version: 66.07
glider: 33
mission: 24
dive: 14
start: 9 6 110 7 6 6
data:
$ID,33
$MISSION,24
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,1080
$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,450
$T_MISSION,480
$T_ABORT,2880
$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,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,571.55945
$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,-237157.95
$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,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,0.02
$PITCH_ADJ_DBAND,1
$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,29
$R_STBD_OVSHOOT,69
$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
$GPS1,060910,062625,1833.193,-6558.487,38,1.8,39,-12.7
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-47.4
$GPS2,060910,070544,1833.345,-6558.552,14,1.5,14,-12.7
$SPEED_LIMITS,0.080,0.230
$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,215.0,6697,-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,14,-1.20,-146.6,0.0,0.0,0,117,0.00,0.00,-100.12,0.000,2,0.000,0.000,17,1943,2037,0,0,0,0,0,0
$GC,119,-1.20,-146.6,3.5,-6.8,9,154,8.23,2.65,-20.30,0.000,4,0.194,0.077,1571,490,2579,0,0,0,0,0,0
$GC,289,-1.16,-146.6,23.2,-12.5,24,293,0.00,2.42,0.00,0.000,6,0.000,0.062,1571,1870,2579,0,0,0,0,0,0
$GC,613,-1.16,-146.6,58.3,-8.8,54,617,0.00,2.60,0.00,0.000,4,0.000,0.077,1571,3308,2579,0,0,0,0,0,0
$GC,809,-1.16,-146.6,73.9,-7.0,71,814,0.00,2.53,0.00,0.000,6,0.000,0.067,1570,1888,2579,0,0,0,0,0,0
$GC,1134,-1.16,-146.6,93.9,-6.4,101,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,1887,2579,0,0,0,0,0,0
$GC,1455,-1.18,-146.6,115.8,-6.9,131,1460,0.00,2.58,0.00,0.000,4,0.000,0.077,1570,3299,2579,0,0,0,0,0,0
$GC,1619,-1.21,-146.6,124.9,-5.8,145,1623,0.00,2.50,0.00,0.000,6,0.000,0.067,1571,1899,2579,0,0,0,0,0,0
$GC,1944,-1.23,-146.6,145.4,-6.2,175,1948,0.00,2.58,0.00,0.000,4,0.000,0.082,1571,3298,2578,0,0,0,0,0,0
$GC,2017,-1.26,-146.6,149.8,-5.7,181,2022,0.00,2.50,0.00,0.000,6,0.000,0.070,1571,1902,2578,0,0,0,0,0,0
$GC,2333,-1.29,-146.6,171.0,-6.5,196,2337,0.00,2.58,0.00,0.000,4,0.000,0.082,1571,3304,2578,0,0,0,0,0,0
$GC,2365,-1.31,-146.6,173.2,-6.7,197,2372,0.00,2.53,0.00,0.000,6,0.000,0.070,1571,1896,2578,0,0,0,0,0,0
$GC,2681,-1.33,-146.6,193.9,-6.5,213,2686,0.12,2.60,0.00,0.000,4,0.107,0.084,1527,3295,2577,0,0,0,0,0,0
$GC,2753,-1.31,-146.6,199.8,-8.8,216,2759,0.08,2.55,0.00,0.000,6,0.132,0.072,1547,1900,2577,0,0,0,0,0,0
$GC,3074,-1.31,-146.6,223.6,-7.5,232,3079,0.00,2.62,0.00,0.000,4,0.000,0.087,1547,3302,2576,0,0,0,0,0,0
$GC,3225,-1.31,-146.6,235.6,-8.6,239,3230,0.00,2.55,0.00,0.000,6,0.000,0.072,1547,1901,2576,0,0,0,0,0,0
$GC,3551,-1.31,-146.6,262.1,-8.1,255,3555,0.00,2.62,0.00,0.000,4,0.000,0.089,1547,3293,2574,0,0,0,0,0,0
$GC,3604,-1.31,-146.6,266.6,-7.6,257,3612,0.00,2.58,0.00,0.000,6,0.000,0.074,1547,1905,2574,0,0,0,0,0,0
$GC,3921,-1.31,-146.6,291.7,-8.5,273,3925,0.00,2.62,0.00,0.000,4,0.000,0.089,1547,3293,2573,0,0,0,0,0,0
$GC,3974,-1.31,-146.6,296.8,-8.8,275,3982,0.00,2.60,0.00,0.000,6,0.000,0.074,1547,1901,2573,0,0,0,0,0,0
$GC,4298,-1.31,-146.6,325.4,-9.3,287,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,1900,2571,0,0,0,0,0,0
$GC,4606,-1.31,-146.6,356.3,-10.1,297,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,1900,2569,0,0,0,0,0,0
$GC,4911,-1.31,-146.6,390.5,-11.0,307,4915,0.00,2.67,0.00,0.000,4,0.000,0.094,1547,3293,2568,0,0,0,0,0,0
$GC,4998,-1.31,-146.6,400.8,-12.1,309,5006,0.00,2.62,0.00,0.000,6,0.000,0.079,1547,1903,2567,0,0,0,0,0,0
$GC,5315,-1.31,-146.6,435.1,-10.7,320,5319,0.00,2.70,0.00,0.000,4,0.000,0.097,1547,3298,2566,0,0,0,0,0,0
$GC,5343,-1.31,-146.6,438.3,-11.7,321,5348,0.00,2.62,0.00,0.000,6,0.000,0.082,1547,1901,2566,0,0,0,0,0,0
$GC,5679,-1.28,-146.6,475.0,-11.2,332,5684,0.00,2.70,0.00,0.000,4,0.000,0.099,1547,3296,2564,0,0,0,0,0,0
$GC,5744,-1.28,-146.6,482.9,-11.5,334,5749,0.00,2.65,0.00,0.000,6,0.000,0.082,1547,1909,2564,0,0,0,0,0,0
$GC,6080,-1.26,-146.6,524.5,-13.3,345,6085,0.00,2.70,0.00,0.000,4,0.000,0.099,1547,3292,2563,0,0,0,0,0,0
$GC,6163,-1.26,-146.6,535.8,-13.4,347,6167,0.00,2.65,0.00,0.000,6,0.000,0.084,1547,1899,2562,0,0,0,0,0,0
$GC,6483,-1.23,-146.6,575.4,-12.7,358,6487,0.00,2.75,0.00,0.000,4,0.000,0.102,1547,3291,2561,0,0,0,0,0,0
$GC,6570,-1.21,-146.6,586.9,-13.3,360,6579,0.08,2.67,0.00,0.000,6,0.129,0.084,1574,1902,2560,0,0,0,0,0,0
$GC,6885,-1.21,-146.6,623.5,-12.1,371,6889,0.00,2.72,0.00,0.000,4,0.000,0.104,1574,3289,2558,0,0,0,0,0,0
$GC,6912,-1.21,-146.6,626.9,-12.3,372,6917,0.00,2.67,0.00,0.000,6,0.000,0.087,1574,1895,2558,0,0,0,0,0,0
$GC,7248,-1.27,-146.6,664.1,-10.8,383,7253,0.00,2.80,0.00,0.000,4,0.000,0.107,1574,3289,2557,0,0,0,0,0,0
$STATE,7683,end dive,NO_VERTICAL_VELOCITY
$STATE,7683,begin apogee
$GC,7690,-0.31,0.0,664.2,0.0,396,7795,0.77,0.00,100.22,1.227,6,0.084,0.000,1767,1749,2082,0,0,0,0,0,0
$STATE,7795,end apogee,CONTROL_FINISHED_OK
$STATE,7796,begin climb
$GC,7797,1.20,146.6,663.9,0.0,399,7913,1.40,2.88,106.97,1.212,4,0.084,0.109,2097,339,1584,0,0,0,0,0,0
$GC,8586,1.60,363.1,663.9,0.1,423,8759,0.35,2.62,162.20,1.214,6,0.074,0.087,2194,1741,850,0,0,1,0,0,0
$GC,9064,1.54,363.1,614.9,13.7,439,9069,0.12,2.75,0.00,0.000,4,0.151,0.104,2169,338,848,0,0,0,0,0,0
$GC,9170,1.48,363.1,599.9,14.4,442,9175,0.00,2.67,0.00,0.000,6,0.000,0.089,2169,1746,847,0,0,1,0,0,0
$GC,9500,1.45,363.1,561.2,11.4,453,9504,0.00,2.78,0.00,0.000,4,0.000,0.104,2169,332,848,0,0,0,0,0,0
$GC,9616,1.38,363.1,546.7,12.4,456,9621,0.15,2.67,0.00,0.000,6,0.149,0.087,2139,1751,845,0,0,1,0,0,0
$GC,9934,1.38,363.1,511.5,11.9,467,9938,0.00,2.78,0.00,0.000,4,0.000,0.102,2138,338,846,0,0,0,0,0,0
$GC,9982,1.36,363.1,505.3,12.1,468,9987,0.00,2.70,0.00,0.000,6,0.000,0.087,2139,1745,845,0,0,0,0,0,0
$GC,10301,1.36,363.1,473.7,10.6,479,10305,0.00,2.75,0.00,0.000,4,0.000,0.102,2138,338,845,0,0,0,0,0,0
$GC,10355,1.33,363.1,467.4,11.0,480,10362,0.00,2.70,0.00,0.000,6,0.000,0.084,2138,1769,846,0,0,0,0,0,0
$GC,10667,1.33,363.1,432.4,11.1,491,10672,0.00,2.78,0.00,0.000,4,0.000,0.099,2138,337,846,0,0,0,0,0,0
$GC,10808,1.29,363.1,416.1,12.9,495,10813,0.10,2.65,0.00,0.000,6,0.159,0.082,2120,1753,846,0,0,1,0,0,0
$GC,11131,1.29,363.1,381.9,10.9,506,11136,0.00,2.75,0.00,0.000,4,0.000,0.097,2119,337,846,0,0,0,0,0,0
$GC,11192,1.29,363.1,374.4,13.4,508,11197,0.00,2.65,0.00,0.000,6,0.000,0.079,2119,1752,846,0,0,0,0,0,0
$GC,11526,1.29,363.1,336.2,11.7,519,11531,0.00,2.72,0.00,0.000,4,0.000,0.094,2119,334,845,0,0,0,0,0,0
$GC,11642,1.27,363.1,321.9,11.1,522,11647,0.00,2.62,0.00,0.000,6,0.000,0.077,2119,1751,846,0,0,0,0,0,0
$GC,11972,1.27,363.1,285.5,11.2,535,11976,0.00,2.70,0.00,0.000,4,0.000,0.092,2119,332,846,0,0,0,0,0,0
$GC,12124,1.24,363.1,265.4,13.8,542,12129,0.00,2.62,0.00,0.000,6,0.000,0.072,2119,1758,846,0,0,0,0,0,0
$GC,12450,1.24,363.1,222.4,13.0,558,12455,0.00,2.72,0.00,0.000,4,0.000,0.089,2119,334,846,0,0,0,0,0,0
$GC,12506,1.21,363.1,214.6,14.5,560,12513,0.00,2.60,0.00,0.000,6,0.000,0.072,2119,1758,845,0,0,0,0,0,0
$GC,12821,1.21,363.1,173.6,13.0,576,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,1761,846,0,0,0,0,0,0
$GC,13133,1.21,363.1,134.7,12.3,596,13138,0.00,2.60,0.00,0.000,4,0.000,0.087,2119,3154,846,0,0,0,0,0,0
$GC,13322,1.21,363.1,111.7,12.0,612,13331,0.00,2.62,0.00,0.000,6,0.000,0.072,2119,1741,846,0,0,0,0,0,0
$GC,13649,1.21,363.1,75.6,10.4,643,13654,0.00,2.60,0.00,0.000,4,0.000,0.084,2119,338,845,0,0,0,0,0,0
$GC,13760,1.19,363.1,63.6,10.6,652,13768,0.12,2.50,0.00,0.000,6,0.151,0.062,2095,1762,846,0,0,0,0,0,0
$GC,14086,1.26,388.1,39.1,7.1,683,14111,0.00,2.60,19.02,0.745,4,0.000,0.079,2095,3154,767,0,0,0,0,0,0
$GC,14187,1.33,410.2,31.3,7.2,692,14212,0.12,2.55,17.95,0.728,6,0.102,0.067,2136,1742,691,0,0,0,0,0,0
$STATE,14430,end climb,SURFACE_DEPTH_REACHED
$STATE,14431,begin surface coast
$FINISH,0.5,1.022265
$STATE,14464,end surface coast,CONTROL_FINISHED_OK
$STATE,14464,begin surface
$SM_CCo,14479,123.75,0.732,0,0,146,571.56
$SM_GC,0.63,0.00,0.00,123.75,0.000,0.000,0.732,18,1932,146,-8.36,0.90,571.56
$IRIDIUM_FIX,1825.94,-6557.63,060910,060627
$TT8_MAMPS,0.021721
$HUMID,50.03
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.8
$24V_AH,24.5,44.023
$10V_AH,10.4,15.732
$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,20.100,154.075,406.375,123.750,0.000,148.136,145.963,1697.776,23.750,0.000,15.263,2002.980,10077.611,642.220,3902.393,332.351,0.000,1701.870,0.000,1888.324,0.000,163.330,0.000
$DEVICE_MAMPS,193.674,109.252,1226.602,732.485,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.821,0.000,1093.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327712
$DATA_FILE_SIZE,40220,718
$CAP_FILE_SIZE,191183,0
$CFSIZE,260280320,249511936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,060910,111037,1831.400,-6558.529,34,2.0,34,-12.7