version: 66.07
glider: 33
mission: 17
dive: 9
start: 5 19 110 11 54 38
data:
$ID,33
$MISSION,17
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,1800
$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,800
$T_MISSION,830
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-10
$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,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-218205.77
$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,1550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,2074
$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,-20.171059
$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,500
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,190510,114836,1836.071,-6559.352,36,0.9,36,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-44.9
$GPS2,190510,115320,1836.108,-6559.340,16,1.0,16,-12.7
$SPEED_LIMITS,0.075,0.240
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.015,-0.239
$KALMAN_X,-2034.2,168.9,181.6,19495.6,-1031.1
$KALMAN_Y,-5200.2,37.3,158.2,12041.2,-2716.6
$MHEAD_RNG_PITCHd_Wd,189.1,11370,-13.9,-7.500
$D_GRID,717
$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,15,-1.34,-146.6,0.0,0.0,0,118,0.00,0.00,-101.45,0.000,2,0.000,0.000,10,1918,2041,0,0,0,0,0,0
$GC,120,-1.34,-146.6,3.9,-6.4,10,155,6.53,2.38,-20.55,0.000,4,0.199,0.084,1249,487,2572,0,0,0,0,0,0
$GC,210,-1.34,-146.6,16.8,-13.4,18,216,0.00,2.20,0.00,0.000,6,0.000,0.065,1249,1898,2573,0,0,0,0,0,0
$GC,535,-1.34,-146.6,59.7,-11.5,49,539,0.00,2.22,0.00,0.000,4,0.000,0.082,1249,3282,2573,0,0,0,0,0,0
$GC,674,-1.34,-146.6,75.8,-11.0,61,678,0.00,2.15,0.00,0.000,6,0.000,0.077,1249,1887,2573,0,0,0,0,0,0
$GC,1004,-1.34,-146.6,107.7,-7.8,92,1007,0.00,2.22,0.00,0.000,4,0.000,0.089,1249,3283,2575,0,0,0,0,0,0
$GC,1165,-1.34,-146.6,121.6,-8.3,106,1172,0.00,2.17,0.00,0.000,6,0.000,0.077,1249,1899,2575,0,0,0,0,0,0
$GC,1490,-1.34,-146.6,149.5,-8.1,137,1493,0.00,2.20,0.00,0.000,4,0.000,0.087,1249,498,2577,0,0,0,0,0,0
$GC,1595,-1.34,-146.6,159.3,-8.7,142,1602,0.00,2.12,0.00,0.000,6,0.000,0.065,1249,1898,2577,0,0,0,0,0,0
$GC,1911,-1.34,-146.6,182.8,-7.2,158,1915,0.00,2.17,0.00,0.000,4,0.000,0.084,1249,3283,2578,0,0,0,0,0,0
$GC,2078,-1.34,-146.6,197.3,-8.8,165,2084,0.00,2.15,0.00,0.000,6,0.000,0.070,1249,1890,2578,0,0,0,0,0,0
$GC,2393,-1.34,-146.6,224.0,-9.2,181,2397,0.00,2.22,0.00,0.000,4,0.000,0.087,1249,3280,2579,0,0,0,0,0,0
$GC,2447,-1.34,-146.6,229.5,-10.0,183,2452,0.00,2.17,0.00,0.000,6,0.000,0.072,1249,1902,2579,0,0,0,0,0,0
$GC,2768,-1.34,-146.6,262.3,-10.2,199,2772,0.00,2.20,0.00,0.000,4,0.000,0.089,1249,3285,2579,0,0,0,0,0,0
$GC,2811,-1.34,-146.6,266.7,-10.0,201,2816,0.00,2.20,0.00,0.000,6,0.000,0.074,1249,1896,2579,0,0,0,0,0,0
$GC,3138,-1.34,-146.6,300.6,-10.9,217,3142,0.00,2.22,0.00,0.000,4,0.000,0.089,1249,3274,2579,0,0,0,0,0,0
$GC,3193,-1.34,-146.6,307.0,-11.2,218,3198,0.00,2.17,0.00,0.000,6,0.000,0.074,1249,1903,2579,0,0,0,0,0,0
$GC,3511,-1.34,-146.6,341.6,-11.1,229,3514,0.00,2.22,0.00,0.000,4,0.000,0.092,1249,3270,2579,0,0,0,0,0,0
$GC,3616,-1.34,-146.6,353.2,-10.8,232,3621,0.00,2.20,0.00,0.000,6,0.000,0.077,1249,1904,2579,0,0,0,0,0,0
$GC,3951,-1.34,-146.6,390.4,-11.5,243,3955,0.00,2.25,0.00,0.000,4,0.000,0.094,1249,3280,2579,0,0,0,0,0,0
$GC,4021,-1.34,-146.6,398.9,-11.6,245,4027,0.00,2.22,0.00,0.000,6,0.000,0.077,1249,1900,2579,0,0,0,0,0,0
$GC,4351,-1.34,-146.6,436.5,-11.4,256,4355,0.00,2.25,0.00,0.000,4,0.000,0.097,1249,3273,2579,0,0,1,0,0,0
$GC,4382,-1.34,-146.6,440.1,-10.4,257,4387,0.00,2.22,0.00,0.000,6,0.000,0.079,1249,1900,2579,0,0,0,0,0,0
$GC,4717,-1.34,-146.6,480.1,-12.0,268,4721,0.00,2.28,0.00,0.000,4,0.000,0.097,1249,3279,2579,0,0,1,0,0,0
$GC,4794,-1.34,-146.6,489.6,-12.3,270,4799,0.00,2.22,0.00,0.000,6,0.000,0.082,1249,1906,2579,0,0,0,0,0,0
$GC,5119,-1.34,-146.6,529.8,-12.4,281,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,1249,1906,2579,0,0,0,0,0,0
$GC,5424,-1.34,-146.6,569.1,-13.6,291,5428,0.00,2.28,0.00,0.000,4,0.000,0.102,1249,3272,2579,0,0,0,0,0,0
$GC,5490,-1.34,-146.6,577.8,-12.9,293,5495,0.00,2.22,0.00,0.000,6,0.000,0.087,1249,1904,2578,0,0,1,0,0,0
$GC,5825,-1.34,-146.6,620.5,-12.8,304,5829,0.00,2.30,0.00,0.000,4,0.000,0.104,1249,3274,2578,0,0,0,0,0,0
$GC,5895,-1.34,-146.6,629.7,-12.6,306,5900,0.00,2.25,0.00,0.000,6,0.000,0.089,1249,1903,2578,0,0,1,0,0,0
$GC,6225,-1.34,-146.6,672.7,-13.5,317,6229,0.00,2.33,0.00,0.000,4,0.000,0.109,1249,3274,2578,0,0,0,0,0,0
$GC,6273,-1.34,-146.6,679.9,-15.6,318,6282,0.00,2.28,0.00,0.000,6,0.000,0.092,1249,1901,2578,0,0,1,0,0,0
$STATE,6561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6561,begin apogee
$GC,6565,-0.42,0.0,718.5,13.3,328,6675,0.93,0.00,106.12,1.264,6,0.132,0.000,1456,1652,2074,0,0,0,0,0,0
$STATE,6675,end apogee,CONTROL_FINISHED_OK
$STATE,6675,begin climb
$GC,6677,1.34,146.6,722.7,0.0,331,6792,1.67,2.53,105.95,1.234,4,0.102,0.114,1838,3012,1577,0,0,1,0,0,0
$GC,6971,1.74,467.7,732.3,-3.5,340,7211,0.32,2.38,229.52,1.239,6,0.070,0.102,1933,1649,489,0,0,1,0,0,0
$GC,7515,1.74,467.7,674.0,15.6,358,7519,0.00,2.50,0.00,0.000,4,0.000,0.127,1933,241,489,0,0,0,0,0,0
$GC,7749,1.74,467.7,635.4,17.5,365,7754,0.00,2.33,0.00,0.000,6,0.000,0.097,1933,1620,488,0,0,1,0,0,0
$GC,8084,1.74,467.7,584.5,14.8,376,8088,0.00,2.40,0.00,0.000,4,0.000,0.122,1933,238,487,0,0,0,0,0,0
$GC,8111,1.74,467.7,580.5,14.6,377,8115,0.00,2.30,0.00,0.000,6,0.000,0.094,1933,1647,487,0,0,1,0,0,0
$GC,8445,1.74,467.7,530.0,15.3,388,8449,0.00,2.45,0.00,0.000,4,0.000,0.119,1933,239,486,0,0,0,0,0,0
$GC,8498,1.74,467.7,520.8,16.6,389,8505,0.00,2.33,0.00,0.000,6,0.000,0.092,1933,1652,486,0,0,1,0,0,0
$GC,8811,1.74,467.7,471.2,15.9,400,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1652,485,0,0,0,0,0,0
$GC,9117,1.74,467.7,419.8,16.8,410,9121,0.00,2.42,0.00,0.000,4,0.000,0.114,1933,234,485,0,0,0,0,0,0
$GC,9188,1.74,467.7,406.3,18.5,412,9194,0.00,2.30,0.00,0.000,6,0.000,0.084,1933,1648,485,0,0,1,0,0,0
$GC,9518,1.74,467.7,350.7,16.8,423,9522,0.00,2.40,0.00,0.000,4,0.000,0.112,1933,237,485,0,0,0,0,0,0
$GC,9640,1.74,467.7,327.3,19.9,426,9646,0.00,2.25,0.00,0.000,6,0.000,0.082,1933,1661,485,0,0,1,0,0,0
$GC,9963,1.74,467.7,267.6,18.6,440,9967,0.00,2.38,0.00,0.000,4,0.000,0.107,1933,237,485,0,0,0,0,0,0
$GC,10035,1.74,467.7,253.1,20.4,443,10040,0.00,2.25,0.00,0.000,6,0.000,0.077,1933,1653,485,0,0,1,0,0,0
$GC,10356,1.74,467.7,189.8,20.9,459,10360,0.00,2.35,0.00,0.000,4,0.000,0.102,1933,231,485,0,0,0,0,0,0
$GC,10466,1.74,467.7,165.8,20.9,464,10472,0.00,2.25,0.00,0.000,6,0.000,0.072,1933,1650,485,0,0,0,0,0,0
$GC,10790,1.74,467.7,102.7,19.8,491,10794,0.00,2.33,0.00,0.000,4,0.000,0.099,1933,240,485,0,0,0,0,0,0
$GC,10857,1.74,467.7,89.4,20.2,497,10861,0.00,2.17,0.00,0.000,6,0.000,0.070,1933,1660,485,0,0,0,0,0,0
$GC,11186,1.74,467.7,32.5,15.5,528,11187,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1669,485,0,0,0,0,0,0
$STATE,11355,end climb,SURFACE_DEPTH_REACHED
$STATE,11355,begin surface coast
$FINISH,-0.3,0.997799
$STATE,11378,end surface coast,CONTROL_FINISHED_OK
$STATE,11378,begin surface
$SM_CCo,11452,0.00,0.000,0,0,486,468.53
$SM_GC,0.49,7.53,0.00,0.00,0.065,0.000,0.000,11,1929,486,-6.98,0.79,468.53
$IRIDIUM_FIX,1828.22,-6620.02,121111,020208
$TT8_MAMPS,0.020972
$HUMID,1078152893
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,23.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.6,18.4
$24V_AH,24.4,2.095
$10V_AH,10.5,0.662
$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,16.975,109.800,441.600,0.000,0.000,27.763,26.511,145.107,4.250,0.000,17.605,1090.592,8364.946,545.296,1675.838,86.736,33.346,1339.925,0.000,1364.055,0.000,22.603,0.000
$DEVICE_MAMPS,198.640,126.633,1263.847,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.108,0.000,833.395,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328796
$DATA_FILE_SIZE,30197,546
$CAP_FILE_SIZE,107019,0
$CFSIZE,260280320,254328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,190510,150637,1834.329,-6559.151,35,1.0,35,-12.7