version: 66.07
glider: 33
mission: 24
dive: 17
start: 9 6 110 17 41 14
data:
$ID,33
$MISSION,24
$DIVE,17
$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,-237161.98
$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,32
$R_STBD_OVSHOOT,79
$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
$GPS1,060910,173008,1830.812,-6559.009,14,1.9,32,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-46.7
$GPS2,060910,174052,1830.870,-6559.157,10,2.2,29,-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,235.3,2188,-43.1,-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,-2.72,-21.7,0.0,0.0,0,137,0.00,0.00,-120.32,0.000,2,0.000,0.000,18,1942,2078,0,0,0,0,0,0
$GC,140,-2.73,-26.1,3.7,-6.9,11,155,6.40,2.62,-3.50,0.000,4,0.194,0.074,1235,489,2172,0,0,0,0,0,0
$GC,626,-2.86,-29.8,61.4,-7.1,54,635,0.00,2.40,-0.12,0.000,6,0.000,0.062,1234,1858,2191,0,0,0,0,0,0
$GC,952,-3.02,-35.7,78.8,-6.5,85,958,0.25,2.47,-0.15,0.000,4,0.089,0.074,1165,480,2210,0,0,0,0,0,0
$GC,1165,-3.09,-36.8,93.4,-7.7,103,1173,0.00,2.47,0.00,0.000,6,0.000,0.062,1165,1903,2210,0,0,0,0,0,0
$GC,1491,-3.20,-43.5,117.5,-6.4,134,1493,0.12,0.00,-0.20,0.000,6,0.109,0.000,1128,1903,2240,0,0,0,0,0,0
$GC,1809,-3.27,-43.5,148.8,-11.5,164,1813,0.00,2.50,0.00,0.000,4,0.000,0.077,1128,3299,2240,0,0,0,0,0,0
$GC,2489,-3.32,-43.5,216.7,-10.5,194,2494,0.00,2.55,0.00,0.000,6,0.000,0.070,1128,1899,2239,0,0,0,0,0,0
$GC,2812,-3.38,-43.5,255.2,-14.0,210,2817,0.12,2.58,0.00,0.000,4,0.109,0.082,1091,3295,2238,0,0,0,0,0,0
$GC,3415,-3.38,-43.5,362.4,-20.9,233,3419,0.00,2.55,0.00,0.000,6,0.000,0.074,1091,1899,2237,0,0,0,0,0,0
$STATE,3507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3507,begin apogee
$GC,3510,-0.31,0.0,379.1,18.6,236,3551,3.25,0.00,32.28,0.963,6,0.161,0.000,1762,1740,2081,0,0,0,0,0,0
$STATE,3551,end apogee,CONTROL_FINISHED_OK
$STATE,3552,begin climb
$GC,3553,2.75,43.5,382.5,0.0,237,3593,2.78,2.70,30.90,0.956,4,0.087,0.092,2438,350,1933,0,0,0,0,0,0
$GC,3716,2.95,85.8,378.5,-2.4,242,3753,0.17,2.55,29.85,0.953,6,0.097,0.072,2486,1749,1790,0,0,0,0,0,0
$GC,4077,3.11,99.3,365.9,4.7,254,4093,0.10,2.62,10.32,0.862,4,0.119,0.092,2519,3149,1744,0,0,0,0,0,0
$GC,4767,3.27,148.8,351.6,-4.2,274,4811,0.12,2.60,34.30,0.953,6,0.107,0.079,2557,1747,1577,0,0,0,0,0,0
$GC,5115,3.36,148.8,318.3,13.0,286,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1747,1576,0,0,0,0,0,0
$GC,5434,3.43,148.8,281.8,10.8,299,5438,0.00,2.62,0.00,0.000,4,0.000,0.092,2557,344,1574,0,0,0,0,0,0
$GC,5510,3.47,148.8,273.1,10.6,302,5518,0.00,2.58,0.00,0.000,6,0.000,0.074,2558,1735,1574,0,0,0,0,0,0
$GC,5828,3.55,148.8,238.0,11.3,318,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1735,1573,0,0,0,0,0,0
$GC,6136,3.63,148.8,204.1,11.4,333,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1735,1572,0,0,0,0,0,0
$GC,6445,3.70,148.8,175.0,8.3,348,6450,0.00,2.65,0.00,0.000,4,0.000,0.087,2557,3162,1572,0,0,0,0,0,0
$GC,6522,3.77,149.5,168.9,7.8,351,6530,0.00,2.62,0.00,0.000,6,0.000,0.077,2558,1740,1572,0,0,0,0,0,0
$GC,6841,3.85,154.0,144.4,6.9,370,6853,0.00,2.60,4.05,0.561,4,0.000,0.089,2558,338,1560,0,0,0,0,0,0
$GC,7408,3.88,154.0,99.5,10.2,420,7415,0.00,2.53,0.00,0.000,6,0.000,0.067,2557,1756,1559,0,0,0,0,0,0
$GC,7733,3.95,154.0,76.3,9.6,451,7737,0.00,2.60,0.00,0.000,4,0.000,0.084,2558,3158,1560,0,0,0,0,0,0
$GC,7787,4.02,154.0,71.6,8.7,455,7795,0.00,2.60,0.00,0.000,6,0.000,0.072,2557,1745,1560,0,0,0,0,0,0
$GC,8113,4.11,166.7,57.5,4.9,486,8125,0.00,0.00,10.32,0.690,6,0.000,0.000,2557,1745,1517,0,0,0,0,0,0
$GC,8442,4.21,175.3,34.7,5.9,517,8452,0.00,0.00,7.47,0.631,6,0.000,0.000,2558,1745,1488,0,0,0,0,0,0
$GC,8770,4.35,203.3,27.5,1.1,548,8796,0.00,2.58,20.65,0.720,4,0.000,0.084,2557,344,1392,0,0,0,0,0,0
$GC,8826,4.45,222.7,26.3,3.2,553,8849,0.00,2.50,15.05,0.688,6,0.000,0.062,2557,1762,1326,0,0,0,0,0,0
$GC,9166,4.60,234.6,6.9,5.1,585,9181,0.00,2.60,9.73,0.636,4,0.000,0.082,2558,340,1287,0,0,0,0,0,0
$STATE,9223,end climb,SURFACE_DEPTH_REACHED
$STATE,9223,begin surface coast
$FINISH,0.0,1.022261
$STATE,9303,end surface coast,CONTROL_FINISHED_OK
$STATE,9303,begin surface
$SM_CCo,9323,244.27,0.700,0,0,146,571.56
$SM_GC,0.67,0.00,0.00,244.27,0.000,0.000,0.700,18,1915,146,-8.36,0.40,571.56
$IRIDIUM_FIX,1825.94,-6559.71,060910,060657
$TT8_MAMPS,0.020972
$HUMID,48.11
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,24.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.0,18.4
$ALTIM_BOTTOM_PING,379.1,13.5
$24V_AH,23.4,44.390
$10V_AH,10.5,15.929
$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,24.125,62.150,204.925,244.275,0.000,164.246,141.242,0.000,9.750,0.000,31.752,1616.249,5921.437,574.947,2024.203,83.876,0.000,1386.876,0.000,1573.814,0.000,65.730,0.000
$DEVICE_MAMPS,193.674,96.837,963.404,700.206,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.584,0.000,909.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327664
$DATA_FILE_SIZE,33523,597
$CAP_FILE_SIZE,101570,0
$CFSIZE,260280320,249364480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,202155,1830.581,-6559.589,39,1.8,39,-12.7