version: 66.07
glider: 33
mission: 24
dive: 18
start: 9 6 110 20 34 0
data:
$ID,33
$MISSION,24
$DIVE,18
$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,-237163.33
$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,32
$R_STBD_OVSHOOT,48
$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
$GPS1,060910,202155,1830.581,-6559.589,39,1.8,39,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-46.9
$GPS2,060910,203337,1830.578,-6559.802,9,1.7,14,-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,0.000,0.000
$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,12.4,65603,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.20,-146.6,0.0,0.0,0,136,0.00,0.00,-119.97,0.000,2,0.000,0.000,18,1913,2077,0,0,0,0,0,0
$GC,139,-1.20,-146.6,3.6,-6.8,11,173,8.10,2.50,-17.88,0.000,4,0.194,0.074,1567,3294,2579,0,0,0,0,0,0
$GC,323,-1.20,-146.6,25.8,-9.4,27,331,0.00,2.53,0.00,0.000,6,0.000,0.065,1568,1888,2579,0,0,0,0,0,0
$GC,651,-1.20,-146.6,49.3,-7.9,58,655,0.00,2.55,0.00,0.000,4,0.000,0.077,1568,3295,2579,0,0,0,0,0,0
$GC,791,-1.20,-146.6,59.4,-6.5,70,795,0.00,2.45,0.00,0.000,6,0.000,0.065,1568,1899,2579,0,0,0,0,0,0
$GC,1118,-1.20,-146.6,82.4,-7.1,100,1122,0.00,2.53,0.00,0.000,4,0.000,0.077,1568,3290,2579,0,0,0,0,0,0
$GC,1351,-1.20,-146.6,97.2,-5.7,120,1359,0.00,2.47,0.00,0.000,6,0.000,0.067,1568,1906,2579,0,0,0,0,0,0
$GC,1676,-1.20,-146.6,119.5,-6.6,151,1681,0.00,2.53,0.00,0.000,4,0.000,0.079,1567,491,2578,0,0,0,0,0,0
$GC,1720,-1.20,-146.6,122.8,-7.6,154,1727,0.00,2.47,0.00,0.000,6,0.000,0.065,1568,1882,2579,0,0,0,0,0,0
$GC,2045,-1.20,-146.6,146.3,-7.4,185,2050,0.00,2.58,0.00,0.000,4,0.000,0.082,1567,3308,2578,0,0,0,0,0,0
$GC,2274,-1.22,-146.6,162.8,-7.1,197,2279,0.00,2.50,0.00,0.000,6,0.000,0.070,1568,1903,2578,0,0,0,0,0,0
$GC,2596,-1.22,-146.6,185.2,-7.7,213,2600,0.00,2.55,0.00,0.000,4,0.000,0.082,1568,494,2577,0,0,0,0,0,0
$GC,2680,-1.22,-146.6,192.1,-8.4,217,2684,0.00,2.47,0.00,0.000,6,0.000,0.067,1568,1897,2577,0,0,0,0,0,0
$GC,3006,-1.22,-146.6,214.9,-7.4,233,3013,0.00,2.55,0.00,0.000,4,0.000,0.087,1568,3302,2577,0,0,0,0,0,0
$GC,3047,-1.22,-146.6,218.1,-7.7,234,3053,0.00,2.53,0.00,0.000,6,0.000,0.072,1568,1903,2577,0,0,0,0,0,0
$GC,3363,-1.22,-146.6,240.2,-7.1,250,3367,0.00,2.62,0.00,0.000,4,0.000,0.087,1568,3305,2576,0,0,0,0,0,0
$GC,3506,-1.22,-146.6,252.1,-7.6,256,3514,0.00,2.58,0.00,0.000,6,0.000,0.072,1567,1907,2575,0,0,0,0,0,0
$GC,3823,-1.22,-146.6,279.0,-9.4,272,3827,0.00,2.62,0.00,0.000,4,0.000,0.089,1568,3310,2574,0,0,0,0,0,0
$GC,3884,-1.22,-146.6,284.9,-10.5,275,3889,0.00,2.55,0.00,0.000,6,0.000,0.074,1568,1899,2574,0,0,0,0,0,0
$GC,4206,-1.22,-146.6,315.7,-9.5,288,4210,0.00,2.65,0.00,0.000,4,0.000,0.089,1568,3309,2573,0,0,0,0,0,0
$GC,4294,-1.22,-146.6,325.4,-10.4,290,4301,0.00,2.58,0.00,0.000,6,0.000,0.074,1568,1900,2573,0,0,0,0,0,0
$GC,4607,-1.22,-146.6,356.6,-10.0,301,4612,0.00,2.65,0.00,0.000,4,0.000,0.092,1568,3303,2571,0,0,0,0,0,0
$GC,4673,-1.22,-146.6,363.0,-8.9,303,4678,0.00,2.62,0.00,0.000,6,0.000,0.077,1568,1900,2571,0,0,0,0,0,0
$GC,5011,-1.22,-146.6,393.4,-9.4,314,5015,0.00,2.67,0.00,0.000,4,0.000,0.092,1568,3309,2569,0,0,0,0,0,0
$STATE,5591,end dive,NO_VERTICAL_VELOCITY
$STATE,5591,begin apogee
$GC,5597,-0.31,0.0,396.9,0.0,331,5700,0.80,0.00,98.18,1.018,6,0.084,0.000,1769,1751,2082,0,0,0,0,0,0
$STATE,5701,end apogee,CONTROL_FINISHED_OK
$STATE,5701,begin climb
$GC,5702,1.20,146.6,396.7,0.0,334,5809,1.40,0.00,103.07,0.996,6,0.087,0.000,2098,1751,1585,0,0,0,0,0,0
$GC,6097,1.35,270.1,386.0,3.5,347,6191,0.12,0.00,88.22,0.986,6,0.104,0.000,2138,1750,1165,0,0,0,0,0,0
$GC,6495,1.35,270.1,346.8,11.3,360,6500,0.00,2.67,0.00,0.000,4,0.000,0.094,2138,340,1163,0,0,0,0,0,0
$GC,6566,1.31,270.1,339.0,10.7,362,6570,0.00,2.62,0.00,0.000,6,0.000,0.074,2138,1745,1162,0,0,0,0,0,0
$GC,6896,1.28,270.1,307.3,9.6,373,6898,0.12,0.00,0.00,0.000,6,0.146,0.000,2113,1748,1163,0,0,0,0,0,0
$GC,7214,1.28,270.1,278.8,9.5,387,7218,0.00,2.65,0.00,0.000,4,0.000,0.092,2113,339,1162,0,0,0,0,0,0
$GC,7302,1.26,270.1,269.5,10.3,391,7306,0.00,2.60,0.00,0.000,6,0.000,0.074,2113,1744,1160,0,0,0,0,0,0
$GC,7629,1.26,270.1,234.9,10.7,407,7633,0.00,2.65,0.00,0.000,4,0.000,0.092,2113,341,1160,0,0,0,0,0,0
$GC,7683,1.24,270.1,228.6,11.3,409,7691,0.00,2.60,0.00,0.000,6,0.000,0.072,2113,1754,1160,0,0,0,0,0,0
$GC,7999,1.24,270.1,197.4,10.0,425,8003,0.00,2.62,0.00,0.000,4,0.000,0.089,2113,3154,1160,0,0,0,0,0,0
$GC,8047,1.24,270.1,192.4,10.7,427,8052,0.00,2.62,0.00,0.000,6,0.000,0.077,2113,1750,1160,0,0,0,0,0,0
$GC,8369,1.24,270.1,162.3,8.9,443,8373,0.00,2.62,0.00,0.000,4,0.000,0.089,2113,340,1160,0,0,0,0,0,0
$GC,8468,1.21,270.1,152.6,9.9,447,8476,0.00,2.58,0.00,0.000,6,0.000,0.067,2113,1758,1159,0,0,0,0,0,0
$GC,8793,1.21,270.1,122.1,10.3,476,8797,0.00,2.67,0.00,0.000,4,0.000,0.087,2113,337,1159,0,0,0,0,0,0
$GC,8888,1.17,270.1,111.4,10.9,484,8893,0.12,2.50,0.00,0.000,6,0.154,0.065,2089,1751,1159,0,0,0,0,0,0
$GC,9213,1.20,293.3,83.9,7.2,514,9236,0.00,2.60,17.08,0.762,4,0.000,0.089,2088,3159,1087,0,0,0,0,0,0
$GC,9285,1.20,293.3,77.2,9.0,520,9293,0.00,2.60,0.00,0.000,6,0.000,0.070,2088,1746,1087,0,0,0,0,0,0
$GC,9611,1.24,309.0,47.8,7.4,551,9634,0.00,2.65,12.68,0.703,4,0.000,0.079,2088,3158,1034,0,0,1,0,0,0
$GC,10121,1.34,347.9,15.5,6.6,596,10162,0.17,2.55,29.23,0.715,6,0.089,0.067,2143,1729,902,0,0,0,0,0,0
$STATE,10266,end climb,SURFACE_DEPTH_REACHED
$STATE,10266,begin surface coast
$FINISH,0.0,1.022333
$STATE,10308,end surface coast,CONTROL_FINISHED_OK
$STATE,10308,begin surface
$SM_CCo,10323,165.95,0.715,0,0,146,571.56
$SM_GC,0.76,0.00,0.00,165.95,0.000,0.000,0.715,16,1936,146,-8.37,1.05,571.56
$IRIDIUM_FIX,1825.94,-6559.71,060910,060657
$TT8_MAMPS,0.020972
$HUMID,51.02
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,24.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.2
$24V_AH,24.9,44.534
$10V_AH,10.5,15.994
$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,19.300,103.850,348.450,165.950,0.000,187.160,192.760,0.000,11.250,0.000,15.089,1626.562,6818.662,666.113,1999.660,89.771,0.000,1485.963,0.000,1481.449,0.000,78.169,0.000
$DEVICE_MAMPS,193.674,94.354,1018.030,715.104,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.583,0.000,935.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327736
$DATA_FILE_SIZE,33561,614
$CAP_FILE_SIZE,107157,0
$CFSIZE,260280320,249278464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060910,232952,1831.328,-6559.540,10,99.0,29,-12.7