version: 66.07
glider: 34
mission: 9
dive: 13
start: 1 29 111 18 39 43
data:
$ID,34
$MISSION,9
$DIVE,13
$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,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,45
$KALMAN_USE,14
$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,-12379.786
$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,0.02
$PITCH_ADJ_DBAND,1
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,290111,182800,1832.284,-6558.101,34,1.4,39,-12.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.7
$GPS2,290111,183919,1832.294,-6558.047,11,1.3,11,-12.7
$SPEED_LIMITS,0.075,0.213
$TGT_NAME,66W_PR
$TGT_LATLONG,1830.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.099,-0.189
$KALMAN_X,-4904.8,0.0,0.0,18074.9,-279.1
$KALMAN_Y,1246.0,0.0,0.0,-5961.2,1376.3
$MHEAD_RNG_PITCHd_Wd,220.4,5460,-15.9,-7.500
$D_GRID,990
$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,15,-1.12,-146.6,0.0,0.0,0,84,0.00,0.00,-66.68,0.000,2,0.000,0.000,343,2588,1903,0,0,0,0,0,0
$GC,86,-1.12,-146.6,3.2,-3.8,6,142,10.68,2.33,-36.42,0.000,4,0.179,0.087,2212,1177,2554,0,0,0,0,0,0
$GC,267,-1.08,-146.6,19.2,-10.1,22,271,0.00,2.22,0.00,0.000,6,0.000,0.079,2213,2570,2554,0,0,0,0,0,0
$GC,591,-1.03,-146.6,52.9,-10.4,52,596,0.12,2.30,0.00,0.000,4,0.184,0.102,2232,3963,2554,0,0,0,0,0,0
$GC,686,-1.00,-146.6,63.0,-10.9,60,690,0.00,2.17,0.00,0.000,6,0.000,0.072,2232,2570,2554,0,0,0,0,0,0
$GC,1011,-1.00,-146.6,94.4,-9.6,90,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2570,2555,0,0,0,0,0,0
$GC,1330,-1.00,-146.6,120.6,-7.2,120,1334,0.00,2.28,0.00,0.000,4,0.000,0.102,2233,3961,2557,0,0,0,0,0,0
$GC,1451,-1.00,-146.6,130.0,-7.5,130,1459,0.00,2.15,0.00,0.000,6,0.000,0.070,2233,2584,2557,0,0,0,0,0,0
$GC,1777,-1.04,-146.6,148.0,-5.0,161,1781,0.00,2.25,0.00,0.000,4,0.000,0.097,2233,1170,2558,0,0,0,0,0,0
$GC,1993,-1.07,-146.6,158.4,-4.8,172,1997,0.00,2.25,0.00,0.000,6,0.000,0.084,2233,2570,2558,0,0,0,0,0,0
$GC,2322,-1.11,-146.6,174.8,-5.7,188,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2570,2559,0,0,0,0,0,0
$GC,2629,-1.14,-146.6,190.0,-5.2,203,2633,0.00,2.22,0.00,0.000,4,0.000,0.092,2233,1170,2559,0,0,0,0,0,0
$GC,2737,-1.17,-146.6,195.3,-5.0,208,2742,0.12,2.22,0.00,0.000,6,0.117,0.084,2197,2580,2559,0,0,0,0,0,0
$GC,3064,-1.15,-146.6,213.1,-5.7,224,3068,0.00,2.25,0.00,0.000,4,0.000,0.104,2197,3962,2559,0,0,0,0,0,0
$GC,3158,-1.11,-146.6,218.9,-6.8,228,3162,0.00,2.17,0.00,0.000,6,0.000,0.074,2196,2585,2559,0,0,0,0,0,0
$GC,3480,-1.08,-146.6,241.6,-7.4,244,3485,0.15,2.28,0.00,0.000,4,0.169,0.097,2222,1160,2559,0,0,0,0,0,0
$GC,3568,-1.08,-146.6,247.5,-6.9,248,3573,0.00,2.28,0.00,0.000,6,0.000,0.084,2222,2574,2559,0,0,0,0,0,0
$GC,3899,-1.08,-146.6,271.0,-7.2,264,3903,0.00,2.28,0.00,0.000,4,0.000,0.102,2222,3969,2559,0,0,0,0,0,0
$GC,3930,-1.08,-146.6,272.5,-7.1,265,3938,0.00,2.20,0.00,0.000,6,0.000,0.072,2222,2570,2559,0,0,0,0,0,0
$GC,4246,-1.08,-146.6,296.8,-7.9,281,4250,0.00,2.28,0.00,0.000,4,0.000,0.104,2222,3957,2559,0,0,0,0,0,0
$GC,4300,-1.08,-146.6,300.9,-8.6,283,4305,0.00,2.17,0.00,0.000,6,0.000,0.072,2222,2576,2558,0,0,0,0,0,0
$GC,4619,-1.08,-146.6,327.2,-7.7,294,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2576,2557,0,0,0,0,0,0
$GC,4942,-1.08,-146.6,349.8,-7.1,304,4946,0.00,2.25,0.00,0.000,4,0.000,0.097,2222,1165,2556,0,0,0,0,0,0
$GC,4974,-1.08,-146.6,352.9,-7.3,305,4979,0.00,2.28,0.00,0.000,6,0.000,0.084,2222,2575,2556,0,0,0,0,0,0
$GC,5327,-1.08,-146.6,377.3,-6.7,316,5331,0.00,2.25,0.00,0.000,4,0.000,0.104,2222,3963,2556,0,0,0,0,0,0
$GC,5421,-1.08,-146.6,384.0,-6.9,318,5426,0.00,2.20,0.00,0.000,6,0.000,0.074,2222,2573,2556,0,0,0,0,0,0
$GC,5757,-1.08,-146.6,407.5,-6.1,329,5761,0.00,2.25,0.00,0.000,4,0.000,0.097,2222,1166,2555,0,0,0,0,0,0
$GC,5814,-1.08,-146.6,409.1,-6.2,330,5819,0.00,2.28,0.00,0.000,6,0.000,0.087,2222,2573,2555,0,0,0,0,0,0
$GC,6139,-1.08,-146.6,433.6,-7.1,341,6143,0.00,2.30,0.00,0.000,4,0.000,0.104,2222,3969,2553,0,0,0,0,0,0
$GC,6182,-1.08,-146.6,435.8,-7.2,342,6186,0.00,2.20,0.00,0.000,6,0.000,0.074,2222,2578,2553,0,0,0,0,0,0
$GC,6507,-1.08,-146.6,460.1,-7.3,353,6511,0.00,2.28,0.00,0.000,4,0.000,0.104,2222,3962,2551,0,0,0,0,0,0
$GC,6527,-1.08,-146.6,460.1,7.3,353,6535,0.00,2.20,0.00,0.000,6,0.000,0.074,2222,2581,2551,0,0,0,0,0,0
$GC,6840,-1.08,-146.6,487.3,-9.0,364,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2581,2550,0,0,0,0,0,0
$GC,7162,-1.08,-146.6,515.3,-9.6,374,7166,0.00,2.25,0.00,0.000,4,0.000,0.097,2222,1168,2548,0,0,0,0,0,0
$GC,7211,-1.08,-146.6,519.3,-9.4,375,7216,0.00,2.30,0.00,0.000,6,0.000,0.087,2222,2578,2548,0,0,0,0,0,0
$GC,7530,-1.42,-146.6,530.0,0.1,386,7535,0.32,2.30,0.00,0.000,4,0.127,0.109,2159,3964,2547,0,0,0,0,0,0
$STATE,7760,end dive,NO_VERTICAL_VELOCITY
$STATE,7760,begin apogee
$GC,7765,-0.29,0.0,529.8,0.0,393,7875,1.15,0.00,104.38,1.102,6,0.117,0.000,2388,2585,2057,0,0,0,0,0,0
$STATE,7876,end apogee,CONTROL_FINISHED_OK
$STATE,7876,begin climb
$GC,7877,1.12,146.6,529.9,0.0,396,7999,1.65,2.62,109.18,1.083,4,0.134,0.122,2695,1151,1560,0,0,0,0,0,0
$GC,8266,1.52,354.5,529.7,0.0,407,8440,0.47,2.45,159.30,1.083,6,0.107,0.109,2797,2574,855,0,0,0,0,0,0
$GC,8728,1.35,354.5,457.5,21.1,422,8733,0.25,2.33,0.00,0.000,4,0.149,0.084,2754,1145,851,0,0,0,0,0,0
$GC,8909,1.22,354.5,427.9,17.9,427,8914,0.12,2.33,0.00,0.000,6,0.142,0.077,2729,2580,847,0,0,0,0,0,0
$GC,9262,1.11,354.5,369.6,16.6,438,9264,0.15,0.00,0.00,0.000,6,0.184,0.000,2706,2580,848,0,0,0,0,0,0
$GC,9552,1.01,354.5,320.9,15.5,448,9556,0.15,2.30,0.00,0.000,4,0.214,0.084,2684,1148,847,0,0,0,0,0,0
$GC,9606,0.92,354.5,316.2,15.6,449,9614,0.10,2.30,0.00,0.000,6,0.194,0.077,2666,2577,846,0,0,0,0,0,0
$GC,9932,0.86,354.5,261.4,16.2,464,9936,0.00,2.30,0.00,0.000,4,0.000,0.087,2666,1148,846,0,0,0,0,0,0
$GC,9964,0.80,354.5,258.7,16.2,465,9972,0.15,2.30,0.00,0.000,6,0.179,0.082,2638,2575,845,0,0,0,0,0,0
$GC,10281,0.76,354.5,208.2,14.8,481,10285,0.00,2.28,0.00,0.000,4,0.000,0.082,2639,1147,845,0,0,0,0,0,0
$GC,10375,0.73,354.5,195.3,15.0,485,10380,0.00,2.28,0.00,0.000,6,0.000,0.074,2638,2584,845,0,0,0,0,0,0
$GC,10699,0.69,354.5,147.3,14.4,501,10700,0.15,0.00,0.00,0.000,6,0.189,0.000,2615,2584,845,0,0,0,0,0,0
$GC,11015,0.69,354.5,109.7,12.8,531,11019,0.00,2.35,0.00,0.000,4,0.000,0.097,2615,1141,845,0,0,0,0,0,0
$GC,11147,0.69,354.5,95.0,11.1,542,11155,0.00,2.35,0.00,0.000,6,0.000,0.092,2615,2567,844,0,0,0,0,0,0
$GC,11472,0.69,354.5,58.1,12.0,573,11476,0.00,2.30,0.00,0.000,4,0.000,0.104,2615,3972,844,0,0,0,0,0,0
$GC,11661,0.67,354.5,33.8,14.7,589,11669,0.00,2.22,0.00,0.000,6,0.000,0.072,2615,2565,845,0,0,0,0,0,0
$STATE,11911,end climb,SURFACE_DEPTH_REACHED
$STATE,11911,begin surface coast
$FINISH,0.6,1.023285
$STATE,11944,end surface coast,CONTROL_FINISHED_OK
$STATE,11944,begin surface
$SM_CCo,12020,0.00,0.000,0,0,845,358.08
$SM_GC,1.69,10.52,0.00,0.00,0.084,0.000,0.000,346,2557,845,-9.59,-0.57,358.08
$IRIDIUM_FIX,1825.94,-6557.63,290111,181845
$TT8_MAMPS,0.02247
$HUMID,54.17
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.7
$24V_AH,24.4,9.299
$10V_AH,10.5,2.758
$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,26.275,104.575,372.850,0.000,0.000,94.183,88.841,286.337,8.750,0.000,13.895,1660.211,7793.620,427.033,2710.220,117.753,0.386,1307.327,0.000,1456.721,0.000,59.824,0.000
$DEVICE_MAMPS,213.538,121.667,1102.452,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.103,0.000,0.000,1593.254,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327452
$DATA_FILE_SIZE,33552,616
$CAP_FILE_SIZE,143298,0
$CFSIZE,260165632,252674048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290111,220107,1831.259,-6559.487,29,1.3,30,-12.7