version: 66.07
glider: 34
mission: 9
dive: 14
start: 1 29 111 22 33 13
data:
$ID,34
$MISSION,9
$DIVE,14
$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,-12441.139
$T_RSLEEP,2
$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,29
$R_STBD_OVSHOOT,16
$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,3
$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
$GPS1,290111,222844,1831.275,-6559.229,12,1.2,12,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.5
$GPS2,290111,223249,1831.277,-6559.194,13,1.1,30,-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,223.6,2756,-33.6,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-2.02,-32.7,0.0,0.0,0,104,0.00,0.00,-87.20,0.000,2,0.000,0.000,361,2557,2092,0,0,0,0,0,0
$GC,106,-2.05,-56.9,3.3,-3.7,8,130,9.52,2.22,-7.75,0.000,4,0.186,0.079,2009,1158,2248,0,0,0,0,0,0
$GC,325,-2.03,-56.9,38.9,-16.4,27,333,0.00,2.28,0.00,0.000,6,0.000,0.077,2010,2589,2248,0,0,0,0,0,0
$GC,651,-2.03,-56.9,91.4,-16.9,58,655,0.00,2.22,0.00,0.000,4,0.000,0.097,2009,3958,2249,0,0,0,0,0,0
$GC,907,-1.98,-56.9,129.6,-14.8,80,915,0.00,2.15,0.00,0.000,6,0.000,0.067,2010,2552,2250,0,0,0,0,0,0
$GC,1233,-2.05,-113.5,144.1,1.3,111,1238,0.00,2.10,-1.27,0.000,4,0.000,0.082,2009,1185,2448,0,0,0,0,0,0
$GC,1490,-2.08,-113.5,161.2,-9.5,127,1514,0.00,2.17,0.00,0.000,6,0.000,0.077,2010,2574,2448,0,0,0,0,0,0
$GC,1809,-2.10,-113.5,187.9,-8.1,143,1813,0.00,2.15,0.00,0.000,4,0.000,0.082,2009,1186,2449,0,0,0,0,0,0
$GC,2064,-2.10,-113.5,212.5,-10.7,154,2072,0.00,2.17,0.00,0.000,6,0.000,0.074,2010,2569,2449,0,0,0,0,0,0
$GC,2381,-2.10,-113.5,248.0,-11.4,170,2384,0.00,2.15,0.00,0.000,4,0.000,0.082,2010,1188,2449,0,0,0,0,0,0
$GC,2490,-2.10,-113.5,261.2,-12.5,175,2495,0.00,2.17,0.00,0.000,6,0.000,0.077,2010,2570,2448,0,0,0,0,0,0
$GC,2824,-2.10,-113.5,307.2,-16.1,190,2828,0.00,2.22,0.00,0.000,4,0.000,0.097,2010,3955,2448,0,0,0,0,0,0
$GC,2839,-2.14,-146.6,307.2,16.1,190,2843,0.00,2.12,0.00,0.000,6,0.000,0.070,2010,2575,2448,0,0,0,0,0,0
$GC,3160,-2.14,-146.6,362.7,-16.3,201,3164,0.00,2.22,0.00,0.000,4,0.000,0.097,2010,3956,2447,0,0,0,0,0,0
$GC,3308,-2.14,-146.6,386.7,-18.1,205,3311,0.00,2.10,0.00,0.000,6,0.000,0.070,2010,2578,2446,0,0,0,0,0,0
$STATE,3382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3382,begin apogee
$GC,3386,-0.29,0.0,398.8,17.3,207,3473,2.15,0.00,81.85,0.968,6,0.189,0.000,2388,2579,2057,0,0,0,0,0,0
$STATE,3474,end apogee,CONTROL_FINISHED_OK
$STATE,3474,begin climb
$GC,3475,2.16,146.6,405.4,0.0,209,3589,2.85,0.00,106.28,0.958,6,0.156,0.000,2905,2578,1560,0,0,0,0,0,0
$GC,3905,2.16,146.6,340.3,17.1,223,3909,0.00,2.33,0.00,0.000,4,0.000,0.097,2905,3962,1560,0,0,0,0,0,0
$GC,4032,2.13,146.6,319.8,16.3,226,4036,0.00,2.17,0.00,0.000,6,0.000,0.072,2905,2576,1559,0,0,0,0,0,0
$GC,4350,2.13,146.6,269.2,16.3,240,4354,0.00,2.25,0.00,0.000,4,0.000,0.097,2905,3955,1558,0,0,0,0,0,0
$GC,4405,2.09,146.6,262.4,16.9,242,4413,0.00,2.17,0.00,0.000,6,0.000,0.072,2905,2574,1558,0,0,0,0,0,0
$GC,4721,2.06,146.6,207.8,16.1,258,4725,0.00,2.20,0.00,0.000,4,0.000,0.089,2905,1172,1557,0,0,0,0,0,0
$GC,4978,2.02,146.6,171.9,15.2,269,4986,0.00,2.25,0.00,0.000,6,0.000,0.082,2905,2574,1556,0,0,0,0,0,0
$GC,5301,1.99,156.4,131.2,6.0,294,5315,0.00,2.22,7.32,0.673,4,0.000,0.084,2905,1169,1528,0,0,0,0,0,0
$GC,5566,1.99,188.9,126.3,2.5,317,5596,0.00,2.25,23.90,0.770,6,0.000,0.079,2905,2580,1417,0,0,0,0,0,0
$GC,5913,1.96,188.9,98.6,9.0,350,5917,0.00,2.25,0.00,0.000,4,0.000,0.094,2905,3963,1418,0,0,0,0,0,0
$GC,6171,1.88,188.9,72.3,13.2,373,6176,0.20,2.12,0.00,0.000,6,0.181,0.070,2872,2554,1418,0,0,0,0,0,0
$GC,6495,1.88,188.9,32.0,11.0,403,6499,0.00,2.28,0.00,0.000,4,0.000,0.094,2872,3956,1419,0,0,0,0,0,0
$STATE,6695,end climb,SURFACE_DEPTH_REACHED
$STATE,6695,begin surface coast
$FINISH,1.2,1.023275
$STATE,6720,end surface coast,CONTROL_FINISHED_OK
$STATE,6720,begin surface
$SM_CCo,6740,77.30,0.685,0,0,1040,300.22
$SM_GC,2.46,0.00,0.00,77.30,0.000,0.000,0.685,343,2575,1040,-9.74,-0.06,300.22
$IRIDIUM_FIX,1823.67,-6557.63,290111,222258
$TT8_MAMPS,0.02247
$HUMID,50.39
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.6
$ALTIM_BOTTOM_PING,373.6,42.1
$24V_AH,24.6,9.418
$10V_AH,10.6,2.817
$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,26.850,57.125,219.350,77.300,0.000,0.000,0.000,0.000,5.000,0.000,33.228,1130.883,4008.457,374.335,1332.552,63.160,0.000,995.208,0.000,1072.540,0.000,35.607,0.000
$DEVICE_MAMPS,188.708,96.837,968.370,685.308,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,282.495,0.000,0.000,801.865,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326336
$DATA_FILE_SIZE,23534,423
$CAP_FILE_SIZE,103792,0
$CFSIZE,260165632,252665856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300111,002738,1830.929,-6559.713,12,1.5,12,-12.7