version: 66.07
glider: 33
mission: 17
dive: 10
start: 5 19 110 15 13 13
data:
$ID,33
$MISSION,17
$DIVE,10
$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,-218207.11
$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,18
$R_STBD_OVSHOOT,66
$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
$GPS1,190510,150637,1834.329,-6559.151,35,1.0,35,-12.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-39.7
$GPS2,190510,151155,1834.333,-6559.174,13,1.0,30,-12.7
$SPEED_LIMITS,0.075,0.240
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.003,-0.240
$KALMAN_X,-2297.0,739.3,-11.9,19672.3,-893.7
$KALMAN_Y,-4518.0,722.8,480.9,7045.6,-1479.5
$MHEAD_RNG_PITCHd_Wd,193.5,8155,-13.9,-7.500
$D_GRID,589
$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,-101.60,0.000,2,0.000,0.000,11,1929,1945,0,0,0,0,0,0
$GC,121,-1.34,-146.6,3.0,-5.7,10,163,6.50,2.38,-27.80,0.000,4,0.201,0.084,1251,483,2571,0,0,0,0,0,0
$GC,313,-1.34,-146.6,27.5,-15.3,27,320,0.00,2.17,0.00,0.000,6,0.000,0.062,1251,1896,2571,0,0,0,0,0,0
$GC,638,-1.34,-146.6,67.0,-9.9,58,642,0.00,2.17,0.00,0.000,4,0.000,0.089,1251,3279,2571,0,0,0,0,0,0
$GC,867,-1.34,-146.6,91.4,-10.4,78,871,0.00,2.15,0.00,0.000,6,0.000,0.077,1251,1873,2572,0,0,0,0,0,0
$GC,1196,-1.34,-146.6,119.7,-8.3,109,1200,0.00,2.25,0.00,0.000,4,0.000,0.082,1251,3286,2574,0,0,0,0,0,0
$GC,1391,-1.34,-146.6,136.8,-8.9,126,1398,0.00,2.17,0.00,0.000,6,0.000,0.074,1251,1894,2574,0,0,0,0,0,0
$GC,1722,-1.34,-146.6,164.0,-8.4,150,1726,0.00,2.20,0.00,0.000,4,0.000,0.089,1251,3279,2576,0,0,0,0,0,0
$GC,1771,-1.34,-146.6,168.0,-8.2,152,1776,0.00,2.15,0.00,0.000,6,0.000,0.070,1251,1906,2576,0,0,0,0,0,0
$GC,2097,-1.34,-146.6,197.0,-9.5,168,2101,0.00,2.20,0.00,0.000,4,0.000,0.084,1251,3284,2576,0,0,0,0,0,0
$GC,2191,-1.34,-146.6,206.2,-9.9,172,2196,0.00,2.17,0.00,0.000,6,0.000,0.070,1251,1900,2577,0,0,0,0,0,0
$GC,2518,-1.34,-146.6,233.9,-8.7,188,2522,0.00,2.20,0.00,0.000,4,0.000,0.087,1251,3286,2577,0,0,1,0,0,0
$GC,2546,-1.34,-146.6,236.5,-9.5,189,2550,0.00,2.15,0.00,0.000,6,0.000,0.077,1251,1896,2577,0,0,0,0,0,0
$GC,2871,-1.34,-146.6,267.6,-9.7,205,2875,0.00,2.22,0.00,0.000,4,0.000,0.089,1251,3280,2577,0,0,0,0,0,0
$GC,2937,-1.34,-146.6,274.3,-10.8,208,2942,0.00,2.17,0.00,0.000,6,0.000,0.074,1251,1906,2577,0,0,0,0,0,0
$GC,3263,-1.34,-146.6,307.3,-9.8,223,3267,0.00,2.22,0.00,0.000,4,0.000,0.089,1251,3283,2577,0,0,0,0,0,0
$GC,3364,-1.34,-146.6,317.8,-9.9,226,3368,0.00,2.17,0.00,0.000,6,0.000,0.077,1251,1900,2576,0,0,0,0,0,0
$GC,3703,-1.34,-146.6,354.9,-11.7,237,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,1252,1900,2577,0,0,0,0,0,0
$GC,4010,-1.34,-146.6,392.2,-12.0,247,4014,0.00,2.25,0.00,0.000,4,0.000,0.094,1251,3279,2576,0,0,1,0,0,0
$GC,4047,-1.34,-146.6,397.0,-11.5,248,4052,0.00,2.20,0.00,0.000,6,0.000,0.079,1251,1908,2576,0,0,0,0,0,0
$GC,4376,-1.34,-146.6,436.2,-12.0,259,4380,0.00,2.25,0.00,0.000,4,0.000,0.097,1251,3282,2576,0,0,0,0,0,0
$GC,4402,-1.34,-146.6,439.7,-12.8,259,4410,0.00,2.22,0.00,0.000,6,0.000,0.079,1251,1904,2576,0,0,0,0,0,0
$GC,4715,-1.34,-146.6,478.7,-12.8,270,4719,0.00,2.25,0.00,0.000,4,0.000,0.097,1251,3273,2576,0,0,0,0,0,0
$GC,4781,-1.34,-146.6,487.1,-12.6,272,4786,0.00,2.22,0.00,0.000,6,0.000,0.082,1252,1903,2576,0,0,0,0,0,0
$GC,5116,-1.34,-146.6,529.4,-12.9,283,5120,0.00,2.28,0.00,0.000,4,0.000,0.099,1251,3277,2576,0,0,0,0,0,0
$GC,5199,-1.34,-146.6,540.6,-14.5,285,5203,0.00,2.22,0.00,0.000,6,0.000,0.087,1251,1900,2576,0,0,0,0,0,0
$GC,5516,-1.34,-146.6,579.0,-11.8,296,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,1251,1900,2576,0,0,0,0,0,0
$STATE,5606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5606,begin apogee
$GC,5610,-0.42,0.0,589.9,11.6,299,5719,0.93,0.00,105.18,1.152,6,0.129,0.000,1458,1643,2074,0,0,0,0,0,0
$STATE,5719,end apogee,CONTROL_FINISHED_OK
$STATE,5720,begin climb
$GC,5721,1.34,146.6,593.4,0.0,302,5831,1.65,0.00,104.72,1.135,6,0.099,0.000,1838,1643,1576,0,0,0,0,0,0
$GC,6148,1.69,427.8,603.0,-2.1,316,6354,0.28,2.58,197.73,1.145,4,0.084,0.124,1921,249,625,0,0,0,0,0,0
$GC,6483,1.69,427.8,571.1,16.2,326,6488,0.00,2.30,0.00,0.000,6,0.000,0.089,1921,1616,624,0,0,1,0,0,0
$GC,6801,1.69,427.8,525.0,15.0,337,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1619,624,0,0,0,0,0,0
$GC,7107,1.69,427.8,477.7,15.3,347,7111,0.00,2.38,0.00,0.000,4,0.000,0.117,1921,242,624,0,0,0,0,0,0
$GC,7161,1.69,427.8,469.0,16.3,348,7169,0.00,2.30,0.00,0.000,6,0.000,0.087,1921,1654,624,0,0,1,0,0,0
$GC,7474,1.69,427.8,422.1,15.3,359,7478,0.00,2.40,0.00,0.000,4,0.000,0.112,1921,247,623,0,0,0,0,0,0
$GC,7613,1.69,427.8,398.8,18.1,363,7618,0.00,2.25,0.00,0.000,6,0.000,0.084,1921,1637,623,0,0,1,0,0,0
$GC,7942,1.69,427.8,348.3,15.3,374,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1642,623,0,0,0,0,0,0
$GC,8248,1.69,427.8,296.7,17.1,384,8252,0.00,2.35,0.00,0.000,4,0.000,0.107,1921,242,622,0,0,0,0,0,0
$GC,8314,1.69,427.8,284.2,19.6,387,8319,0.00,2.25,0.00,0.000,6,0.000,0.079,1921,1656,622,0,0,1,0,0,0
$GC,8642,1.69,427.8,227.0,18.2,403,8646,0.00,2.35,0.00,0.000,4,0.000,0.104,1921,246,622,0,0,0,0,0,0
$GC,8741,1.69,427.8,208.0,20.4,407,8748,0.00,2.25,0.00,0.000,6,0.000,0.074,1921,1665,622,0,0,0,0,0,0
$GC,9057,1.69,427.8,152.4,17.3,423,9062,0.00,2.35,0.00,0.000,4,0.000,0.102,1921,241,622,0,0,0,0,0,0
$GC,9123,1.69,427.8,140.0,19.0,428,9130,0.00,2.20,0.00,0.000,6,0.000,0.070,1921,1650,622,0,0,0,0,0,0
$GC,9448,1.69,427.8,87.1,15.7,459,9452,0.00,2.20,0.00,0.000,4,0.000,0.087,1921,3040,622,0,0,1,0,0,0
$GC,9525,1.69,427.8,75.9,12.4,465,9531,0.00,2.22,0.00,0.000,6,0.000,0.077,1921,1654,622,0,0,0,0,0,0
$GC,9849,1.69,427.8,29.3,15.3,496,9853,0.00,2.28,0.00,0.000,4,0.000,0.094,1921,241,622,0,0,0,0,0,0
$STATE,9999,end climb,SURFACE_DEPTH_REACHED
$STATE,9999,begin surface coast
$FINISH,-0.2,1.023093
$STATE,10022,end surface coast,CONTROL_FINISHED_OK
$STATE,10022,begin surface
$SM_CCo,10037,15.02,0.725,0,0,549,450.22
$SM_GC,2.20,0.00,0.00,15.02,0.000,0.000,0.725,14,1897,549,-7.07,-0.08,450.22
$IRIDIUM_FIX,1830.49,-6559.71,121111,060633
$TT8_MAMPS,0.021721
$HUMID,1078138700
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,23.80
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.0,17.9
$24V_AH,24.5,2.242
$10V_AH,10.6,0.714
$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,16.825,90.725,407.625,15.025,0.000,40.991,38.280,144.019,3.000,0.000,31.479,993.254,7262.468,528.055,1539.087,79.080,33.348,1229.470,0.000,1201.876,0.000,11.699,0.000
$DEVICE_MAMPS,201.123,124.150,1152.112,725.036,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.612,0.000,779.599,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328744
$DATA_FILE_SIZE,26902,511
$CAP_FILE_SIZE,93467,0
$CFSIZE,260280320,254300160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,190510,180201,1832.858,-6559.207,41,2.0,41,-12.7