version: 66.07
glider: 34
mission: 9
dive: 7
start: 1 28 111 22 36 1
data:
$ID,34
$MISSION,9
$DIVE,7
$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,13
$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,-12372.241
$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,52
$R_STBD_OVSHOOT,27
$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
$GPS1,280111,223102,1835.137,-6604.401,11,1.6,11,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-57.5
$GPS2,280111,223513,1835.154,-6604.452,13,1.3,30,-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,0.234,0.043
$KALMAN_X,-706.4,0.0,0.0,2729.8,-706.4
$KALMAN_Y,-80.5,0.0,0.0,677.7,-80.5
$MHEAD_RNG_PITCHd_Wd,92.3,7969,-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,-146.6,0.0,0.0,0,148,0.00,0.00,-130.35,0.000,2,0.000,0.000,362,2578,2251,0,0,0,0,0,0
$GC,150,-1.37,-146.6,3.7,-4.8,12,182,10.23,0.00,-13.65,0.000,6,0.181,0.000,2157,2580,2554,0,0,0,0,0,0
$GC,499,-1.37,-146.6,55.3,-15.4,45,502,0.00,2.25,0.00,0.000,4,0.000,0.099,2157,3962,2555,0,0,0,0,0,0
$GC,558,-1.37,-146.6,64.2,-16.0,50,567,0.00,2.15,0.00,0.000,6,0.000,0.070,2156,2601,2555,0,0,0,0,0,0
$GC,886,-1.37,-146.6,110.6,-12.4,81,890,0.00,2.30,0.00,0.000,4,0.000,0.099,2157,1159,2555,0,0,0,0,0,0
$GC,928,-1.37,-146.6,115.8,-12.7,84,937,0.00,2.30,0.00,0.000,6,0.000,0.089,2157,2571,2555,0,0,0,0,0,0
$GC,1254,-1.37,-146.6,146.9,-8.4,115,1258,0.00,2.25,0.00,0.000,4,0.000,0.099,2157,3966,2557,0,0,0,0,0,0
$GC,1368,-1.37,-146.6,155.3,-8.0,121,1372,0.00,2.17,0.00,0.000,6,0.000,0.072,2157,2578,2557,0,0,0,0,0,0
$GC,1690,-1.37,-146.6,177.3,-6.1,137,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2578,2557,0,0,0,0,0,0
$GC,2000,-1.37,-146.6,201.1,-8.3,152,2004,0.00,2.28,0.00,0.000,4,0.000,0.102,2157,1165,2557,0,0,0,0,0,0
$GC,2108,-1.37,-146.6,210.8,-8.7,157,2112,0.00,2.28,0.00,0.000,6,0.000,0.092,2157,2578,2557,0,0,0,0,0,0
$GC,2435,-1.37,-146.6,240.8,-9.4,173,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2578,2558,0,0,0,0,0,0
$GC,2744,-1.37,-146.6,271.7,-10.4,188,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2578,2557,0,0,0,0,0,0
$GC,3062,-1.37,-146.6,305.3,-11.2,203,3066,0.00,2.25,0.00,0.000,4,0.000,0.099,2157,3966,2558,0,0,0,0,0,0
$GC,3165,-1.37,-146.6,312.9,-11.8,205,3189,0.00,2.20,0.00,0.000,6,0.000,0.072,2157,2578,2557,0,0,0,0,0,0
$GC,3479,-1.37,-146.6,353.2,-11.3,216,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2578,2557,0,0,0,0,0,0
$GC,3784,-1.37,-146.6,387.4,-11.6,226,3788,0.00,2.28,0.00,0.000,4,0.000,0.102,2157,3966,2557,0,0,0,0,0,0
$GC,3869,-1.37,-146.6,395.8,-12.8,228,3874,0.00,2.20,0.00,0.000,6,0.000,0.072,2157,2581,2557,0,0,0,0,0,0
$GC,4200,-1.37,-146.6,440.9,-12.4,239,4204,0.00,2.28,0.00,0.000,4,0.000,0.104,2157,1165,2556,0,0,0,0,0,0
$GC,4236,-1.37,-146.6,444.3,-12.3,240,4241,0.00,2.30,0.00,0.000,6,0.000,0.092,2157,2569,2555,0,0,0,0,0,0
$GC,4584,-1.37,-146.6,487.8,-13.4,251,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2569,2554,0,0,0,0,0,0
$GC,4873,-1.37,-146.6,529.9,-13.6,261,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2569,2553,0,0,0,0,0,0
$GC,5180,-1.37,-146.6,572.2,-13.9,271,5184,0.00,2.28,0.00,0.000,4,0.000,0.099,2157,1164,2551,0,0,0,0,0,0
$GC,5243,-1.37,-146.6,580.5,-13.8,273,5247,0.00,2.28,0.00,0.000,6,0.000,0.092,2157,2584,2551,0,0,0,0,0,0
$GC,5578,-1.37,-146.6,631.8,-15.9,284,5582,0.00,2.28,0.00,0.000,4,0.000,0.104,2157,3965,2549,0,0,0,0,0,0
$GC,5658,-1.37,-146.6,641.9,-15.8,286,5662,0.00,2.22,0.00,0.000,6,0.000,0.077,2157,2578,2548,0,0,0,0,0,0
$GC,5994,-1.37,-146.6,693.0,-14.6,297,5998,0.00,2.28,0.00,0.000,4,0.000,0.104,2157,1164,2546,0,0,0,0,0,0
$GC,6037,-1.37,-146.6,697.4,-14.8,298,6042,0.00,2.30,0.00,0.000,6,0.000,0.089,2157,2568,2546,0,0,0,0,0,0
$STATE,6299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6299,begin apogee
$GC,6302,-0.29,0.0,738.4,14.8,307,6413,1.27,0.00,105.75,1.249,6,0.174,0.000,2385,2574,2057,0,0,0,0,0,0
$STATE,6414,end apogee,CONTROL_FINISHED_OK
$STATE,6414,begin climb
$GC,6415,1.37,146.6,742.8,0.0,310,6534,2.05,2.42,109.28,1.234,4,0.154,0.092,2754,1167,1560,0,0,0,0,0,0
$GC,6645,1.78,483.3,754.0,-5.8,316,6924,0.38,2.35,269.45,1.237,6,0.072,0.079,2859,2587,419,0,0,0,0,0,0
$GC,7253,1.78,483.3,626.4,26.6,336,7257,0.00,2.33,0.00,0.000,4,0.000,0.104,2859,3956,418,0,0,0,0,0,0
$GC,7302,1.78,483.3,618.3,27.0,337,7307,0.00,2.25,0.00,0.000,6,0.000,0.074,2859,2576,417,0,0,0,0,0,0
$GC,7637,1.78,483.3,520.0,29.7,348,7641,0.00,2.30,0.00,0.000,4,0.000,0.097,2859,1165,417,0,0,0,0,0,0
$GC,7720,1.78,483.3,497.8,29.0,350,7724,0.00,2.28,0.00,0.000,6,0.000,0.087,2859,2574,415,0,0,0,0,0,0
$GC,8049,1.78,483.3,397.7,31.4,360,8053,0.00,2.28,0.00,0.000,4,0.000,0.102,2859,3962,416,0,0,0,0,0,0
$GC,8092,1.78,483.3,383.7,31.5,361,8097,0.00,2.22,0.00,0.000,6,0.000,0.072,2859,2568,415,0,0,0,0,0,0
$GC,8417,1.78,483.3,271.9,32.1,373,8421,0.00,2.20,0.00,0.000,4,0.000,0.092,2859,1174,415,0,0,0,0,0,0
$GC,8437,1.78,483.3,266.4,32.5,374,8442,0.00,2.28,0.00,0.000,6,0.000,0.082,2860,2579,414,0,0,0,0,0,0
$GC,8765,1.78,483.3,153.6,34.1,390,8769,0.00,2.25,0.00,0.000,4,0.000,0.099,2859,3965,414,0,0,0,0,0,0
$GC,8793,1.78,483.3,143.8,34.0,392,8797,0.00,2.15,0.00,0.000,6,0.000,0.072,2859,2566,414,0,0,0,0,0,0
$GC,9117,1.78,483.3,45.6,30.4,422,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2566,414,0,0,0,0,0,0
$STATE,9254,end climb,SURFACE_DEPTH_REACHED
$STATE,9254,begin surface coast
$FINISH,0.9,0.999250
$STATE,9265,end surface coast,CONTROL_FINISHED_OK
$STATE,9266,begin surface
$SM_CCo,9343,0.00,0.000,0,0,414,485.31
$SM_GC,1.71,11.80,0.00,0.00,0.087,0.000,0.000,350,2558,414,-9.59,-0.54,485.31
$IRIDIUM_FIX,1830.49,-6604.79,280111,222227
$TT8_MAMPS,0.02247
$HUMID,63.23
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,24.3,8.232
$10V_AH,10.5,2.310
$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,25.725,72.400,484.475,0.000,0.000,0.000,0.000,0.000,13.750,0.000,33.186,1162.357,6050.962,522.220,1641.437,78.221,0.359,1200.314,0.000,1013.342,0.000,92.890,0.000
$DEVICE_MAMPS,181.259,104.286,1248.949,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.608,0.000,0.000,1162.011,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327504
$DATA_FILE_SIZE,23585,436
$CAP_FILE_SIZE,114601,0
$CFSIZE,260165632,253054976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290111,011252,1835.539,-6602.978,15,3.8,34,-12.7