.20,287.9,157.3,12.4,561,12090,0.00,2.25,0.00,0.000,6,0.000,0.072,2131,1952,1097,0,0,0,0,0,0
$GC,12410,1.17,287.9,120.2,12.2,588,12415,0.12,2.28,0.00,0.000,4,0.151,0.087,2105,544,1097,0,0,0,0,0,0
$GC,12432,1.17,287.9,117.7,11.2,589,12438,0.00,2.22,0.00,0.000,6,0.000,0.077,2105,1964,1097,0,0,0,0,0,0
$GC,12756,1.17,287.9,85.5,9.6,620,12760,0.00,2.33,0.00,0.000,4,0.000,0.087,2105,541,1097,0,0,0,0,0,0
$GC,12820,1.17,287.9,79.1,8.4,625,12828,0.00,2.20,0.00,0.000,6,0.000,0.065,2105,1946,1097,0,0,0,0,0,0
$GC,13146,1.17,287.9,50.9,8.7,656,13150,0.00,2.28,0.00,0.000,4,0.000,0.094,2105,541,1097,0,0,0,0,0,0
$GC,13326,1.19,299.9,35.0,7.6,672,13339,0.00,2.15,8.55,0.675,6,0.000,0.065,2105,1956,1066,0,0,0,0,0,0
$GC,13655,1.26,331.3,10.6,6.9,703,13689,0.00,2.28,24.08,0.725,4,0.000,0.082,2105,3339,959,0,0,0,0,0,0
$STATE,13745,end climb,SURFACE_DEPTH_REACHED
$STATE,13745,begin surface coast
$FINISH,-0.1,1.022339
$STATE,13802,end surface coast,CONTROL_FINISHED_OK
$STATE,13802,begin surface
$SM_CCo,13878,0.00,0.000,0,0,956,332.43
$SM_GC,1.14,8.32,0.00,0.00,0.065,0.000,0.000,10,2258,956,-8.35,-1.19,332.43
$IRIDIUM_FIX,1825.94,-6602.71,250112,060657
$TT8_MAMPS,0.021721
$HUMID,1078576119
$INTERNAL_PRESSURE,7.90069
$TCM_TEMP,24.70
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,570.5,52.7
$24V_AH,24.4,26.190
$10V_AH,10.5,9.470
$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,19.100,130.875,342.075,0.000,0.000,25.386,30.991,152.743,15.750,0.000,15.974,1942.277,9610.137,453.402,2062.227,111.441,0.000,1390.986,0.000,1699.266,0.000,82.192,0.000
$DEVICE_MAMPS,188.708,109.252,1181.908,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.081,0.000,1090.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327748
$DATA_FILE_SIZE,40256,716
$CAP_FILE_SIZE,133807,0
$CFSIZE,260280320,251633664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,010810,183125,1832.226,-6601.490,42,0.9,42,-12.7