version: 66.07
glider: 33
mission: 24
dive: 3
start: 9 3 110 20 16 40
data:
$ID,33
$MISSION,24
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,6099
$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,330
$T_MISSION,360
$T_ABORT,2880
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,180
$T_LOITER,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,6084
$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,500
$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,-231900.47
$T_RSLEEP,7
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1835
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,340
$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,-19.047844
$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,200
$ALTIM_PING_DELTA,5
$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
$GPS1,030910,201020,1834.983,-6600.174,8,1.6,8,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-42.8
$GPS2,030910,201556,1834.949,-6600.207,14,1.2,14,-12.7
$SPEED_LIMITS,0.100,0.247
$TGT_NAME,66W_1830N_S
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$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,190.4,9173,-19.6,-10.000
$D_GRID,682
$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,14,-1.41,-146.6,0.0,0.0,0,139,0.00,0.00,-121.45,0.000,2,0.000,0.000,21,1926,2121,0,0,0,0,0,0
$GC,141,-1.41,-146.6,3.2,-5.9,11,175,7.93,2.58,-20.40,0.000,4,0.201,0.079,1521,491,2579,0,0,0,0,0,0
$GC,265,-1.41,-146.6,16.3,-12.8,22,269,0.00,2.42,0.00,0.000,6,0.000,0.070,1521,1881,2579,0,0,0,0,0,0
$GC,590,-1.41,-146.6,52.1,-8.9,52,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,1883,2578,0,0,0,0,0,0
$GC,909,-1.41,-146.6,74.7,-6.3,82,910,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,1884,2578,0,0,0,0,0,0
$GC,1227,-1.41,-146.6,98.8,-7.5,112,1232,0.00,2.60,0.00,0.000,4,0.000,0.087,1521,3304,2578,0,0,0,0,0,0
$GC,1383,-1.41,-146.6,111.3,-8.2,125,1391,0.00,2.53,0.00,0.000,6,0.000,0.074,1521,1913,2577,0,0,0,0,0,0
$GC,1709,-1.41,-146.6,134.6,-7.1,156,1713,0.00,2.55,0.00,0.000,4,0.000,0.089,1521,3301,2576,0,0,0,0,0,0
$GC,1796,-1.41,-146.6,141.1,-7.7,163,1804,0.00,2.55,0.00,0.000,6,0.000,0.074,1521,1903,2576,0,0,0,0,0,0
$GC,2126,-1.41,-146.6,166.5,-7.9,185,2131,0.00,2.55,0.00,0.000,4,0.000,0.087,1521,491,2575,0,0,0,0,0,0
$GC,2248,-1.41,-146.6,177.3,-9.6,190,2256,0.00,2.55,0.00,0.000,6,0.000,0.074,1521,1893,2574,0,0,0,0,0,0
$GC,2565,-1.41,-146.6,202.3,-8.4,206,2569,0.00,2.65,0.00,0.000,4,0.000,0.094,1521,3314,2573,0,0,0,0,0,0
$GC,2792,-1.41,-146.6,224.3,-10.2,216,2797,0.00,2.62,0.00,0.000,6,0.000,0.079,1521,1899,2572,0,0,0,0,0,0
$GC,3115,-1.41,-146.6,254.4,-9.6,232,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,1899,2570,0,0,0,0,0,0
$GC,3424,-1.41,-146.6,284.1,-9.5,247,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,1899,2569,0,0,0,0,0,0
$GC,3743,-1.41,-146.6,315.2,-9.8,260,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,1899,2567,0,0,0,0,0,0
$GC,4048,-1.41,-146.6,345.0,-9.7,270,4053,0.00,2.70,0.00,0.000,4,0.000,0.099,1521,3308,2565,0,0,0,0,0,0
$GC,4121,-1.41,-146.6,352.1,-9.2,272,4125,0.00,2.62,0.00,0.000,6,0.000,0.082,1521,1900,2565,0,0,0,0,0,0
$GC,4450,-1.41,-146.6,387.6,-10.9,283,4454,0.00,2.72,0.00,0.000,4,0.000,0.102,1521,3309,2562,0,0,0,0,0,0
$GC,4498,-1.41,-146.6,393.5,-10.3,284,4503,0.00,2.65,0.00,0.000,6,0.000,0.084,1521,1909,2562,0,0,0,0,0,0
$GC,4820,-1.41,-146.6,428.3,-11.1,295,4824,0.00,2.72,0.00,0.000,4,0.000,0.102,1521,3309,2561,0,0,0,0,0,0
$GC,4851,-1.41,-146.6,432.4,-11.2,296,4856,0.00,2.67,0.00,0.000,6,0.000,0.087,1521,1903,2561,0,0,0,0,0,0
$GC,5187,-1.41,-146.6,470.8,-11.9,307,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,1903,2559,0,0,0,0,0,0
$GC,5493,-1.41,-146.6,507.3,-11.6,317,5498,0.00,2.75,0.00,0.000,4,0.000,0.107,1521,3302,2558,0,0,0,0,0,0
$GC,5599,-1.41,-146.6,520.0,-12.0,320,5603,0.00,2.65,0.00,0.000,6,0.000,0.089,1521,1900,2558,0,0,0,0,0,0
$GC,5923,-1.41,-146.6,557.9,-12.0,331,5927,0.00,2.80,0.00,0.000,4,0.000,0.109,1521,3308,2556,0,0,0,0,0,0
$GC,6017,-1.41,-146.6,570.0,-12.7,334,6022,0.00,2.67,0.00,0.000,6,0.000,0.092,1521,1903,2555,0,0,0,0,0,0
$GC,6359,-1.41,-146.6,613.8,-13.2,345,6363,0.00,2.80,0.00,0.000,4,0.000,0.112,1521,3301,2553,0,0,0,0,0,0
$GC,6402,-1.41,-146.6,620.1,-13.7,346,6407,0.00,2.72,0.00,0.000,6,0.000,0.094,1522,1895,2553,0,0,0,0,0,0
$GC,6723,-1.41,-146.6,662.0,-12.9,357,6727,0.00,2.85,0.00,0.000,4,0.000,0.114,1521,3305,2550,0,0,0,0,0,0
$GC,6823,-1.41,-146.6,675.6,-13.1,360,6828,0.00,2.75,0.00,0.000,6,0.000,0.097,1521,1896,2550,0,0,0,0,0,0
$STATE,6876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6876,begin apogee
$GC,6879,-0.31,0.0,682.2,12.7,362,6981,1.08,0.00,96.78,1.289,6,0.124,0.000,1762,1744,2082,0,0,0,0,0,0
$STATE,6982,end apogee,CONTROL_FINISHED_OK
$STATE,6982,begin climb
$GC,6983,1.41,146.6,686.5,0.0,365,7100,1.62,2.95,103.10,1.246,4,0.094,0.122,2143,3150,1584,0,0,1,0,0,0
$GC,7134,1.77,440.2,692.4,-3.4,370,7360,0.32,2.75,214.95,1.234,6,0.082,0.099,2230,1752,590,0,0,0,0,0,0
$GC,7689,1.77,440.2,624.4,17.0,388,7693,0.00,2.78,0.00,0.000,4,0.000,0.117,2230,335,589,0,0,0,0,0,0
$GC,7995,1.77,440.2,568.4,19.3,397,8000,0.00,2.72,0.00,0.000,6,0.000,0.099,2230,1738,589,0,0,1,0,0,0
$GC,8326,1.77,440.2,509.6,18.2,408,8330,0.00,2.78,0.00,0.000,4,0.000,0.112,2230,332,588,0,0,0,0,0,0
$GC,8446,1.77,440.2,484.9,21.0,411,8455,0.00,2.72,0.00,0.000,6,0.000,0.097,2231,1748,588,0,0,1,0,0,0
$GC,8760,1.77,440.2,426.1,18.8,422,8764,0.00,2.72,0.00,0.000,4,0.000,0.107,2230,339,588,0,0,0,0,0,0
$GC,8976,1.77,440.2,380.5,19.9,428,8981,0.00,2.70,0.00,0.000,6,0.000,0.092,2230,1748,588,0,0,1,0,0,0
$GC,9295,1.77,440.2,317.9,20.2,439,9300,0.00,2.75,0.00,0.000,4,0.000,0.102,2230,332,588,0,0,0,0,0,0
$GC,9411,1.77,440.2,291.7,22.0,443,9416,0.00,2.67,0.00,0.000,6,0.000,0.087,2230,1748,588,0,0,1,0,0,0
$GC,9733,1.77,440.2,222.8,21.8,459,9738,0.00,2.72,0.00,0.000,4,0.000,0.097,2230,334,587,0,0,0,0,0,0
$GC,9944,1.77,440.2,174.8,21.1,468,9952,0.00,2.65,0.00,0.000,6,0.000,0.079,2230,1750,588,0,0,0,0,0,0
$GC,10266,1.77,440.2,107.6,22.4,493,10271,0.00,2.67,0.00,0.000,4,0.000,0.092,2230,334,588,0,0,0,0,0,0
$GC,10305,1.77,440.2,98.7,23.0,496,10309,0.00,2.58,0.00,0.000,6,0.000,0.077,2230,1750,587,0,0,0,0,0,0
$GC,10629,1.77,440.2,43.0,12.7,526,10633,0.00,2.65,0.00,0.000,4,0.000,0.089,2231,334,588,0,0,0,0,0,0
$GC,10780,1.77,440.2,18.6,16.9,539,10784,0.00,2.55,0.00,0.000,6,0.000,0.070,2230,1755,588,0,0,0,0,0,0
$STATE,10869,end climb,SURFACE_DEPTH_REACHED
$STATE,10869,begin surface coast
$FINISH,0.2,1.022021
$STATE,10892,end surface coast,CONTROL_FINISHED_OK
$STATE,10892,begin surface
$SM_CCo,10907,43.75,0.780,0,0,388,500.11
$SM_GC,1.17,0.00,0.00,43.75,0.000,0.000,0.780,17,1924,388,-8.36,0.68,500.11
$IRIDIUM_FIX,1828.22,-6559.71,030910,202003
$TT8_MAMPS,0.021721
$HUMID,63.58
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$24V_AH,24.8,41.116
$10V_AH,10.6,14.484
$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,19.700,107.625,414.825,43.750,0.000,0.000,0.000,0.000,24.500,0.000,15.389,1529.270,7301.346,545.208,1586.430,81.285,0.000,1374.350,0.000,1419.740,0.000,166.119,0.000
$DEVICE_MAMPS,201.123,121.667,1288.677,779.662,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.608,0.000,836.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327880
$DATA_FILE_SIZE,30211,549
$CAP_FILE_SIZE,148836,0
$CFSIZE,260280320,250363904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,030910,232024,1833.524,-6559.475,40,1.2,40,-12.7