version: 66.07
glider: 33
mission: 17
dive: 11
start: 5 19 110 18 7 44
data:
$ID,33
$MISSION,17
$DIVE,11
$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,-218208.36
$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,29
$R_STBD_OVSHOOT,41
$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
$GPS1,190510,180201,1832.858,-6559.207,41,2.0,41,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-41.3
$GPS2,190510,180626,1832.885,-6559.234,15,1.6,15,-12.7
$SPEED_LIMITS,0.075,0.240
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.011,-0.239
$KALMAN_X,-2513.4,941.6,27.5,19540.5,-562.1
$KALMAN_Y,-3729.6,1231.8,507.8,3042.9,-559.6
$MHEAD_RNG_PITCHd_Wd,195.4,5511,-13.9,-7.500
$D_GRID,324
$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,-146.6,0.0,0.0,0,123,0.00,0.00,-106.53,0.000,2,0.000,0.000,14,1899,2145,0,0,0,0,0,0
$GC,125,-1.34,-146.6,4.5,-7.9,11,156,6.50,2.33,-15.32,0.000,4,0.201,0.082,1251,488,2573,0,0,0,0,0,0
$GC,272,-1.34,-146.6,25.5,-13.9,24,279,0.00,2.20,0.00,0.000,6,0.000,0.062,1251,1916,2573,0,0,0,0,0,0
$GC,598,-1.34,-146.6,64.7,-11.2,55,599,0.00,0.00,0.00,0.000,6,0.000,0.000,1251,1925,2573,0,0,0,0,0,0
$GC,916,-1.34,-146.6,101.4,-11.5,85,920,0.00,2.17,0.00,0.000,4,0.000,0.084,1251,3292,2574,0,0,0,0,0,0
$GC,1107,-1.34,-146.6,117.7,-8.4,102,1111,0.00,2.15,0.00,0.000,6,0.000,0.074,1251,1880,2575,0,0,0,0,0,0
$GC,1436,-1.34,-146.6,148.1,-8.2,133,1440,0.00,2.25,0.00,0.000,4,0.000,0.087,1252,3292,2576,0,0,0,0,0,0
$GC,1738,-1.34,-146.6,174.7,-8.2,147,1745,0.00,2.15,0.00,0.000,6,0.000,0.077,1251,1909,2577,0,0,0,0,0,0
$GC,2055,-1.34,-146.6,201.6,-9.2,163,2059,0.00,2.22,0.00,0.000,4,0.000,0.087,1251,496,2578,0,0,0,0,0,0
$GC,2115,-1.34,-146.6,207.6,-10.1,166,2119,0.00,2.10,0.00,0.000,6,0.000,0.067,1251,1902,2578,0,0,0,0,0,0
$GC,2447,-1.34,-146.6,238.0,-9.0,182,2451,0.00,2.20,0.00,0.000,4,0.000,0.087,1251,3294,2578,0,0,0,0,0,0
$GC,2534,-1.34,-146.6,246.8,-9.8,186,2540,0.00,2.20,0.00,0.000,6,0.000,0.072,1251,1901,2578,0,0,0,0,0,0
$GC,2861,-1.34,-146.6,278.1,-9.5,202,2865,0.00,2.22,0.00,0.000,4,0.000,0.089,1251,3287,2578,0,0,1,0,0,0
$GC,2961,-1.34,-146.6,288.5,-10.4,206,2966,0.00,2.20,0.00,0.000,6,0.000,0.074,1251,1903,2578,0,0,0,0,0,0
$GC,3280,-1.34,-146.6,320.3,-10.2,219,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,1251,1903,2578,0,0,0,0,0,0
$STATE,3341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3341,begin apogee
$GC,3345,-0.42,0.0,326.5,10.2,221,3451,0.93,0.00,103.55,0.944,6,0.129,0.000,1459,1647,2074,0,0,0,0,0,0
$STATE,3452,end apogee,CONTROL_FINISHED_OK
$STATE,3452,begin climb
$GC,3454,1.34,146.6,329.6,0.0,224,3565,1.62,2.47,102.00,0.924,4,0.094,0.104,1841,251,1576,0,0,0,0,0,0
$GC,3647,1.34,146.6,320.5,8.9,230,3652,0.00,2.22,0.00,0.000,6,0.000,0.072,1841,1650,1577,0,0,1,0,0,0
$GC,3973,1.40,190.4,298.3,6.0,241,4008,0.00,2.38,30.65,0.891,4,0.000,0.102,1840,251,1428,0,0,0,0,0,0
$GC,4170,1.40,190.4,282.8,9.5,249,4175,0.00,2.22,0.00,0.000,6,0.000,0.072,1840,1651,1427,0,0,0,0,0,0
$GC,4498,1.40,198.3,258.5,7.2,265,4512,0.00,2.30,6.88,0.732,4,0.000,0.092,1840,3035,1401,0,0,1,0,0,0
$GC,4556,1.42,210.8,254.0,7.1,267,4571,0.00,2.25,9.93,0.782,6,0.000,0.082,1841,1653,1359,0,0,1,0,0,0
$GC,4893,1.42,210.8,224.6,8.7,284,4897,0.00,2.30,0.00,0.000,4,0.000,0.102,1841,245,1359,0,0,0,0,0,0
$GC,5111,1.42,210.8,203.6,10.0,294,5115,0.00,2.15,0.00,0.000,6,0.000,0.072,1841,1647,1359,0,0,0,0,0,0
$GC,5436,1.42,210.8,178.4,8.6,310,5440,0.00,2.30,0.00,0.000,4,0.000,0.097,1841,244,1359,0,0,0,0,0,0
$GC,5568,1.42,210.8,165.9,8.8,316,5573,0.00,2.17,0.00,0.000,6,0.000,0.070,1841,1650,1359,0,0,0,0,0,0
$GC,5887,1.44,226.0,144.4,7.0,335,5904,0.10,2.28,11.40,0.767,4,0.117,0.087,1876,3031,1307,0,0,0,0,0,0
$GC,5987,1.44,226.0,135.3,9.2,343,5994,0.00,2.20,0.00,0.000,6,0.000,0.077,1876,1653,1307,0,0,1,0,0,0
$GC,6312,1.44,226.0,107.3,7.5,374,6316,0.00,2.20,0.00,0.000,4,0.000,0.082,1876,3033,1307,0,0,0,0,0,0
$GC,6575,1.44,226.0,86.6,8.3,397,6579,0.00,2.15,0.00,0.000,6,0.000,0.074,1876,1645,1307,0,0,0,0,0,0
$GC,6904,1.51,283.6,61.4,5.5,428,6949,0.00,2.25,39.05,0.772,4,0.000,0.084,1876,3024,1112,0,0,1,0,0,0
$GC,6988,1.51,283.6,54.9,10.0,436,6992,0.00,2.22,0.00,0.000,6,0.000,0.074,1876,1649,1112,0,0,0,0,0,0
$GC,7318,1.51,283.6,24.1,10.1,467,7322,0.00,2.20,0.00,0.000,4,0.000,0.079,1876,3035,1112,0,0,0,0,0,0
$GC,7361,1.51,283.6,19.6,9.8,470,7367,0.00,2.20,0.00,0.000,6,0.000,0.072,1876,1654,1112,0,0,0,0,0,0
$STATE,7525,end climb,SURFACE_DEPTH_REACHED
$STATE,7525,begin surface coast
$FINISH,-0.2,1.002127
$STATE,7569,end surface coast,CONTROL_FINISHED_OK
$STATE,7570,begin surface
$SM_CCo,7583,110.20,0.720,0,0,548,450.22
$SM_GC,0.49,0.00,0.00,110.20,0.000,0.000,0.720,14,1931,548,-7.07,0.85,450.22
$IRIDIUM_FIX,1828.22,-6559.71,121111,090952
$TT8_MAMPS,0.020972
$HUMID,1078021281
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,24.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,18.8
$24V_AH,24.8,2.352
$10V_AH,10.6,0.762
$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,16.450,67.650,303.450,110.200,0.000,22.998,28.415,136.844,1.250,0.000,15.857,929.395,5065.606,527.514,1387.968,80.580,33.356,1144.942,0.000,1114.959,0.000,2.628,0.000
$DEVICE_MAMPS,201.123,104.286,943.540,720.070,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.761,0.000,748.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328748
$DATA_FILE_SIZE,26911,490
$CAP_FILE_SIZE,81079,0
$CFSIZE,260280320,254263296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,190510,201644,1832.171,-6559.320,12,1.9,13,-12.7