version: 66.07
glider: 34
mission: 9
dive: 26
start: 2 1 111 20 35 26
data:
$ID,34
$MISSION,9
$DIVE,26
$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,-13652.13
$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,53
$R_STBD_OVSHOOT,21
$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
$GPS1,010211,203049,1903.575,-6556.721,11,1.6,11,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-62.7
$GPS2,010211,203502,1903.577,-6556.713,14,1.6,14,-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,-0.080,0.060
$KALMAN_X,167.1,0.0,0.0,43.0,167.1
$KALMAN_Y,25.5,0.0,0.0,129.8,25.5
$MHEAD_RNG_PITCHd_Wd,319.9,7295,-43.6,-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,1706,-2.83,-90.3,217.0,10.9,119,1710,0.00,2.33,0.00,0.000,4,0.000,0.112,1840,1175,2371,0,0,0,0,0,0
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$GC,2522,-2.90,-90.3,332.6,17.1,153,2526,0.00,2.35,0.00,0.000,6,0.000,0.104,1841,2595,2368,0,0,0,0,0,0
$GC,2858,-2.93,-90.3,399.3,19.9,164,2862,0.00,2.20,0.00,0.000,4,0.000,0.099,1841,3968,2367,0,0,0,0,0,0
$GC,3096,-2.93,-90.3,453.9,23.0,170,3100,0.00,2.15,0.00,0.000,6,0.000,0.079,1840,2597,2366,0,0,0,0,0,0
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$GC,3485,-2.97,-90.3,541.3,25.5,182,3493,0.10,2.38,0.00,0.000,6,0.074,0.104,1790,2598,2364,0,0,0,0,0,0
$GC,3815,-2.95,-90.3,635.4,29.3,193,3819,0.15,2.20,0.00,0.000,4,0.204,0.099,1813,3969,2362,0,0,0,0,0,0
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$GC,4229,-2.92,-90.3,770.9,32.2,206,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2599,2359,0,0,0,0,0,0
$GC,4537,-2.92,-90.3,871.9,33.4,216,4541,0.00,2.25,0.00,0.000,4,0.000,0.104,1813,3971,2356,0,0,0,0,0,0
$GC,4586,-2.92,-90.3,882.2,33.7,217,4591,0.00,2.22,0.00,0.000,6,0.000,0.082,1813,2604,2356,0,0,0,0,0,0
$GC,4906,-2.92,-90.3,1002.8,35.7,228,4911,0.00,2.28,0.00,0.000,4,0.000,0.107,1813,3968,2353,0,0,0,0,0,0
$GC,5011,-2.92,-90.3,1027.8,36.2,229,5015,0.00,2.25,0.00,0.000,6,0.000,0.084,1813,2596,2352,0,0,0,0,0,0
$GC,5346,-2.95,-90.3,1157.9,34.9,235,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2597,2349,0,0,0,0,0,0
$GC,5647,-2.98,-90.3,1264.1,35.1,240,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2597,2346,0,0,0,0,0,0
$GC,5952,-3.02,-90.3,1373.5,36.2,245,5957,0.00,2.30,0.00,0.000,4,0.000,0.114,1813,3966,2343,0,0,0,0,0,0
$GC,6039,-3.05,-90.3,1399.9,36.9,246,6044,0.00,2.22,0.00,0.000,6,0.000,0.089,1813,2598,2343,0,0,0,0,0,0
$GC,6388,-3.10,-90.3,1536.5,36.8,252,6390,0.12,0.00,0.00,0.000,6,0.112,0.000,1779,2588,2340,0,0,0,0,0,0
$GC,6693,-3.13,-90.3,1651.6,38.1,257,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2588,2337,0,0,0,0,0,0
$GC,6994,-3.15,-90.3,1765.9,37.5,262,6999,0.00,2.35,0.00,0.000,4,0.000,0.119,1778,3965,2335,0,0,0,0,0,0
$GC,7039,-3.18,-90.3,1765.9,37.5,262,7044,0.00,2.22,0.00,0.000,6,0.000,0.092,1778,2602,2335,0,0,0,0,0,0
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$GC,7738,-3.26,-90.3,2053.0,39.3,274,7743,0.00,2.35,0.00,0.000,4,0.000,0.122,1742,3970,2330,0,0,0,0,0,0
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$GC,8176,-3.26,-90.3,2225.0,38.8,281,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2598,2327,0,0,0,0,0,0
$GC,8481,-3.28,-90.3,2340.7,38.2,286,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,2598,2326,0,0,0,0,0,0
$GC,8783,-3.31,-90.3,2453.4,37.2,291,8787,0.00,2.35,0.00,0.000,4,0.000,0.124,1741,3965,2325,0,0,0,0,0,0
$GC,8837,-3.34,-90.3,2453.4,37.2,291,8842,0.00,2.25,0.00,0.000,6,0.000,0.094,1742,2603,2325,0,0,0,0,0,0
$GC,9153,-3.37,-90.3,2589.2,36.3,297,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,2602,2323,0,0,0,0,0,0
$GC,9456,-3.41,-90.3,2697.9,36.0,302,9462,0.12,2.33,0.00,0.000,4,0.117,0.122,1706,3960,2322,0,0,0,0,0,0
$GC,9489,-3.45,-90.3,2697.9,36.0,302,9494,0.00,2.25,0.00,0.000,6,0.000,0.089,1706,2597,2322,0,0,0,0,0,0
$GC,9827,-3.45,-90.3,2835.9,36.7,308,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,2597,2321,0,0,0,0,0,0
$GC,10130,-3.45,-90.3,2946.3,36.2,313,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2596,2320,0,0,0,0,0,0
$GC,10434,-3.47,-90.3,3055.3,35.9,318,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2596,2320,0,0,0,0,0,0
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$GC,13137,-3.67,-90.3,3979.1,32.0,362,13142,0.00,2.55,0.00,0.000,4,0.000,0.164,1669,3966,2314,0,0,0,0,0,0
$GC,13180,-3.70,-90.3,3979.1,32.0,362,13187,0.00,2.40,0.00,0.000,6,0.000,0.132,1669,2604,2313,0,0,1,0,0,0
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$GC,15089,-3.88,-90.3,4578.1,29.1,394,15094,0.12,2.88,0.00,0.000,4,0.176,0.214,1620,3969,2311,0,0,0,0,0,0
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$GC,15496,-3.91,-90.3,4686.7,28.7,400,15502,0.00,3.60,0.00,0.000,6,0.000,0.293,1620,2599,2311,0,0,8,0,0,0
$GC,15829,-3.93,-90.3,4788.8,27.7,406,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2599,2310,0,0,0,0,0,0
$GC,16134,-3.96,-90.3,4870.8,27.0,411,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2599,2310,0,0,0,0,0,0
$GC,16435,-3.99,-90.3,4951.0,26.5,416,16441,0.15,3.08,0.00,0.000,4,0.226,0.243,1597,3978,2310,0,0,0,0,0,0
$GC,16475,-4.02,-90.3,4951.0,26.5,416,16482,0.00,3.00,0.00,0.000,6,0.000,0.226,1596,2606,2310,0,0,1,0,0,0
$GC,16805,-4.02,-90.3,5048.5,26.1,422,16815,0.00,4.43,0.00,0.000,4,0.000,0.358,1596,1179,2310,0,0,20,0,0,0
$GC,16849,-4.02,-90.3,5048.5,26.1,422,16856,0.00,4.25,0.00,0.000,6,0.000,0.348,1597,2598,2310,0,0,20,0,0,0
$GC,17178,-4.04,-90.3,5144.6,25.5,428,17179,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2599,2310,0,0,0,0,0,0
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$GC,17785,-4.09,-90.3,5293.9,24.4,438,17791,0.15,3.30,0.00,0.000,4,0.300,0.276,1578,3968,2310,0,0,0,0,0,0
$GC,17836,-4.11,-90.3,5293.9,24.4,438,17842,0.00,3.33,0.00,0.000,6,0.000,0.268,1578,2601,2309,0,0,5,0,0,0
$GC,18146,-4.11,-90.3,5384.0,24.6,443,18158,0.00,6.68,0.00,0.000,4,0.000,0.454,1578,1190,2309,0,0,43,0,0,0
$GC,18192,-4.11,-90.3,5384.0,24.6,443,18218,0.00,12.68,0.00,0.000,6,0.000,0.541,1578,2227,2309,0,0,93,1,0,0
$STATE,18273,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,18285,728.88,4.328,0,0,151,562.65
$SM_GC,1.76,5.50,0.00,0.00,0.065,0.000,0.000,348,2528,148,-9.58,0.79,563.54
$IRIDIUM_FIX,1857.82,-6555.07,010211,202056
$TT8_MAMPS,0.023219
$HUMID,53.46
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,21.2,14.381
$10V_AH,10.5,4.180
$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,15.525,157.900,0.000,728.875,0.000,0.000,0.000,0.000,109.750,0.000,16.635,2561.536,39384.082,938.335,2024.850,181.667,0.355,2196.766,0.000,1280.006,0.000,807.162,0.000
$DEVICE_MAMPS,300.443,541.294,0.000,4327.869,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.370,0.000,0.000,991.882,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353300
$DATA_FILE_SIZE,23529,445
$CAP_FILE_SIZE,277188,8
$CFSIZE,260165632,250703872
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,203,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_ROLL_ERRORS
$GPS,020211,090701,1905.302,-6557.375,41,1.5,41,-12.8