version: 66.07
glider: 33
mission: 22
dive: 21
start: 8 1 110 8 57 12
data:
$ID,33
$MISSION,22
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,1080
$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,450
$T_MISSION,480
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,180
$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,2
$HD_A,0.0048177
$HD_B,0.011392
$HD_C,1.0709e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-66
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-229843.31
$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,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,2082
$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,-20.341413
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,010810,085207,1831.184,-6601.198,41,1.1,42,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-54.9
$GPS2,010810,085650,1831.189,-6601.228,12,1.5,12,-12.7
$SPEED_LIMITS,0.080,0.230
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.245,-0.034
$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,148.3,3082,-33.1,-8.000
$D_GRID,1080
$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,-2.11,-36.1,0.0,0.0,0,109,0.00,0.00,-92.80,0.000,2,0.000,0.000,13,2311,2069,0,0,0,0,0,0
$GC,111,-2.14,-54.5,3.0,-5.3,9,134,7.10,2.25,-8.68,0.000,4,0.186,0.072,1380,889,2267,0,0,0,0,0,0
$GC,262,-2.17,-54.5,28.3,-18.0,22,270,0.00,2.25,0.00,0.000,6,0.000,0.062,1380,2325,2268,0,0,0,0,0,0
$GC,589,-2.24,-54.5,71.2,-12.3,53,593,0.00,2.20,0.00,0.000,4,0.000,0.084,1380,3698,2269,0,0,0,0,0,0
$GC,1269,-2.30,-69.7,115.3,-5.7,113,1275,0.12,2.12,-0.43,0.000,6,0.107,0.062,1339,2267,2328,0,0,0,0,0,0
$GC,1594,-2.36,-91.9,134.6,-4.7,143,1596,0.00,0.00,-0.52,0.000,6,0.000,0.000,1339,2260,2404,0,0,0,0,0,0
$GC,1909,-2.40,-91.9,158.1,-8.0,168,1913,0.00,2.08,0.00,0.000,4,0.000,0.074,1339,913,2405,0,0,0,0,0,0
$GC,2009,-2.42,-91.9,166.9,-8.1,172,2017,0.00,2.15,0.00,0.000,6,0.000,0.067,1339,2299,2405,0,0,0,0,0,0
$GC,2328,-2.46,-91.9,191.3,-8.0,188,2332,0.10,2.15,0.00,0.000,4,0.117,0.077,1303,913,2405,0,0,0,0,0,0
$GC,2623,-2.43,-91.9,219.8,-10.5,201,2631,0.00,2.17,0.00,0.000,6,0.000,0.067,1303,2299,2405,0,0,0,0,0,0
$GC,2946,-2.43,-91.9,259.8,-12.9,217,2951,0.00,2.25,0.00,0.000,4,0.000,0.084,1303,3706,2405,0,0,0,0,0,0
$GC,3524,-2.39,-91.9,350.9,-17.6,239,3529,0.08,2.15,0.00,0.000,6,0.161,0.067,1320,2329,2405,0,0,0,0,0,0
$GC,3861,-2.39,-91.9,405.5,-17.3,250,3864,0.00,2.22,0.00,0.000,4,0.000,0.087,1320,3705,2404,0,0,0,0,0,0
$GC,4180,-2.37,-91.9,465.9,-18.3,259,4184,0.00,2.17,0.00,0.000,6,0.000,0.079,1320,2303,2404,0,0,0,0,0,0
$GC,4499,-2.59,-142.4,501.5,-0.5,270,4503,0.15,2.33,0.00,0.000,4,0.099,0.104,1267,3702,2404,0,0,0,0,0,0
$STATE,4829,end dive,NO_VERTICAL_VELOCITY
$STATE,4829,begin apogee
$GC,4836,-0.31,0.0,501.4,0.0,280,4907,2.35,0.00,66.25,1.093,6,0.129,0.000,1781,1955,2082,0,0,0,0,0,0
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4909,2.24,142.4,501.2,0.0,282,5020,2.45,2.42,100.93,1.078,4,0.112,0.107,2338,551,1598,0,0,0,0,0,0
$GC,5507,2.33,142.4,452.4,10.1,300,5512,0.00,2.25,0.00,0.000,6,0.000,0.079,2338,1935,1596,0,0,1,0,0,0
$GC,5844,2.44,145.5,425.9,7.5,311,5849,0.17,2.35,0.00,0.000,4,0.094,0.094,2390,3355,1594,0,0,0,0,0,0
$GC,6175,2.46,145.5,397.9,8.4,321,6180,0.00,2.25,0.00,0.000,6,0.000,0.082,2390,1947,1593,0,0,1,0,0,0
$GC,6510,2.50,145.5,369.1,8.4,332,6514,0.00,2.30,0.00,0.000,4,0.000,0.094,2390,542,1593,0,0,0,0,0,0
$GC,6541,2.50,145.5,366.1,9.2,333,6546,0.00,2.25,0.00,0.000,6,0.000,0.074,2390,1947,1592,0,0,1,0,0,0
$GC,6877,2.54,145.5,336.0,8.5,344,6881,0.00,2.33,0.00,0.000,4,0.000,0.094,2390,541,1592,0,0,0,0,0,0
$GC,7209,2.54,145.5,306.9,10.4,354,7213,0.00,2.22,0.00,0.000,6,0.000,0.077,2390,1950,1591,0,0,1,0,0,0
$GC,7525,2.57,145.5,278.2,9.2,368,7529,0.00,2.28,0.00,0.000,4,0.000,0.092,2390,3352,1591,0,0,0,0,0,0
$GC,7776,2.57,145.5,253.2,10.7,379,7781,0.00,2.28,0.00,0.000,6,0.000,0.077,2390,1950,1590,0,0,0,0,0,0
$GC,8099,2.60,145.5,219.1,11.3,395,8103,0.10,2.28,0.00,0.000,4,0.119,0.092,2422,544,1590,0,0,0,0,0,0
$GC,8777,2.57,145.5,138.1,9.2,430,8782,0.00,2.20,0.00,0.000,6,0.000,0.072,2422,1959,1590,0,0,1,0,0,0
$GC,9102,2.57,145.5,108.8,9.9,460,9106,0.00,2.30,0.00,0.000,4,0.000,0.087,2422,540,1590,0,0,0,0,0,0
$GC,9381,2.57,176.1,86.5,3.5,484,9411,0.00,2.20,22.08,0.795,6,0.000,0.067,2422,1952,1485,0,0,0,0,0,0
$GC,9727,2.57,176.1,63.5,9.4,517,9731,0.00,2.25,0.00,0.000,4,0.000,0.082,2423,3348,1484,0,0,0,0,0,0
$GC,9885,2.57,176.1,49.3,11.6,531,9889,0.00,2.20,0.00,0.000,6,0.000,0.067,2422,1930,1485,0,0,0,0,0,0
$GC,10210,2.61,185.7,20.3,6.6,561,10226,0.00,2.15,8.52,0.643,4,0.000,0.087,2422,547,1451,0,0,0,0,0,0
$STATE,10465,end climb,SURFACE_DEPTH_REACHED
$STATE,10465,begin surface coast
$FINISH,0.7,1.022685
$STATE,10511,end surface coast,CONTROL_FINISHED_OK
$STATE,10512,begin surface
$SM_CCo,10530,77.72,0.752,0,0,1065,300.25
$SM_GC,0.72,0.00,0.00,77.72,0.000,0.000,0.752,17,2293,1065,-8.44,-0.23,300.25
$IRIDIUM_FIX,1825.94,-6552.56,240112,232351
$TT8_MAMPS,0.021721
$HUMID,1078505152
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.60
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,24.6,25.986
$10V_AH,10.5,9.340
$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,22.500,72.575,197.775,77.725,0.000,22.365,29.217,146.208,12.500,0.000,13.009,1678.623,6523.759,402.876,2199.208,90.776,0.000,1325.116,0.000,1861.409,0.000,67.110,0.000
$DEVICE_MAMPS,186.225,106.769,1092.520,752.349,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.520,0.000,894.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326608
$DATA_FILE_SIZE,30208,587
$CAP_FILE_SIZE,113169,0
$CFSIZE,260280320,251772928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,010810,115504,1830.759,-6600.956,11,2.5,30,-12.7