version: 66.07
glider: 33
mission: 17
dive: 40
start: 5 23 110 21 24 44
data:
$ID,33
$MISSION,17
$DIVE,40
$D_SURF,4
$D_FLARE,3
$D_TGT,2400
$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,2160
$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,350
$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,-221124.03
$T_RSLEEP,12
$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,12.5
$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,67
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,1735
$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,2000
$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
$GPS1,230510,211920,1857.579,-6558.306,13,1.8,13,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-41.1
$GPS2,230510,212350,1857.567,-6558.311,15,1.7,15,-12.8
$SPEED_LIMITS,0.100,0.210
$TGT_NAME,66W_1830N_S
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,-0.159
$KALMAN_X,38680.6,-3467.6,489.4,-35632.9,24169.0
$KALMAN_Y,-33493.5,2540.6,101.8,69147.5,-19504.5
$MHEAD_RNG_PITCHd_Wd,233.6,51141,-22.2,-10.000
$D_GRID,2400
$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,12,begin dive
$GC,14,-1.95,-146.6,0.0,0.0,0,137,0.00,0.00,-119.53,0.000,6,0.000,0.000,14,1856,2232,0,0,0,0,0,0
$GC,139,-1.95,-146.6,3.4,-5.0,12,147,5.70,0.00,0.00,0.000,6,0.201,0.000,1119,1856,2232,0,0,0,0,0,0
$GC,466,-1.95,-146.6,49.1,-12.9,43,469,0.00,2.25,0.00,0.000,4,0.000,0.079,1119,3297,2234,0,0,0,0,0,0
$GC,606,-1.95,-146.6,66.6,-11.1,55,610,0.00,2.10,0.00,0.000,6,0.000,0.067,1119,1909,2234,0,0,0,0,0,0
$GC,930,-1.95,-146.6,101.6,-9.0,85,932,0.00,0.00,0.00,0.000,6,0.000,0.000,1119,1909,2234,0,0,0,0,0,0
$GC,1249,-1.95,-146.6,119.7,-4.2,115,1253,0.00,2.17,0.00,0.000,4,0.000,0.082,1118,3301,2234,0,0,0,0,0,0
$GC,1928,-1.95,-146.6,161.2,-7.4,168,1933,0.00,2.12,0.00,0.000,6,0.000,0.067,1119,1913,2234,0,0,0,0,0,0
$GC,2250,-1.95,-146.6,183.3,-6.4,184,2254,0.00,2.17,0.00,0.000,4,0.000,0.089,1119,3297,2234,0,0,0,0,0,0
$GC,2675,-1.95,-146.6,213.9,-6.9,203,2680,0.00,2.15,0.00,0.000,6,0.000,0.072,1119,1906,2234,0,0,0,0,0,0
$GC,3004,-1.95,-146.6,241.6,-9.4,219,3007,0.00,2.20,0.00,0.000,4,0.000,0.092,1119,3295,2233,0,0,0,0,0,0
$GC,3058,-1.95,-146.6,247.1,-10.2,221,3065,0.00,2.17,0.00,0.000,6,0.000,0.070,1119,1900,2233,0,0,0,0,0,0
$GC,3375,-1.95,-146.6,277.2,-10.2,237,3379,0.00,2.22,0.00,0.000,4,0.000,0.089,1119,3296,2233,0,0,1,0,0,0
$GC,3514,-1.95,-146.6,293.1,-11.6,243,3518,0.00,2.20,0.00,0.000,6,0.000,0.074,1119,1899,2233,0,0,0,0,0,0
$GC,3832,-1.95,-146.6,329.8,-11.9,255,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,1119,1898,2233,0,0,0,0,0,0
$GC,4138,-1.95,-146.6,370.6,-13.9,265,4142,0.00,2.25,0.00,0.000,4,0.000,0.089,1119,3301,2232,0,0,0,0,0,0
$GC,4237,-1.95,-146.6,385.5,-15.5,268,4242,0.00,2.20,0.00,0.000,6,0.000,0.074,1119,1912,2232,0,0,0,0,0,0
$GC,4572,-1.95,-146.6,434.8,-14.8,279,4576,0.00,2.20,0.00,0.000,4,0.000,0.092,1119,3292,2231,0,0,0,0,0,0
$GC,4778,-1.95,-146.6,466.7,-15.2,285,4784,0.00,2.22,0.00,0.000,6,0.000,0.077,1119,1902,2230,0,0,0,0,0,0
$GC,5108,-1.95,-146.6,517.8,-16.1,296,5112,0.00,2.28,0.00,0.000,4,0.000,0.094,1119,3293,2228,0,0,0,0,0,0
$GC,5150,-1.95,-146.6,524.9,-17.2,297,5155,0.00,2.22,0.00,0.000,6,0.000,0.079,1119,1909,2226,0,0,0,0,0,0
$GC,5474,-1.95,-146.6,580.7,-17.8,308,5478,0.00,2.28,0.00,0.000,4,0.000,0.099,1119,3289,2226,0,0,0,0,0,0
$GC,5591,-1.95,-146.6,602.1,-16.9,311,5596,0.00,2.22,0.00,0.000,6,0.000,0.084,1119,1909,2225,0,0,1,0,0,0
$GC,5909,-1.95,-146.6,659.5,-18.6,322,5913,0.00,2.28,0.00,0.000,4,0.000,0.102,1119,3289,2222,0,0,0,0,0,0
$GC,6025,-1.95,-146.6,682.3,-20.4,325,6030,0.00,2.25,0.00,0.000,6,0.000,0.089,1119,1909,2221,0,0,1,0,0,0
$GC,6343,-1.95,-146.6,744.6,-20.1,336,6347,0.00,2.33,0.00,0.000,4,0.000,0.107,1119,3289,2220,0,0,0,0,0,0
$GC,6409,-1.95,-146.6,758.7,-21.3,338,6413,0.00,2.30,0.00,0.000,6,0.000,0.092,1119,1897,2219,0,0,1,0,0,0
$GC,6744,-1.95,-146.6,828.6,-21.0,349,6748,0.00,2.38,0.00,0.000,4,0.000,0.112,1119,3293,2217,0,0,0,0,0,0
$GC,6927,-1.95,-146.6,870.0,-22.0,354,6932,0.00,2.33,0.00,0.000,6,0.000,0.097,1119,1904,2216,0,0,1,0,0,0
$GC,7245,-1.95,-146.6,937.8,-21.2,365,7249,0.00,2.35,0.00,0.000,4,0.000,0.114,1119,3286,2213,0,0,0,0,0,0
$GC,7322,-1.95,-146.6,954.4,-21.4,367,7327,0.00,2.33,0.00,0.000,6,0.000,0.099,1119,1904,2212,0,0,1,0,0,0
$GC,7681,-1.95,-146.6,1029.5,-20.9,377,7685,0.00,2.38,0.00,0.000,4,0.000,0.117,1119,3285,2210,0,0,0,0,0,0
$GC,7775,-1.95,-146.6,1049.8,-21.5,378,7780,0.00,2.33,0.00,0.000,6,0.000,0.102,1119,1907,2210,0,0,1,0,0,0
$GC,8112,-1.95,-146.6,1117.9,-20.3,384,8117,0.00,2.40,0.00,0.000,4,0.000,0.119,1119,3290,2208,0,0,0,0,0,0
$GC,8155,-1.95,-146.6,1127.0,-20.3,384,8161,0.00,2.35,0.00,0.000,6,0.000,0.104,1119,1907,2207,0,0,1,0,0,0
$GC,8476,-1.95,-146.6,1193.3,-20.7,390,8480,0.00,2.40,0.00,0.000,4,0.000,0.122,1119,3284,2205,0,0,0,0,0,0
$GC,8587,-1.95,-146.6,1217.3,-21.6,391,8592,0.00,2.38,0.00,0.000,6,0.000,0.107,1119,1898,2205,0,0,1,0,0,0
$GC,8907,-1.95,-146.6,1284.6,-21.1,397,8912,0.00,2.45,0.00,0.000,4,0.000,0.127,1119,3285,2204,0,0,0,0,0,0
$GC,8978,-1.95,-146.6,1300.4,-21.3,398,8984,0.00,2.38,0.00,0.000,6,0.000,0.109,1119,1906,2202,0,0,1,0,0,0
$GC,9339,-1.95,-146.6,1377.8,-21.8,404,9343,0.00,2.42,0.00,0.000,4,0.000,0.129,1119,3283,2201,0,0,0,0,0,0
$GC,9420,-1.95,-146.6,1395.8,-20.2,405,9425,0.00,2.40,0.00,0.000,6,0.000,0.112,1119,1898,2200,0,0,1,0,0,0
$GC,9771,-1.95,-146.6,1471.3,-21.7,411,9775,0.00,2.47,0.00,0.000,4,0.000,0.132,1119,3287,2199,0,0,0,0,0,0
$GC,9854,-1.95,-146.6,1489.6,-21.8,412,9858,0.00,2.40,0.00,0.000,6,0.000,0.114,1119,1893,2198,0,0,1,0,0,0
$GC,10195,-1.95,-146.6,1562.4,-21.4,418,10199,0.00,2.47,0.00,0.000,4,0.000,0.134,1119,3284,2198,0,0,0,0,0,0
$GC,10260,-1.95,-146.6,1576.5,-21.1,419,10265,0.00,2.42,0.00,0.000,6,0.000,0.114,1119,1897,2197,0,0,1,0,0,0
$GC,10627,-1.95,-146.6,1653.5,-21.0,425,10631,0.00,2.50,0.00,0.000,4,0.000,0.137,1119,3285,2196,0,0,0,0,0,0
$GC,10710,-1.95,-146.6,1671.2,-22.6,426,10714,0.00,2.40,0.00,0.000,6,0.000,0.117,1119,1900,2195,0,0,1,0,0,0
$GC,11051,-1.95,-146.6,1741.3,-20.4,432,11055,0.00,2.47,0.00,0.000,4,0.000,0.139,1119,3281,2194,0,0,1,0,0,0
$GC,11128,-1.95,-146.6,1757.2,-21.1,433,11133,0.00,2.42,0.00,0.000,6,0.000,0.119,1119,1906,2194,0,0,1,0,0,0
$GC,11484,-1.95,-146.6,1828.0,-20.0,439,11488,0.00,2.50,0.00,0.000,4,0.000,0.139,1119,3285,2193,0,0,0,0,0,0
$GC,11544,-1.95,-146.6,1840.8,-20.3,440,11549,0.00,2.40,0.00,0.000,6,0.000,0.119,1119,1899,2193,0,0,1,0,0,0
$GC,11909,-1.95,-146.6,1914.8,-20.2,446,11913,0.00,2.53,0.00,0.000,4,0.000,0.142,1119,3286,2192,0,0,0,0,0,0
$GC,11991,-1.95,-146.6,1931.6,-19.9,447,11996,0.00,2.45,0.00,0.000,6,0.000,0.122,1119,1900,2191,0,0,1,0,0,0
$GC,12340,-1.95,-146.6,2001.8,-20.1,453,12345,0.00,2.53,0.00,0.000,4,0.000,0.142,1119,3286,2191,0,0,1,0,0,0
$GC,12423,-1.95,-146.6,2018.6,-20.1,454,12428,0.00,2.45,0.00,0.000,6,0.000,0.122,1119,1903,2190,0,0,1,0,0,0
$GC,12771,-1.95,-146.6,2088.2,-20.1,460,12776,0.00,2.53,0.00,0.000,4,0.000,0.142,1119,3284,2190,0,0,0,0,0,0
$GC,12837,-1.95,-146.6,2101.7,-19.9,461,12842,0.00,2.45,0.00,0.000,6,0.000,0.122,1119,1904,2189,0,0,1,0,0,0
$GC,13203,-1.95,-146.6,2173.7,-19.7,467,13207,0.00,2.50,0.00,0.000,4,0.000,0.144,1119,3281,2189,0,0,1,0,0,0
$GC,13284,-1.95,-146.6,2190.0,-19.1,468,13289,0.00,2.45,0.00,0.000,6,0.000,0.122,1119,1906,2188,0,0,1,0,0,0
$GC,13635,-1.95,-146.6,2256.6,-19.1,474,13639,0.00,2.50,0.00,0.000,4,0.000,0.144,1119,3281,2188,0,0,0,0,0,0
$GC,13722,-1.95,-146.6,2274.1,-19.4,475,13727,0.00,2.47,0.00,0.000,6,0.000,0.124,1119,1899,2188,0,0,1,0,0,0
$GC,14065,-1.95,-146.6,2340.3,-19.4,481,14070,0.00,2.50,0.00,0.000,4,0.000,0.146,1119,3280,2188,0,0,1,0,0,0
$GC,14148,-1.95,-146.6,2356.5,-19.4,482,14153,0.00,2.45,0.00,0.000,6,0.000,0.124,1119,1906,2186,0,0,1,0,0,0
$STATE,14437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14437,begin apogee
$GC,14441,-0.40,0.0,2411.3,19.1,487,14557,1.60,0.00,109.95,2.476,6,0.144,0.000,1462,1643,1734,0,0,0,0,0,0
$STATE,14558,end apogee,CONTROL_FINISHED_OK
$STATE,14558,begin climb
$GC,14559,1.95,146.6,2418.2,0.0,489,14694,2.25,2.88,123.40,2.423,4,0.099,0.161,1976,240,1237,0,0,0,0,0,0
$GC,14721,2.32,440.8,2425.3,-3.4,491,14975,0.28,2.62,244.35,2.404,6,0.070,0.117,2057,1624,241,0,0,1,0,0,0
$GC,15283,2.32,440.8,2313.4,25.3,501,15288,0.00,2.70,0.00,0.000,4,0.000,0.144,2057,3056,241,0,0,0,0,0,0
$GC,15365,2.32,440.8,2292.4,23.9,502,15370,0.00,2.62,0.00,0.000,6,0.000,0.127,2057,1648,241,0,0,1,0,0,0
$GC,15715,2.32,440.8,2204.3,25.3,508,15720,0.00,2.62,0.00,0.000,4,0.000,0.146,2057,233,240,0,0,0,0,0,0
$GC,15758,2.32,440.8,2192.2,26.7,508,15763,0.00,2.53,0.00,0.000,6,0.000,0.122,2057,1642,240,0,0,1,0,0,0
$GC,16079,2.32,440.8,2112.0,25.1,514,16080,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1643,240,0,0,0,0,0,0
$GC,16382,2.32,440.8,2037.1,24.6,519,16383,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1642,240,0,0,0,0,0,0
$GC,16685,2.32,440.8,1961.8,24.8,524,16689,0.00,2.60,0.00,0.000,4,0.000,0.144,2057,3063,239,0,0,0,0,0,0
$GC,16723,2.32,440.8,1952.2,25.4,524,16728,0.00,2.55,0.00,0.000,6,0.000,0.124,2058,1648,239,0,0,1,0,0,0
$GC,17049,2.32,440.8,1872.0,24.7,530,17053,0.00,2.58,0.00,0.000,4,0.000,0.146,2057,238,239,0,0,0,0,0,0
$GC,17086,2.32,440.8,1862.2,22.6,530,17092,0.00,2.50,0.00,0.000,6,0.000,0.119,2057,1652,238,0,0,1,0,0,0
$GC,17413,2.32,440.8,1785.4,23.5,536,17414,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1653,238,0,0,0,0,0,0
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$STATE,25168,end climb,SURFACE_DEPTH_REACHED
$STATE,25168,begin surface coast
$FINISH,0.2,1.022694
$STATE,25181,end surface coast,CONTROL_FINISHED_OK
$STATE,25181,begin surface
$SM_CCo,25258,0.00,0.000,0,0,245,439.89
$SM_GC,0.68,8.02,0.00,0.00,0.062,0.000,0.000,17,1919,245,-6.96,0.54,439.89
$IRIDIUM_FIX,1853.26,-6558.08,161111,151534
$TT8_MAMPS,0.020972
$HUMID,1078232893
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,22.60
$XPDR_PINGS,8
$ALTIM_TOP_PING,18.5,17.7
$24V_AH,22.7,7.475
$10V_AH,10.4,2.607
$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,17.850,216.825,477.700,0.000,0.000,0.000,0.000,0.000,6.500,0.000,16.515,1745.422,20280.553,648.727,2537.673,113.243,33.362,1980.782,0.000,2368.382,0.000,34.060,0.000
$DEVICE_MAMPS,201.123,161.395,2475.551,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.138,0.000,1180.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326892
$DATA_FILE_SIZE,43473,774
$CAP_FILE_SIZE,263167,0
$CFSIZE,260280320,252600320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,240510,042655,1854.861,-6600.251,39,1.4,40,-12.8