version: 66.07
glider: 33
mission: 22
dive: 24
start: 8 1 110 18 36 46
data:
$ID,33
$MISSION,22
$DIVE,24
$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,-229847.06
$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,35
$R_STBD_OVSHOOT,46
$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
$GPS1,010810,183125,1832.226,-6601.490,42,0.9,42,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-57.2
$GPS2,010810,183625,1832.240,-6601.580,11,1.0,16,-12.7
$SPEED_LIMITS,0.080,0.230
$TGT_NAME,66W_1906N_N
$TGT_LATLONG,1906.000,-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,15.2,62585,-16.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.20,-146.6,0.0,0.0,0,90,0.00,0.00,-72.75,0.000,2,0.000,0.000,10,2256,2107,0,0,0,0,0,0
$GC,92,-1.20,-146.6,3.3,-5.5,7,126,8.32,2.33,-18.58,0.000,4,0.194,0.079,1584,3691,2578,0,0,0,0,0,0
$GC,411,-1.16,-146.6,39.1,-11.6,35,419,0.00,2.17,0.00,0.000,6,0.000,0.060,1585,2270,2579,0,0,0,0,0,0
$GC,737,-1.16,-146.6,68.5,-9.7,66,741,0.00,2.10,0.00,0.000,4,0.000,0.074,1584,911,2580,0,0,0,0,0,0
$GC,844,-1.16,-146.6,77.6,-7.7,75,848,0.00,2.12,0.00,0.000,6,0.000,0.065,1585,2296,2581,0,0,0,0,0,0
$GC,1169,-1.16,-146.6,101.5,-6.5,105,1173,0.00,2.22,0.00,0.000,4,0.000,0.084,1585,3702,2581,0,0,0,0,0,0
$GC,1321,-1.16,-146.6,112.3,-7.2,118,1325,0.00,2.12,0.00,0.000,6,0.000,0.062,1584,2291,2582,0,0,0,0,0,0
$GC,1646,-1.16,-146.6,130.1,-5.4,148,1650,0.00,2.25,0.00,0.000,4,0.000,0.084,1585,3695,2583,0,0,0,0,0,0
$GC,1740,-1.16,-146.6,135.8,-6.1,156,1748,0.00,2.12,0.00,0.000,6,0.000,0.062,1585,2302,2583,0,0,0,0,0,0
$GC,2073,-1.16,-146.6,156.5,-6.1,183,2077,0.00,2.22,0.00,0.000,4,0.000,0.087,1585,3694,2584,0,0,0,0,0,0
$GC,2330,-1.16,-146.6,172.2,-5.5,194,2338,0.00,2.12,0.00,0.000,6,0.000,0.062,1585,2302,2584,0,0,0,0,0,0
$GC,2647,-1.16,-146.6,190.3,-6.2,210,2651,0.00,2.28,0.00,0.000,4,0.000,0.087,1584,3695,2584,0,0,0,0,0,0
$GC,2867,-1.16,-146.6,205.1,-6.8,220,2871,0.00,2.10,0.00,0.000,6,0.000,0.065,1585,2302,2584,0,0,0,0,0,0
$GC,3194,-1.16,-146.6,226.9,-7.8,236,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2299,2584,0,0,0,0,0,0
$GC,3502,-1.16,-146.6,251.9,-8.4,251,3506,0.00,2.30,0.00,0.000,4,0.000,0.092,1585,3699,2584,0,0,0,0,0,0
$GC,3647,-1.16,-146.6,264.5,-7.4,257,3654,0.00,2.17,0.00,0.000,6,0.000,0.067,1585,2299,2584,0,0,0,0,0,0
$GC,3964,-1.16,-146.6,291.0,-8.7,273,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2299,2584,0,0,0,0,0,0
$GC,4270,-1.16,-146.6,317.3,-8.4,285,4274,0.00,2.30,0.00,0.000,4,0.000,0.092,1585,3698,2583,0,0,0,0,0,0
$GC,4403,-1.16,-146.6,329.2,-8.3,289,4407,0.00,2.17,0.00,0.000,6,0.000,0.067,1585,2312,2583,0,0,0,0,0,0
$GC,4739,-1.16,-146.6,360.5,-10.0,300,4743,0.00,2.28,0.00,0.000,4,0.000,0.092,1585,3691,2582,0,0,0,0,0,0
$GC,4781,-1.16,-146.6,365.2,-10.7,301,4786,0.00,2.17,0.00,0.000,6,0.000,0.067,1585,2309,2582,0,0,0,0,0,0
$GC,5107,-1.16,-146.6,397.6,-10.1,312,5111,0.00,2.30,0.00,0.000,4,0.000,0.092,1585,3694,2581,0,0,0,0,0,0
$GC,5168,-1.16,-146.6,404.3,-10.9,314,5172,0.00,2.20,0.00,0.000,6,0.000,0.079,1585,2292,2581,0,0,0,0,0,0
$GC,5503,-1.16,-146.6,436.2,-9.7,325,5507,0.00,2.33,0.00,0.000,4,0.000,0.094,1585,3689,2580,0,0,0,0,0,0
$GC,5619,-1.14,-146.6,449.4,-10.9,328,5624,0.00,2.22,0.00,0.000,6,0.000,0.077,1584,2302,2579,0,0,0,0,0,0
$GC,5937,-1.12,-146.6,485.4,-11.6,339,5939,0.10,0.00,0.00,0.000,6,0.156,0.000,1605,2300,2577,0,0,0,0,0,0
$GC,6243,-1.12,-146.6,516.9,-9.9,349,6247,0.00,2.35,0.00,0.000,4,0.000,0.099,1605,3689,2576,0,0,1,0,0,0
$GC,6290,-1.12,-146.6,522.3,-10.8,350,6295,0.00,2.25,0.00,0.000,6,0.000,0.082,1605,2296,2576,0,0,0,0,0,0
$GC,6612,-1.12,-146.6,552.3,-9.1,361,6616,0.00,2.35,0.00,0.000,4,0.000,0.099,1605,3690,2576,0,0,0,0,0,0
$GC,6710,-1.12,-146.6,561.9,-8.9,364,6715,0.00,2.25,0.00,0.000,6,0.000,0.084,1605,2304,2575,0,0,0,0,0,0
$GC,7046,-1.12,-146.6,595.9,-10.7,375,7050,0.00,2.30,0.00,0.000,4,0.000,0.092,1605,897,2574,0,0,0,0,0,0
$GC,7077,-1.12,-146.6,599.5,-11.4,376,7083,0.00,2.28,0.00,0.000,6,0.000,0.084,1605,2285,2574,0,0,1,0,0,0
$GC,7413,-1.12,-146.6,636.5,-10.4,387,7417,0.00,2.40,0.00,0.000,4,0.000,0.104,1606,3710,2573,0,0,0,0,0,0
$GC,7546,-1.12,-146.6,650.5,-9.6,391,7551,0.00,2.30,0.00,0.000,6,0.000,0.077,1605,2302,2571,0,0,0,0,0,0
$GC,7882,-1.12,-146.6,689.5,-11.9,402,7886,0.00,2.40,0.00,0.000,4,0.000,0.104,1605,3712,2570,0,0,0,0,0,0
$GC,7930,-1.12,-146.6,695.6,-12.2,403,7934,0.00,2.33,0.00,0.000,6,0.000,0.079,1605,2300,2570,0,0,0,0,0,0
$GC,8255,-1.12,-146.6,731.9,-11.3,414,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2293,2568,0,0,0,0,0,0
$GC,8561,-1.12,-146.6,768.1,-11.7,424,8565,0.00,2.47,0.00,0.000,4,0.000,0.117,1605,3711,2567,0,0,0,0,0,0
$GC,9239,-1.29,-146.6,775.3,0.3,444,9244,0.12,2.35,0.00,0.000,6,0.072,0.084,1560,2304,2564,0,0,0,0,0,0
$STATE,9322,end dive,NO_VERTICAL_VELOCITY
$STATE,9322,begin apogee
$GC,9326,-0.31,0.0,775.4,0.0,447,9433,0.95,0.00,103.85,1.331,6,0.089,0.000,1786,1945,2082,0,0,0,0,0,0
$STATE,9434,end apogee,CONTROL_FINISHED_OK
$STATE,9434,begin climb
$GC,9435,1.20,146.6,775.2,0.0,450,9548,1.42,0.00,108.62,1.304,6,0.094,0.000,2110,1945,1585,0,0,0,0,0,0
$GC,9840,1.67,360.7,774.9,0.2,464,10011,0.43,2.65,162.30,1.304,4,0.070,0.119,2229,3351,859,0,0,1,0,0,0
$GC,10083,1.59,360.7,760.2,13.8,471,10091,0.12,2.45,0.00,0.000,6,0.134,0.092,2201,1951,857,0,0,1,0,0,0
$GC,10396,1.55,360.7,724.2,11.7,482,10401,0.00,2.45,0.00,0.000,4,0.000,0.112,2201,539,857,0,0,0,0,0,0
$GC,10642,1.49,360.7,693.4,12.5,489,10647,0.10,2.38,0.00,0.000,6,0.127,0.092,2176,1946,856,0,0,1,0,0,0
$GC,10965,1.49,360.7,658.9,10.6,500,10969,0.00,2.42,0.00,0.000,4,0.000,0.112,2175,536,855,0,0,0,0,0,0
$GC,11130,1.46,360.7,640.8,11.2,505,11134,0.00,2.35,0.00,0.000,6,0.000,0.092,2175,1953,856,0,0,1,0,0,0
$GC,11464,1.46,360.7,602.8,11.4,516,11468,0.00,2.42,0.00,0.000,4,0.000,0.112,2176,3357,856,0,0,0,0,0,0
$GC,11495,1.43,360.7,598.7,11.8,517,11500,0.00,2.38,0.00,0.000,6,0.000,0.089,2175,1948,854,0,0,1,0,0,0
$GC,11831,1.41,360.7,561.1,11.2,528,11835,0.00,2.38,0.00,0.000,4,0.000,0.107,2175,537,854,0,0,0,0,0,0
$GC,12020,1.36,360.7,537.4,13.2,533,12028,0.10,2.35,0.00,0.000,6,0.124,0.097,2150,1950,854,0,0,1,0,0,0
$GC,12333,1.36,360.7,503.2,10.9,544,12337,0.00,2.38,0.00,0.000,4,0.000,0.107,2150,3356,854,0,0,0,0,0,0
$GC,12353,1.36,360.7,500.7,10.9,544,12361,0.00,2.35,0.00,0.000,6,0.000,0.084,2150,1951,852,0,0,0,0,0,0
$GC,12666,1.36,360.7,466.0,11.1,555,12670,0.00,2.38,0.00,0.000,4,0.000,0.102,2149,538,852,0,0,0,0,0,0
$GC,12776,1.36,360.7,452.7,12.2,558,12781,0.00,2.33,0.00,0.000,6,0.000,0.084,2149,1949,852,0,0,1,0,0,0
$GC,13100,1.36,360.7,414.4,12.2,569,13104,0.00,2.35,0.00,0.000,4,0.000,0.099,2149,541,852,0,0,0,0,0,0
$GC,13196,1.34,360.7,402.3,11.5,572,13200,0.00,2.25,0.00,0.000,6,0.000,0.082,2149,1953,852,0,0,1,0,0,0
$GC,13530,1.34,360.7,361.4,11.9,583,13535,0.00,2.38,0.00,0.000,4,0.000,0.097,2149,538,852,0,0,0,0,0,0
$GC,13570,1.32,360.7,356.1,12.9,584,13574,0.00,2.25,0.00,0.000,6,0.000,0.077,2149,1958,852,0,0,1,0,0,0
$GC,13892,1.32,360.7,312.4,14.0,595,13893,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,1958,852,0,0,0,0,0,0
$GC,14211,1.29,360.7,266.7,14.3,609,14215,0.00,2.35,0.00,0.000,4,0.000,0.094,2149,535,852,0,0,0,0,0,0
$GC,14318,1.26,360.7,250.2,15.2,614,14323,0.12,2.25,0.00,0.000,6,0.154,0.074,2124,1953,852,0,0,1,0,0,0
$GC,14643,1.26,360.7,207.4,12.9,630,14648,0.00,2.33,0.00,0.000,4,0.000,0.092,2124,538,852,0,0,0,0,0,0
$GC,14750,1.26,360.7,192.7,13.3,635,14754,0.00,2.22,0.00,0.000,6,0.000,0.072,2124,1952,852,0,0,0,0,0,0
$GC,15082,1.26,360.7,148.9,13.4,651,15086,0.00,2.30,0.00,0.000,4,0.000,0.092,2124,3357,852,0,0,0,0,0,0
$GC,15133,1.26,360.7,142.4,14.5,655,15137,0.00,2.22,0.00,0.000,6,0.000,0.072,2124,1939,852,0,0,0,0,0,0
$GC,15457,1.26,360.7,98.9,13.2,685,15461,0.00,2.25,0.00,0.000,4,0.000,0.087,2124,546,852,0,0,0,0,0,0
$GC,15475,1.26,360.7,96.6,14.3,686,15479,0.00,2.20,0.00,0.000,6,0.000,0.067,2124,1955,852,0,0,0,0,0,0
$GC,15799,1.26,360.7,60.2,11.4,716,15803,0.00,2.30,0.00,0.000,4,0.000,0.087,2124,542,853,0,0,0,0,0,0
$GC,15962,1.26,360.7,41.4,10.0,730,15966,0.00,2.17,0.00,0.000,6,0.000,0.065,2124,1964,852,0,0,0,0,0,0
$GC,16286,1.28,360.7,11.9,10.1,760,16290,0.00,2.22,0.00,0.000,4,0.000,0.092,2124,3343,853,0,0,0,0,0,0
$STATE,16369,end climb,SURFACE_DEPTH_REACHED
$STATE,16369,begin surface coast
$FINISH,0.3,1.022276
$STATE,16403,end surface coast,CONTROL_FINISHED_OK
$STATE,16404,begin surface
$SM_CCo,16480,0.00,0.000,0,0,852,363.13
$SM_GC,1.02,8.27,0.00,0.00,0.060,0.000,0.000,19,2245,852,-8.34,-1.53,363.13
$IRIDIUM_FIX,1823.67,-6602.71,250112,080835
$TT8_MAMPS,0.020972
$HUMID,1078600635
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,24.30
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.8,19.4
$24V_AH,24.4,26.345
$10V_AH,10.5,9.550
$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,20.075,146.600,374.775,0.000,0.000,25.019,27.119,160.133,22.000,0.000,17.467,2154.292,11562.176,557.209,2388.827,119.066,0.000,1611.850,0.000,2004.289,0.000,110.135,0.000
$DEVICE_MAMPS,193.674,119.184,1330.888,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.111,0.000,1172.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327800
$DATA_FILE_SIZE,43462,770
$CAP_FILE_SIZE,153228,0
$CFSIZE,260280320,251539456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,010810,231237,1834.430,-6601.211,38,1.1,39,-12.7