version: 66.07
glider: 34
mission: 9
dive: 10
start: 1 29 111 9 19 55
data:
$ID,34
$MISSION,9
$DIVE,10
$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,440
$T_MISSION,480
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,45
$KALMAN_USE,13
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,5.7096e-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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12376.012
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,366
$PITCH_MAX,2908
$C_PITCH,2460
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3968
$ROLL_DEG,40
$C_ROLL_DIVE,2577
$C_ROLL_CLIMB,2577
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,151
$VBD_MAX,3963
$C_VBD,2057
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,3
$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,-16.883896
$PRESSURE_SLOPE,0.00094911997
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,101
$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,0.0043511861
$SEABIRD_T_H,0.0006267078
$SEABIRD_T_I,2.3336246e-05
$SEABIRD_T_J,2.4288879e-06
$SEABIRD_C_G,-10.094185
$SEABIRD_C_H,1.1592568
$SEABIRD_C_I,-0.0011433914
$SEABIRD_C_J,0.00016895766
$GPS1,290111,085937,1836.031,-6559.412,31,1.2,32,-12.7
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-56.0
$GPS2,290111,091906,1836.003,-6559.662,12,1.7,28,-12.7
$SPEED_LIMITS,0.075,0.213
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.141,-0.160
$KALMAN_X,-5083.6,0.0,0.0,15430.0,-2877.6
$KALMAN_Y,-598.6,0.0,0.0,2758.1,-374.0
$MHEAD_RNG_PITCHd_Wd,151.2,11133,-15.9,-7.500
$D_GRID,717
$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,-1.12,-146.6,0.0,0.0,0,190,0.00,0.00,-172.93,0.000,2,0.000,0.000,344,2548,2266,0,0,0,0,0,0
$GC,193,-1.12,-146.6,3.6,-3.0,16,221,10.82,2.17,-12.00,0.000,4,0.181,0.082,2211,1187,2553,0,0,0,0,0,0
$GC,277,-1.12,-146.6,15.4,-10.7,23,281,0.00,2.22,0.00,0.000,6,0.000,0.079,2211,2584,2553,0,0,0,0,0,0
$GC,602,-1.12,-146.6,52.5,-10.3,53,606,0.00,2.30,0.00,0.000,4,0.000,0.102,2212,3965,2554,0,0,0,0,0,0
$GC,629,-1.12,-146.6,55.6,-10.4,55,633,0.00,2.12,0.00,0.000,6,0.000,0.070,2211,2585,2555,0,0,0,0,0,0
$GC,953,-1.12,-146.6,89.2,-10.5,85,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2585,2556,0,0,0,0,0,0
$GC,1274,-1.12,-146.6,119.1,-9.3,115,1278,0.00,2.20,0.00,0.000,4,0.000,0.089,2211,1180,2557,0,0,0,0,0,0
$GC,1336,-1.12,-146.6,125.3,-9.4,120,1340,0.00,2.20,0.00,0.000,6,0.000,0.082,2211,2574,2557,0,0,0,0,0,0
$GC,1660,-1.12,-146.6,147.2,-5.0,150,1664,0.00,2.28,0.00,0.000,4,0.000,0.102,2211,3962,2559,0,0,0,0,0,0
$GC,1694,-1.12,-146.6,148.7,-5.2,152,1701,0.00,2.12,0.00,0.000,6,0.000,0.070,2211,2574,2559,0,0,0,0,0,0
$GC,2020,-1.12,-146.6,166.5,-5.5,169,2023,0.00,2.20,0.00,0.000,4,0.000,0.089,2211,1179,2559,0,0,0,0,0,0
$GC,2254,-1.12,-146.6,178.4,-5.5,177,2258,0.00,2.22,0.00,0.000,6,0.000,0.079,2211,2574,2559,0,0,0,0,0,0
$GC,2582,-1.12,-146.6,199.8,-6.4,193,2586,0.00,2.25,0.00,0.000,4,0.000,0.102,2211,3965,2560,0,0,0,0,0,0
$GC,2645,-1.12,-146.6,204.3,-6.9,196,2649,0.00,2.12,0.00,0.000,6,0.000,0.070,2211,2578,2559,0,0,0,0,0,0
$GC,2972,-1.12,-146.6,226.3,-7.1,212,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2578,2560,0,0,0,0,0,0
$GC,3281,-1.12,-146.6,247.2,-6.7,227,3285,0.00,2.25,0.00,0.000,4,0.000,0.102,2211,3962,2560,0,0,0,0,0,0
$GC,3403,-1.12,-146.6,255.3,-7.6,232,3411,0.00,2.15,0.00,0.000,6,0.000,0.072,2211,2582,2560,0,0,0,0,0,0
$GC,3720,-1.12,-146.6,278.7,-7.4,248,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2582,2559,0,0,0,0,0,0
$GC,4038,-1.12,-146.6,304.3,-8.1,263,4042,0.00,2.22,0.00,0.000,4,0.000,0.092,2211,1178,2559,0,0,0,0,0,0
$GC,4167,-1.12,-146.6,313.0,-8.0,266,4172,0.00,2.25,0.00,0.000,6,0.000,0.079,2211,2580,2559,0,0,0,0,0,0
$GC,4502,-1.12,-146.6,343.0,-8.7,277,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2580,2559,0,0,0,0,0,0
$GC,4809,-1.12,-146.6,369.6,-8.6,287,4813,0.00,2.28,0.00,0.000,4,0.000,0.102,2211,3969,2559,0,0,0,0,0,0
$GC,4904,-1.12,-146.6,376.4,-8.8,289,4909,0.00,2.17,0.00,0.000,6,0.000,0.072,2211,2582,2559,0,0,0,0,0,0
$GC,5241,-1.12,-146.6,410.0,-10.0,300,5245,0.00,2.22,0.00,0.000,4,0.000,0.094,2211,1181,2558,0,0,0,0,0,0
$GC,5368,-1.12,-146.6,421.1,-9.9,303,5373,0.00,2.22,0.00,0.000,6,0.000,0.079,2211,2572,2558,0,0,0,0,0,0
$GC,5720,-1.12,-146.6,454.1,-10.0,314,5724,0.00,2.28,0.00,0.000,4,0.000,0.102,2211,3962,2558,0,0,0,0,0,0
$GC,5816,-1.12,-146.6,463.4,-9.9,316,5821,0.00,2.17,0.00,0.000,6,0.000,0.072,2211,2579,2557,0,0,0,0,0,0
$GC,6136,-1.12,-146.6,495.0,-9.0,327,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2579,2556,0,0,0,0,0,0
$GC,6441,-1.12,-146.6,524.0,-10.2,337,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2579,2554,0,0,0,0,0,0
$GC,6764,-1.12,-146.6,559.2,-11.4,347,6767,0.00,2.25,0.00,0.000,4,0.000,0.094,2211,1170,2553,0,0,0,0,0,0
$GC,6801,-1.12,-146.6,564.2,-11.4,348,6806,0.00,2.28,0.00,0.000,6,0.000,0.082,2211,2579,2553,0,0,0,0,0,0
$GC,7134,-1.12,-146.6,601.6,-10.9,359,7138,0.00,2.28,0.00,0.000,4,0.000,0.104,2211,3966,2551,0,0,0,0,0,0
$GC,7210,-1.12,-146.6,609.3,-11.6,361,7215,0.00,2.20,0.00,0.000,6,0.000,0.074,2211,2578,2551,0,0,0,0,0,0
$GC,7534,-1.12,-146.6,648.1,-10.9,372,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2578,2549,0,0,0,0,0,0
$GC,7842,-1.12,-146.6,681.9,-10.9,382,7846,0.00,2.25,0.00,0.000,4,0.000,0.094,2212,1174,2548,0,0,0,0,0,0
$GC,7903,-1.12,-146.6,687.9,-10.2,384,7907,0.00,2.22,0.00,0.000,6,0.000,0.084,2211,2578,2548,0,0,0,0,0,0
$STATE,8181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8181,begin apogee
$GC,8184,-0.29,0.0,718.4,10.9,393,8297,0.98,0.00,106.78,1.251,6,0.166,0.000,2388,2587,2057,0,0,0,0,0,0
$STATE,8298,end apogee,CONTROL_FINISHED_OK
$STATE,8298,begin climb
$GC,8299,1.12,146.6,722.6,0.0,396,8419,1.70,2.50,110.95,1.234,4,0.144,0.107,2695,1172,1560,0,0,0,0,0,0
$GC,8565,1.57,515.6,740.3,-5.8,404,8876,0.52,2.38,301.83,1.239,6,0.082,0.097,2817,2574,309,0,0,0,0,0,0
$GC,9196,1.57,515.6,627.6,24.6,423,9200,0.00,2.38,0.00,0.000,4,0.000,0.104,2817,3969,309,0,0,0,0,0,0
$GC,9263,1.57,515.6,620.2,24.5,424,9272,0.00,2.25,0.00,0.000,6,0.000,0.072,2817,2569,308,0,0,0,0,0,0
$GC,9577,1.57,515.6,530.8,25.3,435,9581,0.00,2.20,0.00,0.000,4,0.000,0.087,2817,1187,308,0,0,0,0,0,0
$GC,9631,1.57,515.6,522.2,25.4,436,9636,0.00,2.28,0.00,0.000,6,0.000,0.077,2817,2579,306,0,0,0,0,0,0
$GC,9950,1.57,515.6,430.4,27.7,447,9954,0.00,2.28,0.00,0.000,4,0.000,0.102,2817,3960,306,0,0,0,0,0,0
$GC,9995,1.57,515.6,422.5,28.3,448,10000,0.00,2.20,0.00,0.000,6,0.000,0.072,2817,2570,306,0,0,0,0,0,0
$GC,10331,1.57,515.6,321.4,29.9,459,10334,0.00,2.20,0.00,0.000,4,0.000,0.084,2817,1185,306,0,0,0,0,0,0
$GC,10421,1.57,515.6,303.7,29.4,461,10426,0.00,2.22,0.00,0.000,6,0.000,0.074,2817,2573,305,0,0,0,0,0,0
$GC,10749,1.57,515.6,193.1,31.7,477,10753,0.00,2.20,0.00,0.000,4,0.000,0.082,2817,1185,305,0,0,0,0,0,0
$GC,10826,1.57,515.6,174.1,31.0,480,10833,0.00,2.20,0.00,0.000,6,0.000,0.074,2817,2584,305,0,0,0,0,0,0
$GC,11149,1.57,515.6,75.2,27.3,508,11153,0.00,2.20,0.00,0.000,4,0.000,0.079,2817,1179,305,0,0,0,0,0,0
$GC,11265,1.57,515.6,43.9,27.5,518,11273,0.00,2.20,0.00,0.000,6,0.000,0.072,2817,2573,305,0,0,0,0,0,0
$STATE,11398,end climb,SURFACE_DEPTH_REACHED
$STATE,11399,begin surface coast
$FINISH,0.8,1.023699
$STATE,11410,end surface coast,CONTROL_FINISHED_OK
$STATE,11410,begin surface
$SM_CCo,11488,0.00,0.000,0,0,305,517.19
$SM_GC,1.75,11.55,0.00,0.00,0.084,0.000,0.000,345,2574,305,-9.59,-0.08,517.19
$IRIDIUM_FIX,1828.22,-6601.79,290111,090940
$TT8_MAMPS,0.023219
$HUMID,60.00
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.4,16.3
$24V_AH,24.1,8.917
$10V_AH,10.5,2.554
$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,25.575,93.800,519.550,0.000,0.000,129.442,222.508,421.228,13.250,0.000,31.629,1424.253,7606.759,542.808,2984.711,126.820,0.387,1409.378,0.000,1278.179,0.000,89.534,0.000
$DEVICE_MAMPS,181.259,106.769,1251.432,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.276,0.000,0.000,1559.819,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327540
$DATA_FILE_SIZE,26862,532
$CAP_FILE_SIZE,137884,0
$CFSIZE,260165632,252846080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290111,123231,1834.785,-6558.633,34,1.6,35,-12.7