version: 66.07
glider: 33
mission: 24
dive: 19
start: 9 6 110 23 40 58
data:
$ID,33
$MISSION,24
$DIVE,19
$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,-237164.67
$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,36
$R_STBD_OVSHOOT,57
$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
$GPS1,060910,232952,1831.328,-6559.540,10,99.0,29,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-44.2
$GPS2,060910,234036,1831.339,-6559.736,16,1.6,26,-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,12.3,64194,-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,13,begin dive
$GC,14,-1.20,-146.6,0.0,0.0,0,138,0.00,0.00,-121.47,0.000,2,0.000,0.000,15,1937,2009,0,0,0,0,0,0
$GC,141,-1.20,-146.6,3.3,-5.5,11,178,8.23,0.00,-22.40,0.000,6,0.194,0.000,1571,1937,2579,0,0,0,0,0,0
$GC,495,-1.20,-146.6,41.5,-8.7,45,499,0.00,2.42,0.00,0.000,4,0.000,0.074,1572,3288,2579,0,0,0,0,0,0
$GC,717,-1.20,-146.6,59.8,-7.9,64,725,0.00,2.47,0.00,0.000,6,0.000,0.065,1571,1904,2579,0,0,0,0,0,0
$GC,1043,-1.20,-146.6,86.2,-7.2,95,1047,0.00,2.53,0.00,0.000,4,0.000,0.079,1571,496,2580,0,0,0,0,0,0
$GC,1116,-1.20,-146.6,91.2,-6.9,101,1120,0.00,2.40,0.00,0.000,6,0.000,0.062,1572,1884,2580,0,0,0,0,0,0
$GC,1441,-1.22,-146.6,114.6,-6.5,131,1445,0.00,2.55,0.00,0.000,4,0.000,0.079,1571,3306,2580,0,0,0,0,0,0
$GC,1592,-1.24,-146.6,124.9,-8.2,144,1597,0.00,2.50,0.00,0.000,6,0.000,0.067,1571,1898,2580,0,0,0,0,0,0
$GC,1918,-1.27,-146.6,148.4,-6.5,174,1922,0.00,2.55,0.00,0.000,4,0.000,0.079,1571,3301,2580,0,0,0,0,0,0
$GC,2137,-1.30,-146.6,160.9,-4.0,185,2141,0.00,2.47,0.00,0.000,6,0.000,0.070,1572,1903,2580,0,0,0,0,0,0
$GC,2465,-1.32,-146.6,183.2,-7.1,201,2466,0.10,0.00,0.00,0.000,6,0.119,0.000,1531,1902,2580,0,0,0,0,0,0
$GC,2772,-1.30,-146.6,208.9,-8.5,216,2774,0.10,0.00,0.00,0.000,6,0.154,0.000,1551,1902,2580,0,0,0,0,0,0
$GC,3083,-1.30,-146.6,234.7,-8.6,231,3088,0.00,2.58,0.00,0.000,4,0.000,0.087,1551,3291,2579,0,0,0,0,0,0
$GC,3209,-1.30,-146.6,246.8,-8.9,236,3217,0.00,2.55,0.00,0.000,6,0.000,0.072,1551,1905,2579,0,0,0,0,0,0
$GC,3527,-1.30,-146.6,273.1,-8.6,252,3532,0.00,2.60,0.00,0.000,4,0.000,0.089,1551,3296,2577,0,0,0,0,0,0
$GC,3581,-1.30,-146.6,278.1,-8.3,254,3589,0.00,2.58,0.00,0.000,6,0.000,0.074,1551,1904,2577,0,0,0,0,0,0
$GC,3900,-1.30,-146.6,307.0,-9.0,269,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,1903,2576,0,0,0,0,0,0
$GC,4204,-1.30,-146.6,335.1,-10.2,279,4208,0.00,2.62,0.00,0.000,4,0.000,0.092,1551,3296,2575,0,0,0,0,0,0
$GC,4337,-1.30,-146.6,349.5,-10.8,283,4342,0.00,2.60,0.00,0.000,6,0.000,0.077,1551,1905,2575,0,0,0,0,0,0
$GC,4673,-1.30,-146.6,387.3,-11.7,294,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,1903,2574,0,0,0,0,0,0
$GC,4981,-1.30,-146.6,420.2,-10.8,304,4985,0.00,2.67,0.00,0.000,4,0.000,0.094,1551,3296,2573,0,0,0,0,0,0
$GC,5063,-1.30,-146.6,430.3,-11.7,306,5067,0.00,2.58,0.00,0.000,6,0.000,0.079,1551,1901,2572,0,0,0,0,0,0
$GC,5383,-1.28,-146.6,467.9,-13.1,317,5388,0.00,2.70,0.00,0.000,4,0.000,0.097,1551,3296,2571,0,0,0,0,0,0
$GC,5459,-1.28,-146.6,478.5,-11.9,319,5464,0.00,2.65,0.00,0.000,6,0.000,0.079,1551,1899,2570,0,0,0,0,0,0
$GC,5787,-1.28,-146.6,520.2,-12.2,330,5791,0.00,2.70,0.00,0.000,4,0.000,0.099,1551,3292,2568,0,0,0,0,0,0
$STATE,6184,end dive,NO_VERTICAL_VELOCITY
$STATE,6184,begin apogee
$GC,6191,-0.31,0.0,527.9,0.0,342,6298,0.88,0.00,100.32,1.117,6,0.092,0.000,1765,1743,2082,0,0,0,0,0,0
$STATE,6298,end apogee,CONTROL_FINISHED_OK
$STATE,6298,begin climb
$GC,6300,1.20,146.6,528.0,0.0,345,6414,1.40,2.83,104.32,1.097,4,0.094,0.104,2093,344,1584,0,0,0,0,0,0
$GC,7088,1.71,368.6,527.9,-0.1,369,7259,0.47,2.58,162.73,1.112,6,0.070,0.082,2221,1743,833,0,0,0,0,0,0
$GC,7572,1.62,368.6,481.8,14.9,385,7577,0.17,2.70,0.00,0.000,4,0.146,0.099,2185,334,832,0,0,0,0,0,0
$GC,7812,1.53,368.6,446.9,13.2,392,7817,0.00,2.65,0.00,0.000,6,0.000,0.082,2185,1734,831,0,0,0,0,0,0
$GC,8142,1.47,368.6,403.5,13.5,403,8148,0.15,2.70,0.00,0.000,4,0.146,0.097,2154,334,831,0,0,0,0,0,0
$GC,8214,1.42,368.6,393.3,14.0,405,8218,0.00,2.65,0.00,0.000,6,0.000,0.079,2155,1746,831,0,0,0,0,0,0
$GC,8544,1.38,368.6,353.3,12.5,416,8549,0.00,2.70,0.00,0.000,4,0.000,0.097,2155,341,830,0,0,0,0,0,0
$GC,8700,1.32,368.6,331.4,14.2,420,8708,0.15,2.62,0.00,0.000,6,0.144,0.077,2124,1762,830,0,0,0,0,0,0
$GC,9023,1.32,368.6,293.3,12.0,432,9028,0.00,2.70,0.00,0.000,4,0.000,0.094,2124,336,831,0,0,0,0,0,0
$GC,9112,1.29,368.6,281.6,13.4,436,9116,0.00,2.62,0.00,0.000,6,0.000,0.074,2124,1751,830,0,0,0,0,0,0
$GC,9439,1.29,368.6,239.8,12.8,452,9443,0.00,2.70,0.00,0.000,4,0.000,0.092,2124,334,830,0,0,0,0,0,0
$GC,9532,1.25,368.6,226.9,13.9,456,9537,0.00,2.62,0.00,0.000,6,0.000,0.070,2124,1756,830,0,0,0,0,0,0
$GC,9854,1.25,368.6,185.3,12.7,472,9858,0.00,2.67,0.00,0.000,4,0.000,0.089,2124,335,830,0,0,0,0,0,0
$GC,10020,1.23,368.6,163.2,11.2,479,10029,0.08,2.60,0.00,0.000,6,0.137,0.067,2104,1758,831,0,0,0,0,0,0
$GC,10342,1.23,368.6,125.3,13.1,504,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1759,831,0,0,0,0,0,0
$GC,10661,1.23,368.6,87.3,12.8,534,10665,0.00,2.62,0.00,0.000,4,0.000,0.084,2104,337,830,0,0,0,0,0,0
$GC,10745,1.23,368.6,77.0,12.2,541,10749,0.00,2.53,0.00,0.000,6,0.000,0.062,2104,1758,830,0,0,0,0,0,0
$GC,11069,1.23,368.6,42.4,10.3,571,11073,0.00,2.53,0.00,0.000,4,0.000,0.079,2104,3159,831,0,0,0,0,0,0
$GC,11243,1.27,376.3,27.4,7.7,586,11255,0.00,2.55,6.93,0.636,6,0.000,0.067,2104,1738,806,0,0,0,0,0,0
$STATE,11539,end climb,SURFACE_DEPTH_REACHED
$STATE,11539,begin surface coast
$FINISH,-0.0,1.022560
$STATE,11583,end surface coast,CONTROL_FINISHED_OK
$STATE,11583,begin surface
$SM_CCo,11598,147.55,0.725,0,0,145,571.56
$SM_GC,0.65,0.00,0.00,147.55,0.000,0.000,0.725,19,1939,145,-8.36,1.10,571.56
$IRIDIUM_FIX,1825.94,-6559.71,060910,060657
$TT8_MAMPS,0.021721
$HUMID,52.04
$INTERNAL_PRESSURE,8.09601
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.0
$24V_AH,24.7,44.694
$10V_AH,10.5,16.063
$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,19.925,99.600,374.300,147.550,0.000,164.641,141.196,0.000,16.750,0.000,27.767,1699.672,7836.463,619.582,2138.801,103.651,0.000,1537.606,0.000,1659.687,0.000,113.083,0.000
$DEVICE_MAMPS,193.674,104.286,1117.350,725.036,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.532,0.000,941.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327688
$DATA_FILE_SIZE,33472,618
$CAP_FILE_SIZE,117258,0
$CFSIZE,260280320,249192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070910,025800,1832.294,-6558.572,38,1.6,43,-12.7