version: 66.07
glider: 33
mission: 24
dive: 16
start: 9 6 110 14 37 47
data:
$ID,33
$MISSION,24
$DIVE,16
$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,-237160.64
$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,47
$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
$GPS1,060910,142637,1831.076,-6558.818,31,1.1,31,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-46.3
$GPS2,060910,143725,1831.114,-6558.830,16,1.1,33,-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,237.6,2912,-34.7,-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,-2.21,-32.8,0.0,0.0,0,133,0.00,0.00,-116.50,0.000,2,0.000,0.000,15,1936,1968,0,0,0,0,0,0
$GC,136,-2.23,-45.1,3.5,-6.0,11,159,6.97,2.60,-10.88,0.000,4,0.191,0.072,1344,487,2234,0,0,0,0,0,0
$GC,407,-2.29,-45.1,53.7,-18.5,35,411,0.00,2.47,0.00,0.000,6,0.000,0.062,1343,1902,2234,0,0,0,0,0,0
$GC,731,-2.40,-47.9,86.5,-7.5,65,737,0.15,2.58,-0.12,0.000,4,0.104,0.074,1300,484,2252,0,0,0,0,0,0
$GC,753,-2.47,-52.8,88.2,-7.2,66,761,0.00,2.47,-0.10,0.000,6,0.000,0.062,1300,1894,2272,0,0,0,0,0,0
$GC,1079,-2.53,-52.8,112.0,-8.4,97,1083,0.00,2.53,0.00,0.000,4,0.000,0.077,1300,3299,2272,0,0,0,0,0,0
$GC,1593,-2.59,-61.8,148.4,-6.5,142,1602,0.12,2.53,-0.20,0.000,6,0.107,0.067,1261,1891,2306,0,0,0,0,0,0
$GC,1911,-2.61,-61.8,180.0,-12.0,159,1916,0.00,2.58,0.00,0.000,4,0.000,0.077,1261,3298,2306,0,0,0,0,0,0
$GC,2589,-2.61,-61.8,246.8,-12.9,189,2594,0.00,2.53,0.00,0.000,6,0.000,0.070,1261,1910,2305,0,0,0,0,0,0
$GC,2911,-2.61,-61.8,293.5,-15.9,205,2916,0.00,2.55,0.00,0.000,4,0.000,0.084,1261,3295,2305,0,0,0,0,0,0
$GC,3033,-2.61,-61.8,313.7,-16.8,209,3041,0.00,2.55,0.00,0.000,6,0.000,0.072,1261,1908,2304,0,0,0,0,0,0
$GC,3347,-2.61,-61.8,367.7,-18.5,220,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,1261,1907,2303,0,0,0,0,0,0
$GC,3654,-2.61,-61.8,427.6,-20.0,230,3661,0.00,2.60,0.00,0.000,4,0.000,0.089,1261,3293,2302,0,0,0,0,0,0
$GC,3671,-2.61,-61.8,431.3,-19.6,230,3677,0.00,2.58,0.00,0.000,6,0.000,0.077,1261,1895,2302,0,0,0,0,0,0
$GC,3997,-3.02,-111.0,460.1,-0.0,241,4002,0.32,2.65,0.00,0.000,4,0.077,0.092,1166,3289,2299,0,0,0,0,0,0
$STATE,4146,end dive,NO_VERTICAL_VELOCITY
$STATE,4146,begin apogee
$GC,4153,-0.31,0.0,460.0,0.0,245,4204,2.67,0.00,45.40,1.030,6,0.127,0.000,1766,1749,2082,0,0,0,0,0,0
$STATE,4204,end apogee,CONTROL_FINISHED_OK
$STATE,4204,begin climb
$GC,4206,2.31,111.0,460.2,0.0,247,4294,2.28,2.80,77.75,1.043,4,0.067,0.097,2349,344,1705,0,0,0,0,0,0
$GC,4798,2.45,180.5,461.5,-3.3,265,4858,0.00,2.60,48.55,1.038,6,0.000,0.079,2349,1736,1470,0,0,0,0,0,0
$GC,5162,2.56,180.5,431.5,10.3,277,5164,0.17,0.00,0.00,0.000,6,0.097,0.000,2399,1740,1467,0,0,0,0,0,0
$GC,5469,2.63,182.0,403.7,7.7,287,5473,0.00,2.70,0.00,0.000,4,0.000,0.097,2399,3154,1466,0,0,0,0,0,0
$GC,5540,2.67,183.9,398.0,7.7,289,5550,0.00,2.62,3.72,0.606,6,0.000,0.082,2399,1752,1457,0,0,0,0,0,0
$GC,5869,2.73,183.9,371.1,9.4,300,5871,0.12,0.00,0.00,0.000,6,0.109,0.000,2437,1752,1457,0,0,0,0,0,0
$GC,6175,2.73,183.9,339.7,9.5,310,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1752,1456,0,0,0,0,0,0
$GC,6481,2.73,183.9,309.2,9.7,320,6485,0.00,2.65,0.00,0.000,4,0.000,0.092,2437,332,1455,0,0,0,0,0,0
$GC,7082,2.70,183.9,239.8,11.5,346,7086,0.00,2.60,0.00,0.000,6,0.000,0.074,2437,1750,1454,0,0,0,0,0,0
$GC,7409,2.70,183.9,202.8,12.3,362,7413,0.00,2.60,0.00,0.000,4,0.000,0.089,2437,3154,1453,0,0,0,0,0,0
$GC,7834,2.70,183.9,158.2,9.3,381,7839,0.00,2.60,0.00,0.000,6,0.000,0.074,2437,1752,1453,0,0,0,0,0,0
$GC,8160,2.71,187.2,129.5,7.5,407,8164,0.00,2.60,0.00,0.000,4,0.000,0.082,2437,3157,1453,0,0,0,0,0,0
$GC,8438,2.71,191.8,104.8,7.2,431,8449,0.00,2.60,6.03,0.651,6,0.000,0.072,2437,1746,1432,0,0,0,0,0,0
$GC,8774,2.71,191.8,69.3,8.7,463,8779,0.00,2.55,0.00,0.000,4,0.000,0.084,2437,345,1432,0,0,0,0,0,0
$GC,9454,2.76,233.5,34.3,1.2,523,9492,0.00,2.50,30.73,0.747,6,0.000,0.062,2437,1776,1290,0,0,0,0,0,0
$GC,9818,2.84,245.1,14.5,6.1,557,9830,0.00,0.00,9.80,0.656,6,0.000,0.000,2437,1776,1250,0,0,0,0,0,0
$STATE,9966,end climb,SURFACE_DEPTH_REACHED
$STATE,9966,begin surface coast
$FINISH,0.1,1.009504
$STATE,10021,end surface coast,CONTROL_FINISHED_OK
$STATE,10021,begin surface
$SM_CCo,10037,238.02,0.715,0,0,146,571.56
$SM_GC,0.78,0.00,0.00,238.02,0.000,0.000,0.715,18,1943,146,-8.36,1.22,571.56
$IRIDIUM_FIX,1825.94,-6559.71,060910,060657
$TT8_MAMPS,0.020972
$HUMID,47.16
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.5
$24V_AH,23.3,44.279
$10V_AH,10.5,15.866
$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,22.750,67.725,221.975,238.025,0.000,164.211,141.057,0.000,13.500,0.000,34.744,1600.761,6547.364,568.938,2124.555,90.186,0.000,1426.765,0.000,1654.284,0.000,91.686,0.000
$DEVICE_MAMPS,191.191,96.837,1042.860,715.104,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.963,0.000,878.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30213,576
$CAP_FILE_SIZE,104472,0
$CFSIZE,260280320,249434112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,173008,1830.812,-6559.009,14,1.9,32,-12.7