version: 66.07
glider: 34
mission: 9
dive: 6
start: 1 28 111 19 19 44
data:
$ID,34
$MISSION,9
$DIVE,6
$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,330
$T_MISSION,360
$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,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,-12338.599
$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,77
$R_STBD_OVSHOOT,28
$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
$GPS1,280111,191456,1834.821,-6605.508,8,1.8,8,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.9
$GPS2,280111,191856,1834.836,-6605.564,14,1.5,14,-12.7
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.233,0.051
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,90.3,10001,-20.2,-10.000
$D_GRID,738
$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,-1.37,-146.6,0.0,0.0,0,126,0.00,0.00,-109.25,0.000,2,0.000,0.000,364,2579,2511,0,0,0,0,0,0
$GC,129,-1.37,-146.6,3.4,-3.1,10,147,10.30,0.00,-1.90,0.000,6,0.186,0.000,2157,2582,2553,0,0,0,0,0,0
$GC,464,-1.37,-146.6,49.8,-14.4,42,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2582,2553,0,0,0,0,0,0
$GC,783,-1.37,-146.6,92.9,-14.6,72,787,0.00,2.25,0.00,0.000,4,0.000,0.102,2157,3958,2553,0,0,0,0,0,0
$GC,857,-1.37,-146.6,102.7,-13.5,78,861,0.00,2.05,0.00,0.000,6,0.000,0.072,2157,2625,2553,0,0,0,0,0,0
$GC,1181,-1.37,-146.6,135.5,-8.7,108,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2625,2553,0,0,0,0,0,0
$GC,1507,-1.37,-146.6,158.2,-6.6,133,1511,0.00,2.20,0.00,0.000,4,0.000,0.102,2157,3966,2552,0,0,0,0,0,0
$GC,1765,-1.37,-146.6,174.1,-6.8,144,1772,0.00,2.15,0.00,0.000,6,0.000,0.074,2157,2576,2553,0,0,0,0,0,0
$GC,2080,-1.37,-146.6,196.5,-7.1,160,2084,0.00,2.28,0.00,0.000,4,0.000,0.102,2157,3961,2553,0,0,0,0,0,0
$GC,2128,-1.37,-146.6,199.1,-7.1,162,2133,0.00,2.17,0.00,0.000,6,0.000,0.074,2157,2581,2552,0,0,0,0,0,0
$GC,2452,-1.37,-146.6,222.2,-7.5,178,2456,0.00,2.30,0.00,0.000,4,0.000,0.107,2157,1162,2552,0,0,0,0,0,0
$GC,2551,-1.37,-146.6,228.9,-7.8,182,2560,0.00,2.30,0.00,0.000,6,0.000,0.097,2158,2560,2552,0,0,0,0,0,0
$GC,2867,-1.37,-146.6,259.1,-9.8,198,2871,0.00,2.30,0.00,0.000,4,0.000,0.102,2157,3968,2550,0,0,0,0,0,0
$GC,2929,-1.37,-146.6,265.4,-10.3,201,2932,0.00,2.17,0.00,0.000,6,0.000,0.074,2158,2578,2549,0,0,0,0,0,0
$GC,3255,-1.37,-146.6,298.5,-10.4,217,3259,0.00,2.30,0.00,0.000,4,0.000,0.104,2158,3971,2548,0,0,0,0,0,0
$GC,3389,-1.37,-146.6,311.4,-11.8,221,3413,0.00,2.22,0.00,0.000,6,0.000,0.074,2158,2573,2548,0,0,0,0,0,0
$GC,3719,-1.37,-146.6,349.3,-11.2,232,3723,0.00,2.28,0.00,0.000,4,0.000,0.109,2157,1161,2546,0,0,0,0,0,0
$GC,3765,-1.37,-146.6,354.4,-11.2,233,3770,0.00,2.33,0.00,0.000,6,0.000,0.097,2158,2570,2546,0,0,0,0,0,0
$GC,4101,-1.37,-146.6,395.4,-11.7,244,4105,0.00,2.30,0.00,0.000,4,0.000,0.104,2158,3970,2544,0,0,0,0,0,0
$GC,4230,-1.37,-146.6,410.3,-13.1,247,4235,0.00,2.22,0.00,0.000,6,0.000,0.074,2157,2578,2544,0,0,0,0,0,0
$GC,4566,-1.37,-146.6,451.9,-11.5,258,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2578,2542,0,0,0,0,0,0
$GC,4889,-1.37,-146.6,488.6,-12.3,268,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2578,2541,0,0,0,0,0,0
$GC,5178,-1.37,-146.6,528.5,-13.3,278,5182,0.00,2.33,0.00,0.000,4,0.000,0.107,2157,3971,2539,0,0,0,0,0,0
$GC,5242,-1.37,-146.6,537.9,-14.5,280,5247,0.00,2.22,0.00,0.000,6,0.000,0.077,2157,2586,2539,0,0,0,0,0,0
$GC,5578,-1.37,-146.6,586.7,-13.8,291,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2585,2537,0,0,0,0,0,0
$GC,5887,-1.37,-146.6,632.5,-15.6,301,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2585,2535,0,0,0,0,0,0
$GC,6190,-1.37,-146.6,679.0,-15.0,311,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2585,2533,0,0,0,0,0,0
$GC,6497,-1.37,-146.6,727.2,-15.9,321,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2585,2531,0,0,0,0,0,0
$STATE,6588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6588,begin apogee
$GC,6591,-0.29,0.0,741.7,15.8,324,6702,1.30,0.00,101.50,1.251,6,0.179,0.000,2388,2585,2059,0,0,0,0,0,0
$STATE,6703,end apogee,CONTROL_FINISHED_OK
$STATE,6703,begin climb
$GC,6704,1.37,146.6,747.5,0.0,327,6822,2.00,2.45,109.38,1.239,4,0.156,0.099,2751,1165,1561,0,0,0,0,0,0
$GC,7076,1.72,432.2,762.9,-3.4,338,7309,0.38,2.30,225.40,1.246,6,0.084,0.082,2844,2584,592,0,0,0,0,0,0
$GC,7632,1.72,432.2,656.0,24.7,354,7636,0.00,2.33,0.00,0.000,4,0.000,0.089,2844,1155,589,0,0,0,0,0,0
$GC,7685,1.72,432.2,649.3,24.8,355,7694,0.00,2.33,0.00,0.000,6,0.000,0.082,2844,2572,588,0,0,0,0,0,0
$GC,7999,1.72,432.2,565.0,24.7,366,8003,0.00,2.25,0.00,0.000,4,0.000,0.087,2844,1160,588,0,0,0,0,0,0
$GC,8044,1.72,432.2,558.1,24.7,367,8048,0.00,2.25,0.00,0.000,6,0.000,0.079,2844,2582,588,0,0,0,0,0,0
$GC,8378,1.72,432.2,470.0,26.7,378,8382,0.00,2.25,0.00,0.000,4,0.000,0.087,2843,1160,587,0,0,0,0,0,0
$GC,8423,1.72,432.2,462.6,26.9,379,8428,0.00,2.28,0.00,0.000,6,0.000,0.079,2844,2577,586,0,0,0,0,0,0
$GC,8759,1.72,432.2,363.5,27.1,390,8763,0.00,2.30,0.00,0.000,4,0.000,0.102,2844,3966,586,0,0,0,0,0,0
$GC,8801,1.72,432.2,355.5,27.4,391,8806,0.00,2.22,0.00,0.000,6,0.000,0.072,2843,2547,584,0,0,0,0,0,0
$GC,9117,1.72,432.2,257.3,29.6,404,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2546,584,0,0,0,0,0,0
$GC,9427,1.72,432.2,162.0,30.5,419,9430,0.00,2.12,0.00,0.000,4,0.000,0.087,2844,1187,584,0,0,0,0,0,0
$GC,9447,1.72,432.2,157.0,30.1,420,9452,0.00,2.20,0.00,0.000,6,0.000,0.074,2844,2577,584,0,0,0,0,0,0
$GC,9773,1.72,432.2,67.7,24.4,449,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2577,584,0,0,0,0,0,0
$STATE,10006,end climb,SURFACE_DEPTH_REACHED
$STATE,10006,begin surface coast
$FINISH,1.1,1.023682
$STATE,10019,end surface coast,CONTROL_FINISHED_OK
$STATE,10019,begin surface
$SM_CCo,10097,0.00,0.000,0,0,582,435.12
$SM_GC,2.12,11.65,0.00,0.00,0.084,0.000,0.000,346,2577,582,-9.58,0.00,435.12
$IRIDIUM_FIX,1830.49,-6604.79,280111,191959
$TT8_MAMPS,0.02247
$HUMID,64.68
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.8,7.3
$24V_AH,24.4,8.035
$10V_AH,10.6,2.246
$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,25.625,67.650,436.275,0.000,0.000,0.000,0.000,0.000,14.000,0.000,17.333,1278.819,6487.941,402.546,1942.699,81.182,0.329,1171.579,0.000,1082.515,0.000,94.545,0.000
$DEVICE_MAMPS,186.225,109.252,1251.432,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.859,0.000,0.000,1467.307,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327596
$DATA_FILE_SIZE,26853,472
$CAP_FILE_SIZE,137426,0
$CFSIZE,260165632,253075456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280111,220906,1835.058,-6604.123,31,1.2,32,-12.7