version: 66.07
glider: 33
mission: 17
dive: 37
start: 5 22 110 12 17 47
data:
$ID,33
$MISSION,17
$DIVE,37
$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,-220651.16
$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,33
$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
$GPS1,220510,121137,1845.890,-6556.499,26,1.2,27,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-46.0
$GPS2,220510,121655,1845.905,-6556.527,10,1.9,15,-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,-0.092,0.189
$KALMAN_X,5701.0,187.5,85.0,-2833.0,8012.8
$KALMAN_Y,-18397.0,-85.2,1213.9,33972.9,-27603.3
$MHEAD_RNG_PITCHd_Wd,346.9,37709,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-2.03,-146.6,0.0,0.0,0,118,0.00,0.00,-100.85,0.000,2,0.000,0.000,12,1928,2027,0,0,0,0,0,0
$GC,120,-2.03,-146.6,4.0,-7.1,10,152,5.72,2.22,-20.05,0.000,4,0.196,0.077,1100,3290,2571,0,0,0,0,0,0
$GC,561,-2.03,-146.6,95.1,-17.1,49,568,0.00,2.22,0.00,0.000,6,0.000,0.065,1100,1890,2571,0,0,0,0,0,0
$GC,887,-2.03,-146.6,145.4,-15.4,80,890,0.00,2.25,0.00,0.000,4,0.000,0.087,1100,3287,2573,0,0,0,0,0,0
$GC,1210,-2.03,-146.6,192.0,-13.7,95,1217,0.00,2.17,0.00,0.000,6,0.000,0.067,1099,1903,2575,0,0,0,0,0,0
$GC,1528,-2.03,-146.6,236.4,-15.7,111,1532,0.00,2.22,0.00,0.000,4,0.000,0.082,1099,3286,2576,0,0,0,0,0,0
$GC,1733,-2.03,-146.6,268.9,-14.6,120,1739,0.00,2.20,0.00,0.000,6,0.000,0.077,1100,1897,2576,0,0,0,0,0,0
$GC,2053,-2.03,-146.6,321.3,-16.3,134,2057,0.00,2.25,0.00,0.000,4,0.000,0.084,1100,3284,2577,0,0,0,0,0,0
$GC,2192,-2.03,-146.6,345.6,-17.0,138,2197,0.00,2.20,0.00,0.000,6,0.000,0.074,1100,1911,2577,0,0,0,0,0,0
$GC,2527,-2.03,-146.6,407.4,-18.9,149,2531,0.00,2.20,0.00,0.000,4,0.000,0.089,1100,3282,2577,0,0,0,0,0,0
$GC,2588,-2.03,-146.6,419.5,-19.7,151,2592,0.00,2.20,0.00,0.000,6,0.000,0.077,1100,1912,2577,0,0,0,0,0,0
$GC,2928,-2.03,-146.6,487.1,-20.0,162,2932,0.00,2.25,0.00,0.000,4,0.000,0.092,1099,3287,2577,0,0,0,0,0,0
$GC,3049,-2.03,-146.6,512.7,-21.2,165,3054,0.00,2.25,0.00,0.000,6,0.000,0.079,1100,1903,2577,0,0,0,0,0,0
$GC,3368,-2.03,-146.6,579.2,-21.6,176,3371,0.00,2.25,0.00,0.000,4,0.000,0.094,1100,3275,2576,0,0,0,0,0,0
$GC,3439,-2.03,-146.6,595.1,-22.3,178,3444,0.00,2.25,0.00,0.000,6,0.000,0.082,1100,1907,2576,0,0,0,0,0,0
$GC,3774,-2.03,-146.6,669.7,-22.8,189,3778,0.00,2.25,0.00,0.000,4,0.000,0.102,1100,3278,2576,0,0,0,0,0,0
$GC,3844,-2.03,-146.6,686.2,-23.5,191,3850,0.00,2.25,0.00,0.000,6,0.000,0.087,1100,1905,2576,0,0,1,0,0,0
$GC,4174,-2.03,-146.6,764.7,-24.3,202,4178,0.00,2.30,0.00,0.000,4,0.000,0.107,1100,3280,2575,0,0,0,0,0,0
$GC,4256,-2.03,-146.6,785.0,-24.5,204,4261,0.00,2.30,0.00,0.000,6,0.000,0.092,1100,1900,2576,0,0,1,0,0,0
$GC,4575,-2.03,-146.6,867.0,-25.9,215,4579,0.00,2.33,0.00,0.000,4,0.000,0.112,1099,3275,2576,0,0,1,0,0,0
$GC,4690,-2.03,-146.6,897.3,-25.4,218,4695,0.00,2.33,0.00,0.000,6,0.000,0.097,1100,1897,2576,0,0,1,0,0,0
$GC,5009,-2.03,-146.6,979.3,-25.5,229,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,1100,1897,2575,0,0,0,0,0,0
$GC,5344,-2.03,-146.6,1061.5,-24.3,236,5348,0.00,2.38,0.00,0.000,4,0.000,0.119,1100,3276,2575,0,0,0,0,0,0
$GC,5459,-2.03,-146.6,1089.4,-22.9,237,5464,0.00,2.33,0.00,0.000,6,0.000,0.104,1099,1909,2575,0,0,1,0,0,0
$GC,5775,-2.03,-146.6,1163.1,-23.6,243,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,1100,1909,2573,0,0,0,0,0,0
$GC,6078,-2.03,-146.6,1237.5,-24.6,248,6083,0.00,2.38,0.00,0.000,4,0.000,0.124,1100,3273,2571,0,0,0,0,0,0
$GC,6149,-2.03,-146.6,1256.1,-25.6,249,6154,0.00,2.35,0.00,0.000,6,0.000,0.109,1100,1906,2570,0,0,1,0,0,0
$GC,6509,-2.03,-146.6,1347.3,-25.4,255,6514,0.00,2.40,0.00,0.000,4,0.000,0.129,1099,3271,2569,0,0,0,0,0,0
$GC,6570,-2.03,-146.6,1362.7,-24.9,256,6575,0.00,2.35,0.00,0.000,6,0.000,0.114,1100,1902,2567,0,0,1,0,0,0
$GC,6936,-2.03,-146.6,1454.7,-25.3,262,6941,0.00,2.42,0.00,0.000,4,0.000,0.132,1100,3271,2566,0,0,0,0,0,0
$GC,6979,-2.03,-146.6,1466.2,-25.0,262,6984,0.00,2.40,0.00,0.000,6,0.000,0.114,1100,1902,2566,0,0,1,0,0,0
$GC,7300,-2.03,-146.6,1544.6,-24.5,268,7304,0.00,2.47,0.00,0.000,4,0.000,0.134,1100,3277,2565,0,0,0,0,0,0
$GC,7332,-2.03,-146.6,1552.9,-25.6,268,7337,0.00,2.42,0.00,0.000,6,0.000,0.117,1100,1896,2564,0,0,1,0,0,0
$GC,7665,-2.03,-146.6,1632.0,-24.0,274,7669,0.00,2.45,0.00,0.000,4,0.000,0.137,1100,3270,2563,0,0,1,0,0,0
$GC,7718,-2.03,-146.6,1645.4,-23.8,274,7725,0.00,2.42,0.00,0.000,6,0.000,0.117,1100,1897,2562,0,0,1,0,0,0
$GC,8028,-2.03,-146.6,1717.3,-23.4,280,8032,0.00,2.47,0.00,0.000,4,0.000,0.139,1100,3277,2562,0,0,1,0,0,0
$GC,8070,-2.03,-146.6,1727.6,-24.4,280,8075,0.00,2.45,0.00,0.000,6,0.000,0.119,1100,1896,2561,0,0,1,0,0,0
$GC,8392,-2.03,-146.6,1801.3,-22.9,286,8397,0.00,2.50,0.00,0.000,4,0.000,0.142,1100,3276,2560,0,0,0,0,0,0
$GC,8435,-2.03,-146.6,1811.6,-21.3,286,8440,0.00,2.42,0.00,0.000,6,0.000,0.119,1100,1905,2559,0,0,1,0,0,0
$GC,8758,-2.03,-146.6,1884.3,-22.8,292,8763,0.00,2.45,0.00,0.000,4,0.000,0.142,1100,3271,2559,0,0,1,0,0,0
$GC,8790,-2.03,-146.6,1892.6,-25.0,292,8795,0.00,2.42,0.00,0.000,6,0.000,0.122,1100,1903,2558,0,0,1,0,0,0
$GC,9122,-2.03,-146.6,1969.0,-23.2,298,9126,0.00,2.47,0.00,0.000,4,0.000,0.144,1100,3270,2558,0,0,1,0,0,0
$GC,9164,-2.03,-146.6,1979.5,-22.9,298,9169,0.00,2.45,0.00,0.000,6,0.000,0.122,1100,1899,2556,0,0,1,0,0,0
$GC,9487,-2.03,-146.6,2054.1,-23.4,304,9491,0.00,2.50,0.00,0.000,4,0.000,0.146,1100,3272,2556,0,0,1,0,0,0
$GC,9524,-2.03,-146.6,2063.7,-24.3,304,9529,0.00,2.45,0.00,0.000,6,0.000,0.122,1100,1901,2556,0,0,1,0,0,0
$GC,9851,-2.03,-146.6,2138.6,-23.0,310,9855,0.00,2.50,0.00,0.000,4,0.000,0.146,1100,3274,2555,0,0,1,0,0,0
$GC,9882,-2.03,-146.6,2146.7,-24.6,310,9887,0.00,2.45,0.00,0.000,6,0.000,0.124,1100,1902,2554,0,0,1,0,0,0
$GC,10215,-2.03,-146.6,2225.4,-23.7,316,10219,0.00,2.50,0.00,0.000,4,0.000,0.149,1100,3274,2555,0,0,1,0,0,0
$GC,10251,-2.03,-146.6,2234.3,-23.2,316,10256,0.00,2.45,0.00,0.000,6,0.000,0.124,1100,1906,2554,0,0,1,0,0,0
$GC,10578,-2.03,-146.6,2262.0,-2.8,322,10583,0.00,2.58,0.00,0.000,4,0.000,0.146,1099,484,2554,0,0,0,0,0,0
$GC,11257,-2.03,-146.6,2262.1,-0.3,332,11261,0.00,2.45,0.00,0.000,6,0.000,0.129,1100,1848,2553,0,0,1,0,0,0
$STATE,11555,end dive,NO_VERTICAL_VELOCITY
$STATE,11555,begin apogee
$GC,11559,-0.42,0.0,2262.4,0.0,337,11679,1.55,0.00,116.22,2.371,6,0.109,0.000,1457,1650,2074,0,0,0,0,0,0
$STATE,11680,end apogee,CONTROL_FINISHED_OK
$STATE,11680,begin climb
$GC,11681,2.03,146.6,2261.6,0.0,339,11816,2.45,2.97,124.82,2.319,4,0.117,0.159,1987,3013,1577,0,0,1,0,0,0
$GC,12490,2.28,350.8,2261.8,0.7,351,12668,0.20,2.53,170.30,2.327,6,0.070,0.129,2050,1654,885,0,0,1,0,0,0
$GC,13021,2.28,350.8,2205.3,14.4,360,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1654,885,0,0,0,0,0,0
$GC,13324,2.28,350.8,2159.6,15.2,365,13329,0.00,2.67,0.00,0.000,4,0.000,0.151,2050,239,885,0,0,0,0,0,0
$GC,13429,2.28,350.8,2141.9,16.7,366,13434,0.00,2.50,0.00,0.000,6,0.000,0.124,2050,1611,885,0,0,1,0,0,0
$GC,13756,2.28,350.8,2092.2,15.1,372,13760,0.00,2.72,0.00,0.000,4,0.000,0.146,2050,3065,885,0,0,0,0,0,0
$GC,13826,2.28,350.8,2081.1,14.8,373,13831,0.00,2.60,0.00,0.000,6,0.000,0.127,2050,1648,885,0,0,1,0,0,0
$GC,14188,2.28,350.8,2026.4,15.3,379,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1648,885,0,0,0,0,0,0
$GC,14489,2.28,350.8,1982.9,14.2,384,14494,0.00,2.62,0.00,0.000,4,0.000,0.151,2050,234,885,0,0,0,0,0,0
$GC,14532,2.28,350.8,1976.4,15.4,384,14537,0.00,2.53,0.00,0.000,6,0.000,0.124,2050,1645,885,0,0,1,0,0,0
$GC,14853,2.28,350.8,1933.3,13.4,390,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1645,885,0,0,0,0,0,0
$GC,15156,2.28,350.8,1891.7,13.7,395,15160,0.00,2.58,0.00,0.000,4,0.000,0.149,2050,238,884,0,0,1,0,0,0
$GC,15227,2.28,350.8,1880.9,14.2,396,15233,0.00,2.53,0.00,0.000,6,0.000,0.124,2050,1651,884,0,0,1,0,0,0
$GC,15588,2.28,350.8,1832.3,13.3,402,15592,0.00,2.60,0.00,0.000,4,0.000,0.149,2050,3061,884,0,0,0,0,0,0
$GC,15675,2.28,350.8,1820.8,12.5,403,15680,0.00,2.55,0.00,0.000,6,0.000,0.127,2050,1654,883,0,0,1,0,0,0
$GC,16020,2.28,350.8,1777.3,12.6,409,16021,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1653,883,0,0,0,0,0,0
$GC,16321,2.28,350.8,1741.4,11.8,414,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1653,883,0,0,0,0,0,0
$GC,16626,2.28,350.8,1707.3,11.3,419,16630,0.00,2.58,0.00,0.000,4,0.000,0.151,2050,235,883,0,0,0,0,0,0
$GC,16668,2.28,350.8,1701.8,14.5,419,16673,0.00,2.50,0.00,0.000,6,0.000,0.122,2050,1646,883,0,0,1,0,0,0
$GC,16989,2.28,350.8,1664.7,11.6,425,16993,0.00,2.60,0.00,0.000,4,0.000,0.146,2050,3066,883,0,0,0,0,0,0
$GC,17099,2.28,351.9,1652.0,10.0,426,17104,0.00,2.55,0.00,0.000,6,0.000,0.127,2050,1651,883,0,0,1,0,0,0
$GC,17419,2.28,351.9,1617.1,10.9,432,17420,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1651,883,0,0,0,0,0,0
$GC,17722,2.28,351.9,1583.8,11.2,437,17723,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1651,883,0,0,0,0,0,0
$GC,18026,2.28,351.9,1549.1,11.4,442,18030,0.00,2.55,0.00,0.000,4,0.000,0.144,2050,3062,883,0,0,1,0,0,0
$GC,18068,2.28,351.9,1543.9,10.8,442,18073,0.00,2.53,0.00,0.000,6,0.000,0.124,2050,1651,883,0,0,1,0,0,0
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$STATE,30260,end climb,SURFACE_DEPTH_REACHED
$STATE,30260,begin surface coast
$FINISH,0.8,1.022959
$STATE,30283,end surface coast,CONTROL_FINISHED_OK
$STATE,30284,begin surface
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$HUMID,1077985152
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,23.40
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.6,18.3
$24V_AH,22.6,6.315
$10V_AH,10.4,2.226
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.100,258.225,431.600,57.700,0.000,30.109,26.417,167.666,16.250,0.000,16.204,1999.082,24435.537,708.243,3364.938,162.707,32.370,2309.452,0.000,2916.588,0.000,105.212,0.000
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$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,46672,826
$CAP_FILE_SIZE,231946,0
$CFSIZE,260280320,252932096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$GPS,220510,204501,1849.749,-6557.323,42,1.9,42,-12.8