version: 66.07
glider: 34
mission: 9
dive: 12
start: 1 29 111 15 57 10
data:
$ID,34
$MISSION,9
$DIVE,12
$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,-12378.529
$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,66
$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
$GPS1,290111,154728,1833.287,-6557.667,9,2.8,29,-12.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-63.9
$GPS2,290111,155621,1833.316,-6557.693,14,2.8,33,-12.8
$SPEED_LIMITS,0.075,0.213
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.063,-0.204
$KALMAN_X,-5160.4,0.0,0.0,18912.7,-581.4
$KALMAN_Y,644.0,0.0,0.0,-3454.9,398.4
$MHEAD_RNG_PITCHd_Wd,210.1,7357,-15.9,-7.500
$D_GRID,459
$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,-146.6,0.0,0.0,0,105,0.00,0.00,-88.12,0.000,2,0.000,0.000,343,2551,2180,0,0,0,0,0,0
$GC,107,-1.12,-146.6,3.5,-2.8,8,142,10.68,2.15,-16.38,0.000,4,0.179,0.084,2211,1200,2553,0,0,0,0,0,0
$GC,314,-1.12,-146.6,26.2,-10.8,26,323,0.00,2.20,0.00,0.000,6,0.000,0.077,2211,2572,2553,0,0,0,0,0,0
$GC,640,-1.12,-146.6,60.4,-10.5,57,644,0.00,2.28,0.00,0.000,4,0.000,0.099,2211,3965,2554,0,0,0,0,0,0
$GC,700,-1.12,-146.6,66.7,-11.7,62,708,0.00,2.15,0.00,0.000,6,0.000,0.067,2211,2592,2555,0,0,0,0,0,0
$GC,1028,-1.12,-146.6,100.1,-9.1,93,1032,0.00,2.22,0.00,0.000,4,0.000,0.087,2211,1180,2556,0,0,0,0,0,0
$GC,1044,-1.12,-146.6,102.1,-9.9,94,1048,0.00,2.20,0.00,0.000,6,0.000,0.079,2212,2581,2556,0,0,0,0,0,0
$GC,1368,-1.12,-146.6,126.5,-7.0,124,1372,0.00,2.22,0.00,0.000,4,0.000,0.099,2211,3959,2558,0,0,0,0,0,0
$GC,1469,-1.12,-146.6,135.3,-9.3,133,1474,0.00,2.12,0.00,0.000,6,0.000,0.070,2211,2569,2557,0,0,0,0,0,0
$GC,1802,-1.12,-146.6,155.7,-6.5,160,1806,0.00,2.15,0.00,0.000,4,0.000,0.087,2211,1181,2559,0,0,0,0,0,0
$GC,1937,-1.12,-146.6,161.9,-5.7,165,1945,0.00,2.20,0.00,0.000,6,0.000,0.077,2211,2573,2559,0,0,0,0,0,0
$GC,2255,-1.12,-146.6,182.5,-5.9,181,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2573,2559,0,0,0,0,0,0
$GC,2563,-1.12,-146.6,199.1,-5.9,196,2567,0.00,2.15,0.00,0.000,4,0.000,0.084,2211,1182,2560,0,0,0,0,0,0
$GC,2631,-1.12,-146.6,201.6,-5.8,198,2639,0.00,2.20,0.00,0.000,6,0.000,0.077,2211,2573,2560,0,0,0,0,0,0
$GC,2948,-1.12,-146.6,223.0,-6.5,214,2952,0.00,2.25,0.00,0.000,4,0.000,0.099,2211,3960,2560,0,0,0,0,0,0
$GC,3010,-1.12,-146.6,227.1,-6.7,217,3014,0.00,2.12,0.00,0.000,6,0.000,0.070,2211,2572,2560,0,0,0,0,0,0
$GC,3336,-1.12,-146.6,248.2,-6.5,233,3340,0.00,2.15,0.00,0.000,4,0.000,0.089,2211,1183,2560,0,0,0,0,0,0
$GC,3379,-1.12,-146.6,250.9,-6.5,235,3384,0.00,2.20,0.00,0.000,6,0.000,0.079,2211,2569,2560,0,0,0,0,0,0
$GC,3707,-1.12,-146.6,274.5,-7.2,251,3711,0.00,2.25,0.00,0.000,4,0.000,0.099,2211,3964,2560,0,0,0,0,0,0
$GC,3778,-1.12,-146.6,279.8,-7.6,254,3783,0.00,2.15,0.00,0.000,6,0.000,0.070,2211,2581,2560,0,0,0,0,0,0
$GC,4109,-1.12,-146.6,301.2,-6.9,270,4112,0.00,2.22,0.00,0.000,4,0.000,0.089,2211,1172,2560,0,0,0,0,0,0
$GC,4188,-1.12,-146.6,306.1,-7.1,272,4193,0.00,2.22,0.00,0.000,6,0.000,0.079,2211,2569,2560,0,0,0,0,0,0
$GC,4525,-1.12,-146.6,331.8,-7.4,283,4529,0.00,2.25,0.00,0.000,4,0.000,0.099,2211,3966,2560,0,0,0,0,0,0
$GC,4567,-1.12,-146.6,334.0,-7.5,284,4572,0.00,2.17,0.00,0.000,6,0.000,0.070,2211,2573,2559,0,0,0,0,0,0
$GC,4892,-1.12,-146.6,359.6,-7.7,295,4896,0.00,2.25,0.00,0.000,4,0.000,0.102,2211,3961,2559,0,0,0,0,0,0
$GC,4920,-1.12,-146.6,361.8,-7.8,296,4924,0.00,2.15,0.00,0.000,6,0.000,0.072,2211,2568,2559,0,0,0,0,0,0
$GC,5271,-1.12,-146.6,390.0,-8.4,307,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2568,2559,0,0,0,0,0,0
$GC,5561,-1.12,-146.6,416.5,-8.9,317,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2568,2558,0,0,0,0,0,0
$GC,5866,-1.12,-146.6,443.9,-8.6,327,5870,0.00,2.20,0.00,0.000,4,0.000,0.092,2211,1176,2557,0,0,0,0,0,0
$GC,5887,-1.12,-146.6,443.9,8.6,327,5895,0.00,2.25,0.00,0.000,6,0.000,0.079,2211,2581,2556,0,0,0,0,0,0
$STATE,6062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6063,begin apogee
$GC,6066,-0.29,0.0,460.5,9.4,333,6177,0.95,0.00,105.88,1.035,6,0.164,0.000,2385,2585,2057,0,0,0,0,0,0
$STATE,6178,end apogee,CONTROL_FINISHED_OK
$STATE,6178,begin climb
$GC,6179,1.12,146.6,465.8,0.0,336,6297,1.73,2.50,108.15,1.023,4,0.151,0.102,2695,1179,1560,0,0,0,0,0,0
$GC,6395,1.32,311.2,463.6,1.6,341,6525,0.25,2.35,122.93,1.013,6,0.097,0.094,2762,2577,1002,0,0,0,0,0,0
$GC,6860,1.32,311.2,386.8,18.3,356,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2577,999,0,0,0,0,0,0
$GC,7149,1.32,311.2,328.9,19.2,366,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2577,998,0,0,0,0,0,0
$GC,7467,1.32,311.2,265.5,20.0,379,7471,0.00,2.22,0.00,0.000,4,0.000,0.082,2762,1175,998,0,0,0,0,0,0
$GC,7560,1.32,311.2,248.2,20.5,383,7565,0.00,2.25,0.00,0.000,6,0.000,0.072,2762,2591,997,0,0,0,0,0,0
$GC,7882,1.32,311.2,181.1,19.7,399,7886,0.00,2.22,0.00,0.000,4,0.000,0.097,2762,3958,997,0,0,0,0,0,0
$GC,7954,1.32,311.2,167.2,22.4,402,7958,0.00,2.15,0.00,0.000,6,0.000,0.070,2762,2562,996,0,0,0,0,0,0
$GC,8282,1.32,311.2,108.0,16.5,429,8286,0.00,2.12,0.00,0.000,4,0.000,0.084,2762,1190,996,0,0,0,0,0,0
$GC,8333,1.32,311.2,99.1,17.5,433,8337,0.00,2.15,0.00,0.000,6,0.000,0.074,2762,2587,996,0,0,0,0,0,0
$GC,8657,1.32,311.2,45.2,16.9,463,8661,0.00,2.17,0.00,0.000,4,0.000,0.094,2762,3951,996,0,0,0,0,0,0
$STATE,8874,end climb,SURFACE_DEPTH_REACHED
$STATE,8874,begin surface coast
$FINISH,0.4,1.023488
$STATE,8897,end surface coast,CONTROL_FINISHED_OK
$STATE,8897,begin surface
$SM_CCo,8977,0.00,0.000,0,0,996,313.21
$SM_GC,2.61,11.23,0.00,0.00,0.084,0.000,0.000,344,2587,996,-9.60,0.28,313.21
$IRIDIUM_FIX,1825.94,-6555.56,290111,151555
$TT8_MAMPS,0.02247
$HUMID,54.92
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.4,17.6
$24V_AH,24.4,9.158
$10V_AH,10.5,2.681
$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,24.825,79.400,336.950,0.000,0.000,64.008,75.732,214.815,7.000,0.000,36.953,1292.265,5839.421,372.942,1934.049,104.191,0.388,1052.578,0.000,1062.496,0.000,49.041,0.000
$DEVICE_MAMPS,178.776,101.803,1035.411,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.372,0.000,0.000,1125.143,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327564
$DATA_FILE_SIZE,26836,484
$CAP_FILE_SIZE,102454,0
$CFSIZE,260165632,252768256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290111,182800,1832.284,-6558.101,34,1.4,39,-12.7