version: 66.07
glider: 33
mission: 17
dive: 35
start: 5 21 110 23 35 9
data:
$ID,33
$MISSION,17
$DIVE,35
$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,1
$HD_A,0.0044716001
$HD_B,0.016021
$HD_C,9.4708003e-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,-220648.66
$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,26
$R_STBD_OVSHOOT,55
$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
$GPS1,210510,232927,1839.594,-6557.542,41,4.0,60,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-44.1
$GPS2,210510,233419,1839.612,-6557.567,11,1.4,16,-12.8
$SPEED_LIMITS,0.100,0.210
$TGT_NAME,66W_1906N_N
$TGT_LATLONG,1906.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.002,0.210
$KALMAN_X,523.3,523.3,523.3,-306.3,-1529.0
$KALMAN_Y,-2453.1,-2453.1,-2453.1,12707.5,7167.2
$MHEAD_RNG_PITCHd_Wd,12.1,49055,-22.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-2.03,-146.6,0.0,0.0,0,118,0.00,0.00,-101.50,0.000,2,0.000,0.000,13,1941,2025,0,0,0,0,0,0
$GC,120,-2.03,-146.6,3.7,-6.4,10,152,5.60,2.17,-20.85,0.000,4,0.191,0.077,1099,3283,2572,0,0,0,0,0,0
$GC,494,-2.03,-146.6,83.7,-21.2,43,501,0.00,2.22,0.00,0.000,6,0.000,0.070,1099,1877,2572,0,0,0,0,0,0
$GC,819,-2.03,-146.6,136.1,-13.9,74,823,0.00,2.22,0.00,0.000,4,0.000,0.082,1099,3283,2574,0,0,0,0,0,0
$GC,1008,-2.03,-146.6,163.1,-13.4,86,1015,0.00,2.17,0.00,0.000,6,0.000,0.067,1099,1896,2574,0,0,0,0,0,0
$GC,1325,-2.03,-146.6,207.7,-14.0,102,1329,0.00,2.20,0.00,0.000,4,0.000,0.082,1099,3284,2575,0,0,0,0,0,0
$GC,1514,-2.03,-146.6,235.9,-14.4,110,1521,0.00,2.17,0.00,0.000,6,0.000,0.077,1099,1905,2575,0,0,0,0,0,0
$GC,1830,-2.03,-146.6,284.4,-15.0,126,1833,0.00,2.22,0.00,0.000,4,0.000,0.084,1099,3276,2576,0,0,0,0,0,0
$GC,1942,-2.03,-146.6,302.4,-16.1,131,1946,0.00,2.17,0.00,0.000,6,0.000,0.074,1099,1897,2576,0,0,0,0,0,0
$GC,2270,-2.03,-146.6,358.7,-18.2,142,2274,0.00,2.22,0.00,0.000,4,0.000,0.087,1099,3289,2576,0,0,0,0,0,0
$GC,2313,-2.03,-146.6,366.8,-17.3,143,2318,0.00,2.20,0.00,0.000,6,0.000,0.072,1099,1907,2576,0,0,0,0,0,0
$GC,2637,-2.03,-146.6,429.0,-20.0,154,2641,0.00,2.22,0.00,0.000,4,0.000,0.089,1099,3283,2577,0,0,0,0,0,0
$GC,2805,-2.03,-146.6,463.9,-21.3,159,2809,0.00,2.20,0.00,0.000,6,0.000,0.079,1099,1903,2577,0,0,0,0,0,0
$GC,3138,-2.03,-146.6,532.6,-20.8,170,3142,0.00,2.28,0.00,0.000,4,0.000,0.094,1099,3287,2577,0,0,0,0,0,0
$GC,3175,-2.03,-146.6,540.7,-20.9,171,3181,0.00,2.25,0.00,0.000,6,0.000,0.089,1099,1904,2576,0,0,0,0,0,0
$GC,3505,-2.03,-146.6,612.5,-22.5,182,3508,0.00,2.28,0.00,0.000,4,0.000,0.097,1099,3270,2576,0,0,0,0,0,0
$GC,3576,-2.03,-146.6,628.8,-22.4,184,3581,0.00,2.22,0.00,0.000,6,0.000,0.084,1099,1909,2576,0,0,1,0,0,0
$GC,3911,-2.03,-146.6,706.5,-23.4,195,3915,0.00,2.30,0.00,0.000,4,0.000,0.104,1099,3280,2576,0,0,0,0,0,0
$GC,4011,-2.03,-146.6,730.6,-24.6,198,4015,0.00,2.28,0.00,0.000,6,0.000,0.089,1099,1897,2576,0,0,1,0,0,0
$GC,4345,-2.03,-146.6,812.4,-25.1,209,4350,0.00,2.35,0.00,0.000,4,0.000,0.109,1099,3283,2576,0,0,0,0,0,0
$GC,4400,-2.03,-146.6,826.5,-25.0,210,4407,0.00,2.30,0.00,0.000,6,0.000,0.094,1099,1900,2576,0,0,1,0,0,0
$GC,4713,-2.03,-146.6,906.4,-25.7,221,4717,0.00,2.35,0.00,0.000,4,0.000,0.112,1099,3277,2576,0,0,1,0,0,0
$GC,4790,-2.03,-146.6,927.0,-25.7,223,4796,0.00,2.30,0.00,0.000,6,0.000,0.099,1099,1911,2576,0,0,1,0,0,0
$GC,5150,-2.03,-146.6,1016.5,-24.8,234,5154,0.00,2.35,0.00,0.000,4,0.000,0.117,1099,3273,2576,0,0,0,0,0,0
$GC,5254,-2.03,-146.6,1043.3,-25.3,235,5260,0.00,2.33,0.00,0.000,6,0.000,0.102,1099,1905,2576,0,0,1,0,0,0
$GC,5582,-2.03,-146.6,1125.2,-25.2,241,5586,0.00,2.40,0.00,0.000,4,0.000,0.122,1099,3276,2576,0,0,0,0,0,0
$GC,5647,-2.03,-146.6,1141.7,-25.1,242,5651,0.00,2.35,0.00,0.000,6,0.000,0.107,1099,1901,2575,0,0,1,0,0,0
$GC,6013,-2.03,-146.6,1231.4,-24.8,248,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,1099,1901,2573,0,0,0,0,0,0
$GC,6316,-2.03,-146.6,1306.4,-24.9,253,6320,0.00,2.42,0.00,0.000,4,0.000,0.129,1099,3272,2572,0,0,0,0,0,0
$GC,6455,-2.03,-146.6,1342.5,-25.9,255,6460,0.00,2.38,0.00,0.000,6,0.000,0.112,1099,1906,2570,0,0,1,0,0,0
$GC,6817,-2.03,-146.6,1431.6,-24.7,261,6821,0.00,2.45,0.00,0.000,4,0.000,0.132,1099,3274,2569,0,0,0,0,0,0
$GC,6871,-2.03,-146.6,1446.1,-25.3,261,6878,0.00,2.40,0.00,0.000,6,0.000,0.114,1099,1902,2567,0,0,1,0,0,0
$GC,7181,-2.03,-146.6,1523.1,-24.8,267,7185,0.00,2.45,0.00,0.000,4,0.000,0.134,1099,3271,2566,0,0,0,0,0,0
$GC,7257,-2.03,-146.6,1542.1,-26.0,268,7262,0.00,2.40,0.00,0.000,6,0.000,0.117,1099,1908,2565,0,0,1,0,0,0
$GC,7618,-2.03,-146.6,1588.5,-6.9,274,7622,0.00,2.53,0.00,0.000,4,0.000,0.139,1099,480,2564,0,0,0,0,0,0
$GC,8295,-2.03,-146.6,1588.5,0.3,284,8301,0.00,2.42,0.00,0.000,6,0.000,0.119,1099,1862,2561,0,0,1,0,0,0
$STATE,8654,end dive,NO_VERTICAL_VELOCITY
$STATE,8654,begin apogee
$GC,8658,-0.42,0.0,1588.5,0.0,290,8776,1.67,0.00,111.75,1.912,6,0.146,0.000,1456,1649,2073,0,0,0,0,0,0
$STATE,8777,end apogee,CONTROL_FINISHED_OK
$STATE,8777,begin climb
$GC,8779,2.03,146.6,1588.3,0.0,292,8905,2.60,2.85,116.07,1.862,4,0.146,0.146,1986,3061,1577,0,0,1,0,0,0
$GC,9578,2.29,361.3,1588.1,0.2,304,9755,0.22,2.55,167.30,1.872,6,0.092,0.124,2046,1658,850,0,0,1,0,0,0
$GC,10119,2.29,361.3,1540.4,13.6,313,10124,0.00,2.62,0.00,0.000,4,0.000,0.139,2046,3061,850,0,0,1,0,0,0
$GC,10432,2.29,361.3,1496.4,13.3,317,10437,0.00,2.58,0.00,0.000,6,0.000,0.124,2046,1652,850,0,0,1,0,0,0
$GC,10753,2.29,361.3,1456.7,12.3,323,10757,0.00,2.58,0.00,0.000,4,0.000,0.146,2046,238,850,0,0,0,0,0,0
$GC,10841,2.29,361.3,1446.8,11.0,324,10846,0.00,2.50,0.00,0.000,6,0.000,0.117,2046,1650,850,0,0,1,0,0,0
$GC,11186,2.30,367.5,1412.6,9.7,330,11197,0.00,2.62,6.12,1.368,4,0.000,0.146,2046,235,828,0,0,0,0,0,0
$GC,11336,2.30,367.5,1393.5,12.0,332,11341,0.00,2.50,0.00,0.000,6,0.000,0.117,2046,1642,828,0,0,1,0,0,0
$GC,11686,2.30,367.5,1353.7,11.3,338,11691,0.00,2.60,0.00,0.000,4,0.000,0.144,2046,237,828,0,0,0,0,0,0
$GC,11864,2.30,367.5,1329.8,13.5,340,11869,0.00,2.50,0.00,0.000,6,0.000,0.117,2045,1651,828,0,0,1,0,0,0
$GC,12185,2.30,367.5,1291.9,12.0,346,12189,0.00,2.60,0.00,0.000,4,0.000,0.144,2045,237,829,0,0,0,0,0,0
$GC,12267,2.30,367.5,1280.6,13.5,347,12272,0.00,2.47,0.00,0.000,6,0.000,0.117,2046,1642,828,0,0,1,0,0,0
$GC,12617,2.30,367.5,1237.7,12.3,353,12621,0.00,2.58,0.00,0.000,4,0.000,0.144,2046,237,828,0,0,0,0,0,0
$GC,12715,2.30,367.5,1224.8,12.1,354,12720,0.00,2.47,0.00,0.000,6,0.000,0.117,2046,1645,828,0,0,1,0,0,0
$GC,13047,2.30,367.5,1188.8,10.6,360,13052,0.00,2.58,0.00,0.000,4,0.000,0.144,2046,237,828,0,0,0,0,0,0
$GC,13366,2.30,367.5,1149.0,12.0,364,13371,0.00,2.47,0.00,0.000,6,0.000,0.117,2046,1652,828,0,0,1,0,0,0
$GC,13681,2.30,367.5,1110.4,12.1,370,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1656,828,0,0,0,0,0,0
$GC,13985,2.30,367.5,1073.3,12.3,375,13990,0.00,2.50,0.00,0.000,4,0.000,0.137,2046,3062,828,0,0,0,0,0,0
$GC,14017,2.30,367.5,1069.0,11.8,375,14022,0.00,2.50,0.00,0.000,6,0.000,0.117,2046,1643,827,0,0,1,0,0,0
$GC,14349,2.30,367.5,1030.1,11.7,381,14353,0.00,2.50,0.00,0.000,4,0.000,0.139,2046,238,827,0,0,0,0,0,0
$GC,14520,2.30,367.5,1009.1,12.1,383,14526,0.00,2.45,0.00,0.000,6,0.000,0.112,2046,1658,827,0,0,1,0,0,0
$GC,14849,2.30,367.5,970.6,11.9,393,14854,0.00,2.53,0.00,0.000,4,0.000,0.137,2046,240,827,0,0,0,0,0,0
$GC,14926,2.30,367.5,960.3,14.4,395,14931,0.00,2.42,0.00,0.000,6,0.000,0.112,2046,1652,827,0,0,1,0,0,0
$GC,15250,2.30,367.5,922.1,11.1,406,15254,0.00,2.53,0.00,0.000,4,0.000,0.137,2046,241,827,0,0,0,0,0,0
$GC,15331,2.30,367.5,912.9,11.2,408,15336,0.00,2.40,0.00,0.000,6,0.000,0.109,2046,1643,827,0,0,1,0,0,0
$GC,15650,2.31,375.8,881.7,9.6,419,15664,0.00,2.55,7.10,1.219,4,0.000,0.132,2046,3054,801,0,0,1,0,0,0
$GC,15878,2.31,375.8,857.0,11.2,425,15883,0.00,2.42,0.00,0.000,6,0.000,0.112,2046,1649,801,0,0,1,0,0,0
$GC,16189,2.31,375.8,821.8,11.7,436,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1649,801,0,0,0,0,0,0
$GC,16495,2.31,375.8,786.0,11.2,446,16499,0.00,2.50,0.00,0.000,4,0.000,0.134,2046,240,801,0,0,0,0,0,0
$GC,16645,2.31,375.8,767.4,11.8,450,16650,0.00,2.40,0.00,0.000,6,0.000,0.107,2045,1644,801,0,0,1,0,0,0
$GC,16963,2.31,375.8,732.8,10.7,461,16964,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1650,801,0,0,0,0,0,0
$GC,17270,2.31,375.8,699.8,10.3,471,17274,0.00,2.50,0.00,0.000,4,0.000,0.129,2046,237,801,0,0,1,0,0,0
$GC,17433,2.31,375.8,680.6,13.3,476,17437,0.00,2.38,0.00,0.000,6,0.000,0.104,2046,1653,801,0,0,1,0,0,0
$GC,17766,2.31,375.8,642.4,11.9,487,17770,0.00,2.47,0.00,0.000,4,0.000,0.127,2046,235,801,0,0,0,0,0,0
$GC,17922,2.31,375.8,620.8,14.0,491,17929,0.00,2.38,0.00,0.000,6,0.000,0.099,2046,1653,801,0,0,1,0,0,0
$GC,18234,2.31,375.8,578.0,14.0,502,18235,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1653,800,0,0,0,0,0,0
$GC,18540,2.31,375.8,530.8,15.9,512,18544,0.00,2.38,0.00,0.000,4,0.000,0.114,2046,3055,801,0,0,0,0,0,0
$GC,18606,2.31,375.8,519.9,14.9,514,18611,0.00,2.38,0.00,0.000,6,0.000,0.097,2046,1647,801,0,0,1,0,0,0
$GC,18941,2.31,375.8,465.9,16.4,525,18945,0.00,2.38,0.00,0.000,4,0.000,0.109,2046,3052,801,0,0,0,0,0,0
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$STATE,21498,end climb,SURFACE_DEPTH_REACHED
$STATE,21498,begin surface coast
$FINISH,0.1,1.023210
$STATE,21521,end surface coast,CONTROL_FINISHED_OK
$STATE,21521,begin surface
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$SM_GC,0.68,0.00,0.00,52.65,0.000,0.000,0.772,18,1934,549,-7.05,0.96,450.22
$IRIDIUM_FIX,1828.22,-6559.71,141111,131334
$TT8_MAMPS,0.021721
$HUMID,1078049668
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,23.30
$XPDR_PINGS,9
$ALTIM_TOP_PING,20.0,19.0
$24V_AH,23.7,5.723
$10V_AH,10.4,2.028
$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
$DEVICE_SECS,18.100,187.275,408.350,52.650,0.000,30.753,27.922,146.508,10.000,0.000,17.043,1606.651,16617.174,640.283,2895.377,123.593,30.192,1989.260,0.000,2512.974,0.000,58.464,0.000
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$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.960,0.000,1029.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326212
$DATA_FILE_SIZE,36832,674
$CAP_FILE_SIZE,178650,0
$CFSIZE,260280320,253157376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,220510,053624,1842.466,-6556.862,35,1.8,52,-12.8