version: 66.07
glider: 33
mission: 17
dive: 34
start: 5 21 110 19 4 45
data:
$ID,33
$MISSION,17
$DIVE,34
$D_SURF,4
$D_FLARE,3
$D_TGT,2880
$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,960
$T_MISSION,990
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$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,0
$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,-220647.41
$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,14
$R_STBD_OVSHOOT,57
$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,900
$ALTIM_PING_DELTA,25
$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
$GPS1,210510,185459,1836.849,-6558.261,34,99.0,53,-12.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-42.7
$GPS2,210510,190358,1836.857,-6558.317,17,99.0,36,-12.8
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,66W_1906N_N
$TGT_LATLONG,1906.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.014,0.263
$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,9.7,54053,-18.1,-10.000
$D_GRID,2880
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.69,-146.6,0.0,0.0,0,147,0.00,0.00,-131.10,0.000,2,0.000,0.000,18,1919,2061,0,0,0,0,0,0
$GC,150,-1.69,-146.6,3.1,-5.2,13,184,6.07,2.25,-20.92,0.000,4,0.199,0.077,1174,3281,2572,0,0,0,0,0,0
$GC,470,-1.69,-146.6,56.4,-16.3,42,474,0.00,2.17,0.00,0.000,6,0.000,0.072,1174,1872,2572,0,0,0,0,0,0
$GC,800,-1.69,-146.6,102.3,-12.6,73,804,0.00,2.28,0.00,0.000,4,0.000,0.082,1174,3290,2572,0,0,0,0,0,0
$GC,940,-1.69,-146.6,121.0,-12.2,85,944,0.00,2.15,0.00,0.000,6,0.000,0.070,1174,1889,2572,0,0,0,0,0,0
$GC,1272,-1.69,-146.6,160.4,-11.7,112,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,1173,1889,2574,0,0,0,0,0,0
$GC,1581,-1.69,-146.6,194.9,-11.4,127,1585,0.00,2.20,0.00,0.000,4,0.000,0.082,1174,3282,2575,0,0,0,0,0,0
$GC,1714,-1.69,-146.6,210.9,-12.3,133,1719,0.00,2.15,0.00,0.000,6,0.000,0.070,1174,1913,2575,0,0,0,0,0,0
$GC,2041,-1.69,-146.6,250.1,-12.5,149,2045,0.00,2.20,0.00,0.000,4,0.000,0.087,1174,3282,2576,0,0,0,0,0,0
$GC,2192,-1.69,-146.6,270.1,-14.7,156,2197,0.00,2.15,0.00,0.000,6,0.000,0.082,1174,1894,2576,0,0,0,0,0,0
$GC,2508,-1.69,-146.6,314.2,-14.5,170,2512,0.00,2.22,0.00,0.000,4,0.000,0.087,1174,3289,2575,0,0,0,0,0,0
$GC,2607,-1.69,-146.6,330.1,-15.7,173,2612,0.00,2.20,0.00,0.000,6,0.000,0.072,1174,1906,2576,0,0,0,0,0,0
$GC,2941,-1.69,-146.6,382.4,-15.4,184,2945,0.00,2.22,0.00,0.000,4,0.000,0.089,1174,3283,2576,0,0,0,0,0,0
$GC,2996,-1.69,-146.6,391.4,-17.2,185,3001,0.00,2.20,0.00,0.000,6,0.000,0.077,1174,1909,2576,0,0,0,0,0,0
$GC,3314,-1.69,-146.6,441.8,-16.4,196,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,1174,1909,2576,0,0,0,0,0,0
$GC,3620,-1.69,-146.6,492.7,-16.1,206,3624,0.00,2.25,0.00,0.000,4,0.000,0.094,1174,3286,2575,0,0,0,0,0,0
$GC,3682,-1.69,-146.6,502.8,-16.3,208,3686,0.00,2.20,0.00,0.000,6,0.000,0.084,1174,1904,2575,0,0,0,0,0,0
$GC,4015,-1.69,-146.6,559.9,-17.4,219,4019,0.00,2.28,0.00,0.000,4,0.000,0.097,1174,3277,2575,0,0,0,0,0,0
$GC,4052,-1.69,-146.6,566.5,-17.1,220,4057,0.00,2.25,0.00,0.000,6,0.000,0.084,1174,1906,2575,0,0,0,0,0,0
$GC,4381,-1.69,-146.6,627.6,-18.9,231,4385,0.00,2.28,0.00,0.000,4,0.000,0.102,1174,3280,2575,0,0,0,0,0,0
$GC,4497,-1.69,-146.6,649.1,-18.0,234,4502,0.00,2.28,0.00,0.000,6,0.000,0.092,1174,1902,2575,0,0,1,0,0,0
$GC,4816,-1.69,-146.6,710.0,-20.0,245,4820,0.00,2.30,0.00,0.000,4,0.000,0.107,1174,3280,2575,0,0,0,0,0,0
$GC,4881,-1.69,-146.6,723.2,-19.8,247,4886,0.00,2.30,0.00,0.000,6,0.000,0.094,1174,1902,2575,0,0,1,0,0,0
$GC,5216,-1.69,-146.6,790.9,-20.3,258,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,1174,1902,2575,0,0,0,0,0,0
$GC,5522,-1.69,-146.6,853.8,-20.4,268,5526,0.00,2.35,0.00,0.000,4,0.000,0.112,1174,3273,2575,0,0,0,0,0,0
$GC,5571,-1.69,-146.6,864.2,-21.6,269,5576,0.00,2.33,0.00,0.000,6,0.000,0.102,1174,1897,2575,0,0,1,0,0,0
$GC,5889,-1.69,-146.6,932.0,-21.7,280,5893,0.00,2.38,0.00,0.000,4,0.000,0.117,1174,3274,2575,0,0,0,0,0,0
$GC,5960,-1.69,-146.6,947.1,-21.3,282,5965,0.00,2.33,0.00,0.000,6,0.000,0.104,1174,1906,2574,0,0,1,0,0,0
$GC,6289,-1.69,-146.6,1014.6,-20.1,292,6293,0.00,2.38,0.00,0.000,4,0.000,0.119,1174,3271,2572,0,0,0,0,0,0
$GC,6371,-1.69,-146.6,1032.9,-21.4,293,6376,0.00,2.35,0.00,0.000,6,0.000,0.107,1174,1902,2570,0,0,1,0,0,0
$GC,6721,-1.69,-146.6,1108.4,-22.0,299,6725,0.00,2.38,0.00,0.000,4,0.000,0.122,1174,3272,2569,0,0,0,0,0,0
$GC,6774,-1.69,-146.6,1120.1,-19.8,299,6782,0.00,2.35,0.00,0.000,6,0.000,0.109,1174,1907,2569,0,0,1,0,0,0
$GC,7087,-1.69,-146.6,1181.2,-19.5,305,7091,0.00,2.40,0.00,0.000,4,0.000,0.127,1174,3270,2567,0,0,0,0,0,0
$GC,7129,-1.69,-146.6,1189.6,-17.5,305,7134,0.00,2.38,0.00,0.000,6,0.000,0.112,1173,1901,2567,0,0,1,0,0,0
$STATE,7267,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7267,begin apogee
$GC,7271,-0.42,0.0,1215.0,18.4,308,7383,1.30,0.00,109.00,1.629,6,0.142,0.000,1455,1651,2074,0,0,0,0,0,0
$STATE,7384,end apogee,CONTROL_FINISHED_OK
$STATE,7384,begin climb
$GC,7386,1.69,146.6,1218.9,0.0,309,7503,2.03,0.00,112.07,1.592,6,0.104,0.000,1916,1651,1577,0,0,0,0,0,0
$GC,7755,2.03,423.4,1235.0,-2.6,316,7972,0.28,2.80,208.60,1.599,4,0.077,0.149,2002,242,639,0,0,0,0,0,0
$GC,8100,2.03,423.4,1208.0,18.9,321,8105,0.00,2.45,0.00,0.000,6,0.000,0.112,2002,1605,639,0,0,1,0,0,0
$GC,8432,2.03,423.4,1154.3,16.2,327,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1610,639,0,0,0,0,0,0
$GC,8736,2.03,423.4,1113.9,12.9,332,8740,0.00,2.50,0.00,0.000,4,0.000,0.142,2002,236,638,0,0,0,0,0,0
$GC,8852,2.03,423.4,1098.0,12.9,333,8856,0.00,2.47,0.00,0.000,6,0.000,0.112,2002,1647,638,0,0,1,0,0,0
$GC,9166,2.03,423.4,1058.1,12.9,339,9171,0.00,2.53,0.00,0.000,4,0.000,0.132,2002,3060,637,0,0,0,0,0,0
$GC,9209,2.03,423.4,1052.0,14.1,339,9214,0.00,2.50,0.00,0.000,6,0.000,0.117,2002,1649,637,0,0,1,0,0,0
$GC,9530,2.03,423.4,1003.2,15.7,345,9534,0.00,2.50,0.00,0.000,4,0.000,0.129,2002,3059,636,0,0,1,0,0,0
$GC,9590,2.03,423.4,994.0,15.3,346,9594,0.00,2.45,0.00,0.000,6,0.000,0.117,2002,1646,636,0,0,1,0,0,0
$GC,9930,2.03,423.4,944.2,14.2,357,9934,0.00,2.53,0.00,0.000,4,0.000,0.139,2002,241,636,0,0,0,0,0,0
$GC,10125,2.03,423.4,914.7,16.4,363,10129,0.00,2.38,0.00,0.000,6,0.000,0.109,2002,1655,636,0,0,1,0,0,0
$GC,10459,2.03,423.4,869.1,13.5,374,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1661,635,0,0,0,0,0,0
$GC,10765,2.03,423.4,827.9,13.8,384,10770,0.00,2.55,0.00,0.000,4,0.000,0.134,2002,236,635,0,0,0,0,0,0
$GC,10814,2.03,423.4,820.4,15.8,385,10819,0.00,2.40,0.00,0.000,6,0.000,0.107,2002,1642,635,0,0,1,0,0,0
$GC,11132,2.03,423.4,777.4,13.1,396,11136,0.00,2.47,0.00,0.000,4,0.000,0.134,2002,241,635,0,0,0,0,0,0
$GC,11227,2.03,423.4,763.5,14.9,399,11231,0.00,2.35,0.00,0.000,6,0.000,0.107,2002,1651,635,0,0,1,0,0,0
$GC,11561,2.03,423.4,719.8,13.1,410,11565,0.00,2.53,0.00,0.000,4,0.000,0.132,2002,235,635,0,0,0,0,0,0
$GC,11615,2.03,423.4,712.2,13.6,411,11622,0.00,2.40,0.00,0.000,6,0.000,0.104,2002,1653,635,0,0,1,0,0,0
$GC,11927,2.03,423.4,671.4,13.3,422,11932,0.00,2.50,0.00,0.000,4,0.000,0.132,2002,240,635,0,0,0,0,0,0
$GC,11982,2.03,423.4,663.1,14.3,423,11989,0.00,2.38,0.00,0.000,6,0.000,0.102,2002,1653,635,0,0,1,0,0,0
$GC,12294,2.03,423.4,619.8,13.8,434,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1653,634,0,0,0,0,0,0
$GC,12601,2.03,423.4,577.3,14.2,444,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1653,635,0,0,0,0,0,0
$GC,12907,2.03,423.4,531.7,15.1,454,12911,0.00,2.45,0.00,0.000,4,0.000,0.122,2002,238,635,0,0,0,0,0,0
$GC,13057,2.03,423.4,506.4,16.6,458,13062,0.00,2.35,0.00,0.000,6,0.000,0.094,2002,1649,635,0,0,1,0,0,0
$GC,13375,2.03,423.4,455.5,16.0,469,13379,0.00,2.45,0.00,0.000,4,0.000,0.117,2002,231,635,0,0,0,0,0,0
$GC,13456,2.03,423.4,440.8,17.1,471,13462,0.00,2.33,0.00,0.000,6,0.000,0.089,2002,1646,635,0,0,1,0,0,0
$GC,13775,2.03,423.4,386.2,16.8,482,13776,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1653,635,0,0,0,0,0,0
$GC,14081,2.03,423.4,328.6,19.0,492,14085,0.00,2.38,0.00,0.000,4,0.000,0.109,2002,235,635,0,0,0,0,0,0
$GC,14118,2.03,423.4,320.4,21.7,493,14123,0.00,2.28,0.00,0.000,6,0.000,0.082,2002,1650,635,0,0,1,0,0,0
$GC,14441,2.03,423.4,257.9,20.1,507,14445,0.00,2.35,0.00,0.000,4,0.000,0.104,2002,235,635,0,0,0,0,0,0
$GC,14461,2.03,423.4,253.1,20.1,508,14466,0.00,2.28,0.00,0.000,6,0.000,0.077,2001,1647,634,0,0,0,0,0,0
$GC,14788,2.03,423.4,183.1,21.6,524,14792,0.00,2.28,0.00,0.000,4,0.000,0.094,2002,3052,635,0,0,0,0,0,0
$GC,14819,2.03,423.4,176.5,20.2,525,14826,0.00,2.28,0.00,0.000,6,0.000,0.079,2002,1641,635,0,0,1,0,0,0
$GC,15140,2.03,423.4,111.6,19.5,549,15144,0.00,2.28,0.00,0.000,4,0.000,0.087,2001,3055,635,0,0,0,0,0,0
$GC,15205,2.03,423.4,98.5,20.8,554,15212,0.00,2.25,0.00,0.000,6,0.000,0.077,2002,1652,636,0,0,1,0,0,0
$GC,15530,2.03,423.4,38.9,16.4,585,15531,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1651,637,0,0,0,0,0,0
$STATE,15730,end climb,SURFACE_DEPTH_REACHED
$STATE,15731,begin surface coast
$FINISH,0.2,1.023207
$STATE,15754,end surface coast,CONTROL_FINISHED_OK
$STATE,15754,begin surface
$SM_CCo,15768,18.42,0.745,0,0,549,450.22
$SM_GC,1.86,0.00,0.00,18.42,0.000,0.000,0.745,14,1939,549,-7.07,1.07,450.22
$IRIDIUM_FIX,1832.77,-6558.79,141111,131355
$TT8_MAMPS,0.020972
$HUMID,1078152893
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,23.30
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.7,18.6
$ALTIM_BOTTOM_PING,1181.2,51.2
$24V_AH,24.0,5.482
$10V_AH,10.5,1.939
$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,17.450,141.575,429.675,18.425,0.000,59.503,58.665,248.384,5.500,0.000,38.477,1251.697,12255.860,619.556,2099.125,104.425,29.243,1530.465,0.000,1580.358,0.000,30.057,0.000
$DEVICE_MAMPS,198.640,148.980,1628.848,744.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.006,0.000,924.280,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327000
$DATA_FILE_SIZE,33454,606
$CAP_FILE_SIZE,133955,0
$CFSIZE,260280320,253267968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,210510,232927,1839.594,-6557.542,41,4.0,60,-12.8