version: 66.07
glider: 34
mission: 9
dive: 22
start: 1 31 111 10 3 50
data:
$ID,34
$MISSION,9
$DIVE,22
$D_SURF,4
$D_FLARE,3
$D_TGT,6084
$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,2028
$T_MISSION,2055
$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,12
$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,-12451.19
$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,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,23
$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,900
$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
$GPS1,310111,095754,1845.859,-6559.802,38,1.1,38,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-57.6
$GPS2,310111,100326,1845.868,-6559.866,11,1.2,11,-12.8
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,66W_1906N_N
$TGT_LATLONG,1906.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.088,0.221
$KALMAN_X,10470.9,0.0,0.0,-458.0,63140.2
$KALMAN_Y,-19463.0,0.0,0.0,39795.5,-121508.8
$MHEAD_RNG_PITCHd_Wd,351.1,37286,-20.2,-10.000
$D_GRID,6084
$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
$STATE,13,begin dive
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$GC,3892,-1.36,-146.6,391.5,-11.7,233,3896,0.00,2.38,0.00,0.000,4,0.000,0.119,2158,1181,2569,0,0,0,0,0,0
$GC,3972,-1.36,-146.6,398.6,-11.7,235,3977,0.00,2.42,0.00,0.000,6,0.000,0.112,2158,2597,2569,0,0,0,0,0,0
$GC,4307,-1.36,-146.6,440.3,-11.8,246,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2597,2568,0,0,0,0,0,0
$GC,4614,-1.36,-146.6,476.1,-11.5,256,4618,0.00,2.28,0.00,0.000,4,0.000,0.114,2158,3969,2568,0,0,0,0,0,0
$GC,4664,-1.36,-146.6,479.4,-11.4,257,4669,0.00,2.22,0.00,0.000,6,0.000,0.082,2158,2608,2568,0,0,0,0,0,0
$GC,4994,-1.36,-146.6,523.7,-13.0,268,4998,0.00,2.38,0.00,0.000,4,0.000,0.119,2158,1179,2568,0,0,0,0,0,0
$GC,5104,-1.36,-146.6,538.3,-13.4,271,5108,0.00,2.38,0.00,0.000,6,0.000,0.112,2158,2601,2567,0,0,0,0,0,0
$GC,5437,-1.36,-146.6,584.9,-14.7,282,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2601,2567,0,0,0,0,0,0
$GC,5744,-1.36,-146.6,629.4,-14.8,292,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2601,2566,0,0,0,0,0,0
$GC,6050,-1.36,-146.6,675.1,-14.4,302,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2601,2564,0,0,0,0,0,0
$GC,6356,-1.36,-146.6,722.2,-15.7,312,6360,0.00,2.40,0.00,0.000,4,0.000,0.114,2158,1172,2562,0,0,0,0,0,0
$GC,6435,-1.36,-146.6,731.3,-15.1,314,6440,0.00,2.45,0.00,0.000,6,0.000,0.112,2158,2595,2561,0,0,0,0,0,0
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$GC,7649,-1.36,-146.6,915.3,-14.9,352,7654,0.00,2.45,0.00,0.000,6,0.000,0.114,2158,2601,2557,0,0,0,0,0,0
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$GC,8410,-1.38,-146.6,1032.2,-15.4,374,8414,0.00,2.22,0.00,0.000,6,0.000,0.089,2158,2599,2553,0,0,0,0,0,0
$GC,8778,-1.41,-146.6,1086.7,-14.6,380,8782,0.00,2.38,0.00,0.000,4,0.000,0.119,2158,1180,2552,0,0,0,0,0,0
$GC,8842,-1.43,-146.6,1095.9,-14.5,381,8846,0.00,2.42,0.00,0.000,6,0.000,0.117,2158,2609,2551,0,0,0,0,0,0
$GC,9208,-1.46,-146.6,1144.7,-13.1,387,9213,0.00,2.40,0.00,0.000,4,0.000,0.114,2157,1179,2550,0,0,0,0,0,0
$GC,9279,-1.49,-146.6,1153.1,-13.1,388,9284,0.08,2.45,0.00,0.000,6,0.132,0.114,2143,2597,2549,0,0,0,0,0,0
$GC,9641,-1.49,-146.6,1206.4,-14.4,394,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2597,2547,0,0,0,0,0,0
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$GC,11505,-1.59,-146.6,1493.0,15.7,424,11509,0.00,2.50,0.00,0.000,6,0.000,0.129,2117,2603,2540,0,0,1,0,0,0
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$GC,11903,-1.59,-146.6,1559.0,-15.3,431,11908,0.00,2.50,0.00,0.000,6,0.000,0.129,2117,2599,2539,0,0,1,0,0,0
$GC,12271,-1.59,-146.6,1616.4,-15.5,437,12275,0.00,2.55,0.00,0.000,4,0.000,0.146,2116,1191,2538,0,0,0,0,0,0
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$GC,14585,-1.69,-146.6,1965.6,16.3,474,14597,0.00,2.55,0.00,0.000,6,0.000,0.142,2096,2597,2534,0,0,1,0,0,0
$GC,14897,-1.69,-146.6,2022.9,-15.3,480,14902,0.00,2.53,0.00,0.000,4,0.000,0.142,2095,1184,2534,0,0,0,0,0,0
$GC,14960,-1.69,-146.6,2032.7,-15.2,481,14964,0.00,2.53,0.00,0.000,6,0.000,0.144,2096,2600,2533,0,0,1,0,0,0
$GC,15326,-1.69,-146.6,2085.4,-14.2,487,15330,0.00,2.53,0.00,0.000,4,0.000,0.144,2095,1188,2534,0,0,0,0,0,0
$GC,15365,-1.69,-146.6,2085.4,14.2,487,15370,0.00,2.53,0.00,0.000,6,0.000,0.144,2096,2604,2533,0,0,1,0,0,0
$GC,15686,-1.69,-146.6,2133.7,-13.4,493,15690,0.00,2.53,0.00,0.000,4,0.000,0.142,2096,1191,2533,0,0,0,0,0,0
$GC,15713,-1.69,-146.6,2133.7,13.4,493,15717,0.00,2.55,0.00,0.000,6,0.000,0.142,2096,2603,2533,0,0,1,0,0,0
$GC,16052,-1.69,-146.6,2183.8,-13.8,499,16056,0.00,2.55,0.00,0.000,4,0.000,0.144,2095,1188,2533,0,0,0,0,0,0
$GC,16106,-1.69,-146.6,2183.8,13.8,499,16117,0.00,2.58,0.00,0.000,6,0.000,0.146,2096,2596,2532,0,0,1,0,0,0
$GC,16416,-1.71,-146.6,2235.3,-14.1,505,16420,0.00,2.55,0.00,0.000,4,0.000,0.144,2095,1185,2532,0,0,0,0,0,0
$GC,16459,-1.74,-146.6,2235.3,14.1,505,16463,0.00,2.53,0.00,0.000,6,0.000,0.146,2096,2599,2532,0,0,1,0,0,0
$GC,16780,-1.77,-146.6,2284.9,-13.4,511,16784,0.00,2.55,0.00,0.000,4,0.000,0.146,2095,1190,2532,0,0,0,0,0,0
$GC,16834,-1.80,-146.6,2284.9,13.4,511,16843,0.10,2.58,0.00,0.000,6,0.134,0.146,2072,2594,2531,0,0,1,0,0,0
$GC,17144,-1.80,-146.6,2340.2,-15.6,517,17149,0.00,2.53,0.00,0.000,4,0.000,0.146,2071,1189,2531,0,0,0,0,0,0
$GC,17193,-1.80,-146.6,2340.2,15.6,517,17198,0.00,2.50,0.00,0.000,6,0.000,0.132,2071,2591,2531,0,0,1,0,0,0
$STATE,17265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,17265,begin apogee
$GC,17269,-0.29,0.0,2359.0,15.5,519,17396,1.80,0.00,119.43,2.409,6,0.186,0.000,2389,2498,2057,0,0,0,0,0,0
$STATE,17397,end apogee,CONTROL_FINISHED_OK
$STATE,17397,begin climb
$GC,17399,1.37,146.6,2366.8,0.0,521,17540,2.10,2.72,130.18,2.371,4,0.154,0.112,2751,1086,1560,0,0,0,0,0,0
$GC,17792,1.85,443.8,2390.3,-3.9,527,18090,0.57,2.58,285.15,2.371,6,0.117,0.117,2857,2509,552,0,0,0,0,0,0
$GC,18392,1.58,443.8,2278.6,28.5,537,18397,0.28,2.47,0.00,0.000,4,0.171,0.099,2810,1078,550,0,0,0,0,0,0
$GC,18536,1.34,443.8,2243.3,27.7,539,18541,0.30,2.45,0.00,0.000,6,0.161,0.092,2757,2496,548,0,0,0,0,0,0
$GC,18891,1.18,443.8,2155.8,23.3,545,18896,0.22,2.50,0.00,0.000,4,0.179,0.117,2722,3917,548,0,0,0,0,0,0
$GC,18940,1.90,1154.5,2155.8,-23.3,545,19064,0.68,2.38,115.75,2.205,6,0.074,0.077,2877,2491,151,0,0,0,0,0,0
$GC,19373,1.66,1154.5,2001.3,34.7,553,19378,0.30,2.53,0.00,0.000,4,0.169,0.112,2825,3911,147,0,0,0,0,0,0
$GC,19389,2.59,2108.7,2001.3,-34.7,553,19394,0.40,2.35,0.00,0.000,6,0.087,0.074,2912,2496,147,0,0,0,0,0,0
$GC,19732,2.32,2108.7,1872.8,36.3,559,19736,0.00,2.35,0.00,0.000,4,0.000,0.099,2912,1096,146,0,0,0,0,0,0
$GC,19793,2.06,2108.7,1850.8,36.2,560,19798,0.00,2.35,0.00,0.000,6,0.000,0.089,2912,2503,145,0,0,0,0,0,0
$GC,20159,1.79,2108.7,1720.5,35.5,566,20164,0.32,2.42,0.00,0.000,4,0.161,0.112,2855,3909,145,0,0,0,0,0,0
$GC,20180,2.73,3081.5,1720.5,-35.5,566,20185,0.17,2.33,0.00,0.000,6,0.079,0.074,2913,2497,144,0,0,0,0,0,0
$GC,20524,2.73,3081.5,1592.2,35.1,572,20528,0.00,2.33,0.00,0.000,4,0.000,0.104,2914,1093,145,0,0,0,0,0,0
$GC,20567,3.91,4045.4,1592.2,-35.1,572,20571,0.00,2.38,0.00,0.000,6,0.000,0.097,2914,2490,145,0,0,0,0,0,0
$GC,20888,3.91,4045.4,1463.5,35.5,578,20892,0.00,2.30,0.00,0.000,4,0.000,0.099,2914,1094,144,0,0,0,0,0,0
$GC,20915,5.11,5017.3,1463.5,-35.5,578,20920,0.00,2.35,0.00,0.000,6,0.000,0.094,2914,2498,144,0,0,0,0,0,0
$GC,21253,4.86,5017.3,1336.7,34.7,584,21254,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2497,144,0,0,0,0,0,0
$GC,21556,4.86,5017.3,1234.6,33.5,589,21560,0.00,2.30,0.00,0.000,4,0.000,0.097,2914,1094,144,0,0,0,0,0,0
$GC,21583,6.00,5946.2,1234.6,-33.5,589,21587,0.00,2.33,0.00,0.000,6,0.000,0.092,2914,2504,144,0,0,0,0,0,0
$GC,21921,6.00,5946.2,1112.4,33.4,595,21922,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2504,144,0,0,0,0,0,0
$GC,22224,6.00,5946.2,1011.7,33.2,600,22225,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2504,144,0,0,0,0,0,0
$GC,22530,6.00,5946.2,910.0,32.8,609,22531,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2504,144,0,0,0,0,0,0
$GC,22836,6.00,5946.2,811.1,31.5,619,22840,0.00,2.30,0.00,0.000,4,0.000,0.094,2914,1105,144,0,0,0,0,0,0
$GC,22896,6.00,5946.2,800.0,31.6,620,22904,0.00,2.35,0.00,0.000,6,0.000,0.094,2914,2498,144,0,0,0,0,0,0
$GC,23210,6.00,5946.2,691.7,31.7,631,23214,0.00,2.38,0.00,0.000,4,0.000,0.109,2914,3915,144,0,0,0,0,0,0
$GC,23231,7.10,6837.0,691.7,-31.7,631,23253,0.00,2.30,0.00,0.000,6,0.000,0.074,2914,2500,144,0,0,0,0,0,0
$GC,23543,7.10,6837.0,579.5,33.7,642,23547,0.00,2.30,0.00,0.000,4,0.000,0.094,2914,1084,144,0,0,0,0,0,0
$GC,23564,8.25,7769.3,579.5,-33.7,642,23587,0.00,2.35,0.00,0.000,6,0.000,0.089,2914,2503,144,0,0,0,0,0,0
$GC,23877,8.25,7769.3,463.3,35.5,653,23881,0.00,2.28,0.00,0.000,4,0.000,0.092,2914,1087,143,0,0,0,0,0,0
$GC,23926,8.25,7769.3,453.2,36.0,654,23931,0.00,2.33,0.00,0.000,6,0.000,0.087,2914,2497,143,0,0,0,0,0,0
$GC,24245,8.25,7769.3,327.8,37.3,665,24246,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2497,143,0,0,0,0,0,0
$GC,24564,8.25,7769.3,197.1,42.3,679,24568,0.00,2.30,0.00,0.000,4,0.000,0.097,2914,3914,143,0,0,0,0,0,0
$GC,24581,8.25,7769.3,190.0,42.5,680,24585,0.00,2.22,0.00,0.000,6,0.000,0.070,2914,2484,144,0,0,0,0,0,0
$GC,24902,8.25,7769.3,69.3,36.1,705,24906,0.00,2.35,0.00,0.000,4,0.000,0.094,2914,3922,143,0,0,0,0,0,0
$GC,24942,8.25,7769.3,54.3,37.2,708,24946,0.00,2.20,0.00,0.000,6,0.000,0.067,2914,2494,144,0,0,0,0,0,0
$STATE,25074,end climb,SURFACE_DEPTH_REACHED
$STATE,25074,begin surface coast
$FINISH,1.2,1.023530
$STATE,25086,end surface coast,CONTROL_FINISHED_OK
$STATE,25086,begin surface
$SM_CCo,25165,0.00,0.000,0,0,143,565.01
$SM_GC,1.88,11.98,0.00,0.00,0.079,0.000,0.000,346,2598,143,-9.58,-0.06,565.01
$IRIDIUM_FIX,1837.32,-6558.79,310111,030342
$TT8_MAMPS,0.023219
$HUMID,59.45
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,21.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.3
$ALTIM_BOTTOM_PING,2192.0,177.7
$24V_AH,22.1,11.391
$10V_AH,10.3,3.584
$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,30.275,251.375,650.500,0.000,0.000,24.722,41.970,170.694,33.000,0.000,14.763,2215.268,18807.318,824.010,3460.119,185.885,0.386,2241.054,0.000,2216.295,0.000,244.319,0.000
$DEVICE_MAMPS,201.123,148.980,2408.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.015,0.000,0.000,1860.729,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326308
$DATA_FILE_SIZE,40110,721
$CAP_FILE_SIZE,245236,0
$CFSIZE,260165632,251932672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,310111,170425,1850.753,-6600.098,36,1.6,36,-12.8