version: 66.07
glider: 34
mission: 9
dive: 11
start: 1 29 111 12 38 20
data:
$ID,34
$MISSION,9
$DIVE,11
$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,-12377.271
$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,29
$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
$GPS1,290111,123231,1834.785,-6558.633,34,1.6,35,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.6
$GPS2,290111,123731,1834.779,-6558.668,10,1.2,10,-12.7
$SPEED_LIMITS,0.075,0.213
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.095,-0.191
$KALMAN_X,-5758.2,0.0,0.0,17811.4,-2132.8
$KALMAN_Y,349.4,0.0,0.0,-486.0,509.4
$MHEAD_RNG_PITCHd_Wd,166.3,9155,-15.9,-7.500
$D_GRID,589
$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,-146.6,0.0,0.0,0,158,0.00,0.00,-140.70,0.000,2,0.000,0.000,344,2574,1904,0,0,0,0,0,0
$GC,160,-1.12,-146.6,3.1,-3.4,13,214,10.65,2.28,-36.22,0.000,4,0.179,0.082,2211,1184,2554,0,0,0,0,0,0
$GC,243,-1.12,-146.6,9.9,-9.4,21,247,0.00,2.20,0.00,0.000,6,0.000,0.077,2211,2577,2554,0,0,0,0,0,0
$GC,569,-1.12,-146.6,43.4,-10.1,51,573,0.00,2.25,0.00,0.000,4,0.000,0.099,2211,3956,2555,0,0,0,0,0,0
$GC,600,-1.12,-146.6,46.9,-11.3,53,608,0.00,2.15,0.00,0.000,6,0.000,0.070,2212,2587,2556,0,0,0,0,0,0
$GC,926,-1.12,-146.6,81.7,-10.0,84,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2587,2557,0,0,0,0,0,0
$GC,1245,-1.12,-146.6,114.7,-8.8,114,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2588,2559,0,0,0,0,0,0
$GC,1564,-1.12,-146.6,142.2,-8.3,144,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2587,2560,0,0,0,0,0,0
$GC,1877,-1.12,-146.6,163.8,-6.3,164,1881,0.00,2.25,0.00,0.000,4,0.000,0.089,2212,1168,2561,0,0,0,0,0,0
$GC,1904,-1.12,-146.6,164.7,-6.0,165,1909,0.00,2.22,0.00,0.000,6,0.000,0.077,2212,2570,2562,0,0,0,0,0,0
$GC,2228,-1.12,-146.6,184.2,-6.1,181,2231,0.00,2.20,0.00,0.000,4,0.000,0.084,2211,1176,2562,0,0,0,0,0,0
$GC,2453,-1.12,-146.6,196.6,-5.6,189,2458,0.00,2.22,0.00,0.000,6,0.000,0.077,2211,2577,2564,0,0,0,0,0,0
$GC,2775,-1.12,-146.6,216.9,-7.0,205,2779,0.00,2.25,0.00,0.000,4,0.000,0.102,2212,3962,2565,0,0,0,0,0,0
$GC,2818,-1.12,-146.6,219.7,-6.9,207,2823,0.00,2.15,0.00,0.000,6,0.000,0.070,2212,2575,2565,0,0,0,0,0,0
$GC,3147,-1.12,-146.6,243.6,-7.9,223,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2575,2565,0,0,0,0,0,0
$GC,3455,-1.12,-146.6,266.3,-7.0,238,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2575,2565,0,0,0,0,0,0
$GC,3765,-1.12,-146.6,288.7,-7.4,253,3769,0.00,2.25,0.00,0.000,4,0.000,0.099,2211,3962,2565,0,0,0,0,0,0
$GC,3791,-1.12,-146.6,290.0,-7.6,254,3796,0.00,2.15,0.00,0.000,6,0.000,0.072,2211,2580,2565,0,0,0,0,0,0
$GC,4112,-1.12,-146.6,316.4,-8.6,267,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2580,2565,0,0,0,0,0,0
$GC,4420,-1.12,-146.6,343.5,-9.0,277,4424,0.00,2.22,0.00,0.000,4,0.000,0.092,2211,1172,2565,0,0,0,0,0,0
$GC,4499,-1.12,-146.6,349.4,-9.2,279,4504,0.00,2.25,0.00,0.000,6,0.000,0.079,2211,2577,2564,0,0,0,0,0,0
$GC,4835,-1.12,-146.6,379.6,-8.2,290,4839,0.00,2.25,0.00,0.000,4,0.000,0.102,2211,3969,2564,0,0,0,0,0,0
$GC,4898,-1.12,-146.6,382.1,-8.3,291,4903,0.00,2.17,0.00,0.000,6,0.000,0.070,2212,2579,2564,0,0,0,0,0,0
$GC,5218,-1.12,-146.6,411.1,-8.2,302,5222,0.00,2.25,0.00,0.000,4,0.000,0.099,2212,3963,2563,0,0,0,0,0,0
$GC,5328,-1.12,-146.6,421.3,-9.2,305,5332,0.00,2.12,0.00,0.000,6,0.000,0.072,2212,2577,2563,0,0,0,0,0,0
$GC,5686,-1.12,-146.6,451.7,-8.7,316,5690,0.00,2.22,0.00,0.000,4,0.000,0.092,2212,1172,2562,0,0,0,0,0,0
$GC,5776,-1.12,-146.6,458.2,-8.5,318,5781,0.00,2.25,0.00,0.000,6,0.000,0.079,2212,2576,2562,0,0,0,0,0,0
$GC,6100,-1.12,-146.6,487.7,-8.3,329,6104,0.00,2.28,0.00,0.000,4,0.000,0.102,2211,3965,2561,0,0,0,0,0,0
$GC,6137,-1.12,-146.6,490.0,-8.4,330,6142,0.00,2.17,0.00,0.000,6,0.000,0.072,2211,2578,2561,0,0,0,0,0,0
$GC,6468,-1.12,-146.6,519.0,-8.2,341,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2578,2560,0,0,0,0,0,0
$GC,6774,-1.12,-146.6,542.4,-8.0,351,6778,0.00,2.30,0.00,0.000,4,0.000,0.102,2211,3966,2559,0,0,0,0,0,0
$GC,6790,-1.12,-146.6,542.4,8.0,351,6794,0.00,2.17,0.00,0.000,6,0.000,0.074,2211,2587,2559,0,0,0,0,0,0
$GC,7126,-1.12,-146.6,570.2,-8.5,362,7130,0.00,2.25,0.00,0.000,4,0.000,0.092,2211,1174,2559,0,0,0,0,0,0
$GC,7170,-1.12,-146.6,574.1,-8.5,363,7174,0.00,2.22,0.00,0.000,6,0.000,0.082,2212,2577,2558,0,0,0,0,0,0
$STATE,7319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7319,begin apogee
$GC,7322,-0.29,0.0,589.2,9.2,368,7435,0.95,0.00,107.53,1.142,6,0.164,0.000,2386,2584,2056,0,0,0,0,0,0
$STATE,7436,end apogee,CONTROL_FINISHED_OK
$STATE,7436,begin climb
$GC,7437,1.12,146.6,592.6,0.0,371,7552,1.73,0.00,109.32,1.125,6,0.142,0.000,2695,2587,1560,0,0,0,0,0,0
$GC,7847,1.32,309.1,598.6,1.7,385,7977,0.25,2.40,122.97,1.125,4,0.097,0.104,2762,3960,1008,0,0,0,0,0,0
$GC,8169,1.32,309.1,553.4,18.5,394,8174,0.00,2.25,0.00,0.000,6,0.000,0.070,2762,2566,1004,0,0,0,0,0,0
$GC,8522,1.32,309.1,495.9,17.2,405,8526,0.00,2.20,0.00,0.000,4,0.000,0.087,2762,1177,1005,0,0,0,0,0,0
$GC,8576,1.32,309.1,487.6,17.4,406,8584,0.00,2.25,0.00,0.000,6,0.000,0.077,2763,2574,1004,0,0,0,0,0,0
$GC,8889,1.32,309.1,427.6,17.2,417,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2574,1004,0,0,0,0,0,0
$GC,9195,1.32,309.1,373.1,18.6,427,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2574,1003,0,0,0,0,0,0
$GC,9518,1.32,309.1,316.1,18.7,437,9522,0.00,2.22,0.00,0.000,4,0.000,0.082,2763,1177,1003,0,0,0,0,0,0
$GC,9620,1.32,309.1,301.7,18.4,439,9644,0.00,2.22,0.00,0.000,6,0.000,0.074,2763,2579,1002,0,0,0,0,0,0
$GC,9939,1.32,309.1,229.0,20.2,455,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2579,1002,0,0,0,0,0,0
$GC,10247,1.32,309.1,167.0,19.3,470,10251,0.00,2.20,0.00,0.000,4,0.000,0.079,2762,1182,1002,0,0,0,0,0,0
$GC,10517,1.32,309.1,120.3,16.0,488,10525,0.00,2.20,0.00,0.000,6,0.000,0.072,2763,2578,1002,0,0,0,0,0,0
$GC,10843,1.32,309.1,66.1,15.7,519,10846,0.00,2.25,0.00,0.000,4,0.000,0.094,2763,3965,1002,0,0,0,0,0,0
$GC,11011,1.32,309.1,35.5,18.7,534,11015,0.00,2.10,0.00,0.000,6,0.000,0.067,2763,2560,1002,0,0,0,0,0,0
$STATE,11185,end climb,SURFACE_DEPTH_REACHED
$STATE,11185,begin surface coast
$FINISH,0.6,1.023821
$STATE,11208,end surface coast,CONTROL_FINISHED_OK
$STATE,11208,begin surface
$SM_CCo,11285,0.00,0.000,0,0,1003,311.14
$SM_GC,2.29,11.32,0.00,0.00,0.089,0.000,0.000,350,2551,1003,-9.59,-0.74,311.14
$IRIDIUM_FIX,1828.22,-6557.63,290111,090933
$TT8_MAMPS,0.02247
$HUMID,55.51
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.8
$24V_AH,24.3,9.040
$10V_AH,10.4,2.623
$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,24.900,80.025,339.825,0.000,0.000,34.439,29.280,157.067,10.000,0.000,13.083,1459.674,7351.392,448.654,2233.954,121.585,0.387,1208.594,0.000,1220.026,0.000,67.817,0.000
$DEVICE_MAMPS,178.776,104.286,1142.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.422,0.000,0.000,1526.580,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327572
$DATA_FILE_SIZE,30247,552
$CAP_FILE_SIZE,117710,0
$CFSIZE,260165632,252805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290111,154728,1833.287,-6557.667,9,2.8,29,-12.8