version: 66.07
glider: 33
mission: 24
dive: 15
start: 9 6 110 11 21 56
data:
$ID,33
$MISSION,24
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,1080
$D_ABORT,6099
$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,2880
$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,6084
$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,571.55945
$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,-237159.3
$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,1835
$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,1900
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,340
$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,-19.047844
$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,200
$ALTIM_PING_DELTA,5
$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
$GPS1,060910,111037,1831.400,-6558.529,34,2.0,34,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-44.0
$GPS2,060910,112134,1831.435,-6558.492,13,3.9,32,-12.7
$SPEED_LIMITS,0.080,0.230
$TGT_NAME,66W_1830N_S
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$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,237.6,3752,-27.8,-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,-1.80,-51.3,0.0,0.0,0,128,0.00,0.00,-110.93,0.000,2,0.000,0.000,18,1932,1814,0,0,0,0,0,0
$GC,130,-1.83,-79.1,3.1,-5.1,10,171,7.38,2.67,-22.75,0.000,4,0.189,0.074,1425,488,2351,0,0,0,0,0,0
$GC,376,-1.83,-79.1,45.6,-19.4,32,385,0.00,2.47,0.00,0.000,6,0.000,0.060,1425,1888,2352,0,0,0,0,0,0
$GC,703,-1.90,-79.1,87.7,-10.5,63,707,0.00,2.53,0.00,0.000,4,0.000,0.074,1426,3303,2353,0,0,0,0,0,0
$GC,1338,-1.95,-79.1,136.3,-8.3,119,1342,0.00,2.47,0.00,0.000,6,0.000,0.067,1425,1897,2353,0,0,0,0,0,0
$GC,1660,-2.04,-105.0,155.8,-5.3,144,1667,0.15,2.55,-0.57,0.000,4,0.102,0.077,1378,3296,2447,0,0,0,0,0,0
$GC,2159,-2.04,-105.0,207.2,-10.3,166,2164,0.00,2.53,0.00,0.000,6,0.000,0.070,1378,1908,2447,0,0,0,0,0,0
$GC,2482,-2.04,-105.0,241.2,-11.9,182,2486,0.00,2.55,0.00,0.000,4,0.000,0.082,1378,3294,2446,0,0,0,0,0,0
$GC,2603,-2.04,-105.0,258.4,-12.8,187,2611,0.00,2.55,0.00,0.000,6,0.000,0.072,1378,1904,2446,0,0,0,0,0,0
$GC,2920,-2.04,-105.0,302.3,-15.3,203,2924,0.00,2.60,0.00,0.000,4,0.000,0.087,1378,3292,2446,0,0,0,0,0,0
$GC,2969,-2.04,-105.0,311.0,-18.3,204,2974,0.00,2.58,0.00,0.000,6,0.000,0.074,1378,1905,2446,0,0,0,0,0,0
$GC,3288,-2.04,-105.0,360.7,-15.1,215,3293,0.00,2.60,0.00,0.000,4,0.000,0.089,1378,3292,2445,0,0,0,0,0,0
$GC,3383,-2.04,-105.0,376.8,-17.1,218,3387,0.00,2.58,0.00,0.000,6,0.000,0.074,1377,1895,2444,0,0,0,0,0,0
$GC,3717,-2.04,-105.0,434.2,-17.8,229,3722,0.00,2.65,0.00,0.000,4,0.000,0.092,1378,3289,2444,0,0,0,0,0,0
$GC,3866,-2.04,-105.0,462.8,-19.0,233,3871,0.00,2.60,0.00,0.000,6,0.000,0.077,1378,1905,2444,0,0,0,0,0,0
$GC,4191,-2.19,-105.0,512.3,-11.0,244,4195,0.00,2.67,0.00,0.000,4,0.000,0.097,1377,3289,2442,0,0,0,0,0,0
$STATE,4429,end dive,NO_VERTICAL_VELOCITY
$STATE,4429,begin apogee
$GC,4435,-0.31,0.0,512.2,0.0,251,4519,1.60,0.00,74.20,1.083,6,0.092,0.000,1766,1749,2082,0,0,0,0,0,0
$STATE,4520,end apogee,CONTROL_FINISHED_OK
$STATE,4521,begin climb
$GC,4522,1.86,105.0,512.1,0.0,254,4605,1.95,2.83,74.55,1.065,4,0.072,0.102,2249,334,1725,0,0,0,0,0,0
$GC,4790,2.15,193.6,512.1,-1.2,262,4862,0.22,2.62,63.35,1.065,6,0.082,0.079,2317,1743,1426,0,0,0,0,0,0
$GC,5180,2.15,193.6,488.5,9.9,275,5185,0.00,2.70,0.00,0.000,4,0.000,0.099,2317,3148,1422,0,0,0,0,0,0
$GC,5464,2.15,193.6,464.7,8.3,283,5469,0.00,2.67,0.00,0.000,6,0.000,0.084,2317,1749,1421,0,0,0,0,0,0
$GC,5783,2.16,197.8,438.9,7.6,294,5792,0.00,2.72,3.75,0.628,4,0.000,0.099,2317,341,1411,0,0,0,0,0,0
$GC,6274,2.12,197.8,398.7,8.4,308,6280,0.08,2.60,0.00,0.000,6,0.159,0.079,2300,1736,1409,0,0,1,0,0,0
$GC,6593,2.13,208.0,376.4,6.9,319,6607,0.00,2.75,8.45,0.874,4,0.000,0.099,2299,3154,1376,0,0,0,0,0,0
$GC,6736,2.13,208.0,363.4,9.6,323,6741,0.00,2.65,0.00,0.000,6,0.000,0.082,2299,1755,1376,0,0,0,0,0,0
$GC,7066,2.13,208.0,334.3,8.8,334,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1755,1376,0,0,0,0,0,0
$GC,7372,2.13,208.0,307.2,9.1,344,7377,0.00,2.67,0.00,0.000,4,0.000,0.094,2299,340,1375,0,0,0,0,0,0
$GC,7759,2.10,208.0,266.4,11.5,360,7763,0.00,2.60,0.00,0.000,6,0.000,0.074,2299,1753,1375,0,0,0,0,0,0
$GC,8080,2.10,208.0,231.3,11.4,376,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,1755,1374,0,0,0,0,0,0
$GC,8389,2.10,208.0,198.3,10.6,391,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1755,1374,0,0,0,0,0,0
$GC,8698,2.10,208.0,167.2,9.5,406,8703,0.00,2.60,0.00,0.000,4,0.000,0.087,2299,3157,1375,0,0,0,0,0,0
$GC,9378,2.10,208.0,109.1,10.4,457,9383,0.00,2.58,0.00,0.000,6,0.000,0.072,2300,1735,1374,0,0,0,0,0,0
$GC,9702,2.10,208.0,82.9,8.2,487,9707,0.00,2.62,0.00,0.000,4,0.000,0.077,2299,3165,1374,0,0,0,0,0,0
$GC,9757,2.09,221.9,79.0,6.6,491,9776,0.00,2.58,11.25,0.728,6,0.000,0.070,2299,1742,1330,0,0,0,0,0,0
$GC,10093,2.12,245.2,55.2,5.6,523,10114,0.00,0.00,18.17,0.747,6,0.000,0.000,2299,1742,1250,0,0,0,0,0,0
$GC,10432,2.21,283.4,37.1,4.0,555,10467,0.00,2.65,28.40,0.742,4,0.000,0.082,2300,342,1121,0,0,0,0,0,0
$STATE,10751,end climb,SURFACE_DEPTH_REACHED
$STATE,10751,begin surface coast
$FINISH,0.2,1.022259
$STATE,10785,end surface coast,CONTROL_FINISHED_OK
$STATE,10786,begin surface
$SM_CCo,10804,212.40,0.708,0,0,145,571.56
$SM_GC,0.65,0.00,0.00,212.40,0.000,0.000,0.708,16,1935,145,-8.37,1.05,571.56
$IRIDIUM_FIX,1825.94,-6559.71,060910,060657
$TT8_MAMPS,0.020972
$HUMID,46.96
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,24.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,24.7,44.158
$10V_AH,10.5,15.800
$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,20.500,84.225,282.125,212.400,0.000,163.886,140.684,0.000,16.000,0.000,34.776,1639.623,7098.607,607.033,2234.755,92.793,0.000,1523.628,0.000,1751.448,0.000,108.470,0.000
$DEVICE_MAMPS,188.708,101.803,1082.588,707.655,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.856,0.000,893.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327640
$DATA_FILE_SIZE,30306,586
$CAP_FILE_SIZE,111539,0
$CFSIZE,260280320,249495552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060910,142637,1831.076,-6558.818,31,1.1,31,-12.7