version: 66.07
glider: 34
mission: 9
dive: 8
start: 1 29 111 1 18 15
data:
$ID,34
$MISSION,9
$DIVE,8
$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,-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,-12373.497
$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,44
$R_STBD_OVSHOOT,24
$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
$GPS1,290111,011252,1835.539,-6602.978,15,3.8,34,-12.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-58.1
$GPS2,290111,011726,1835.547,-6603.034,10,2.0,10,-12.7
$SPEED_LIMITS,0.075,0.213
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.212,0.018
$KALMAN_X,-1669.1,0.0,0.0,6122.5,-1882.8
$KALMAN_Y,-34.9,0.0,0.0,1346.0,25.2
$MHEAD_RNG_PITCHd_Wd,97.9,5391,-15.9,-7.500
$D_GRID,766
$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,-1.12,-146.6,0.0,0.0,0,147,0.00,0.00,-130.07,0.000,2,0.000,0.000,344,2559,1856,0,0,0,0,0,0
$GC,150,-1.12,-146.6,3.1,-2.9,12,217,10.70,2.38,-47.10,0.000,4,0.179,0.097,2211,3962,2554,0,0,0,0,0,0
$GC,300,-1.12,-146.6,15.8,-12.5,25,308,0.00,2.17,0.00,0.000,6,0.000,0.067,2211,2582,2554,0,0,0,0,0,0
$GC,626,-1.12,-146.6,51.4,-10.5,56,630,0.00,2.30,0.00,0.000,4,0.000,0.099,2211,3966,2556,0,0,0,0,0,0
$GC,679,-1.12,-146.6,57.5,-12.2,60,688,0.00,2.17,0.00,0.000,6,0.000,0.070,2211,2580,2556,0,0,0,0,0,0
$GC,1006,-1.12,-146.6,95.2,-11.1,91,1009,0.00,2.20,0.00,0.000,4,0.000,0.089,2211,1176,2558,0,0,0,0,0,0
$GC,1048,-1.12,-146.6,99.4,-10.9,94,1056,0.00,2.25,0.00,0.000,6,0.000,0.077,2211,2580,2558,0,0,0,0,0,0
$GC,1374,-1.12,-146.6,129.0,-8.2,125,1378,0.00,2.25,0.00,0.000,4,0.000,0.099,2211,3962,2559,0,0,0,0,0,0
$GC,1416,-1.12,-146.6,131.7,-7.5,128,1425,0.00,2.15,0.00,0.000,6,0.000,0.067,2211,2575,2559,0,0,0,0,0,0
$GC,1742,-1.12,-146.6,151.5,-5.7,158,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2575,2560,0,0,0,0,0,0
$GC,2051,-1.12,-146.6,169.6,-6.2,173,2055,0.00,2.28,0.00,0.000,4,0.000,0.099,2211,3966,2563,0,0,0,0,0,0
$GC,2108,-1.12,-146.6,172.5,-6.8,175,2112,0.00,2.15,0.00,0.000,6,0.000,0.070,2212,2578,2563,0,0,0,0,0,0
$GC,2435,-1.12,-146.6,192.0,-5.4,191,2439,0.00,2.22,0.00,0.000,4,0.000,0.089,2211,1176,2564,0,0,0,0,0,0
$GC,2563,-1.12,-146.6,199.7,-7.1,196,2572,0.00,2.25,0.00,0.000,6,0.000,0.082,2211,2579,2565,0,0,0,0,0,0
$GC,2882,-1.12,-146.6,220.5,-6.2,212,2886,0.00,2.22,0.00,0.000,4,0.000,0.102,2211,3959,2565,0,0,0,0,0,0
$GC,2930,-1.12,-146.6,223.5,-6.8,214,2935,0.00,2.15,0.00,0.000,6,0.000,0.070,2211,2578,2565,0,0,0,0,0,0
$GC,3252,-1.12,-146.6,247.5,-7.5,230,3256,0.00,2.28,0.00,0.000,4,0.000,0.102,2211,3965,2565,0,0,0,0,0,0
$GC,3346,-1.12,-146.6,254.5,-8.4,234,3350,0.00,2.12,0.00,0.000,6,0.000,0.072,2211,2577,2565,0,0,0,0,0,0
$GC,3662,-1.12,-146.6,279.2,-7.6,249,3666,0.00,2.20,0.00,0.000,4,0.000,0.092,2211,1178,2565,0,0,0,0,0,0
$GC,3749,-1.12,-146.6,285.5,-7.6,253,3754,0.00,2.22,0.00,0.000,6,0.000,0.082,2211,2573,2565,0,0,0,0,0,0
$GC,4094,-1.12,-146.6,310.6,-7.4,267,4098,0.00,2.28,0.00,0.000,4,0.000,0.102,2211,3966,2565,0,0,0,0,0,0
$GC,4148,-1.12,-146.6,314.0,-7.5,268,4171,0.00,2.15,0.00,0.000,6,0.000,0.072,2211,2585,2565,0,0,0,0,0,0
$GC,4461,-1.12,-146.6,339.2,-7.6,279,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2585,2565,0,0,0,0,0,0
$GC,4784,-1.12,-146.6,361.2,-7.3,289,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2585,2565,0,0,0,0,0,0
$GC,5073,-1.12,-146.6,387.5,-9.2,299,5077,0.00,2.28,0.00,0.000,4,0.000,0.102,2211,3962,2565,0,0,0,0,0,0
$GC,5111,-1.12,-146.6,390.1,-9.2,300,5116,0.00,2.17,0.00,0.000,6,0.000,0.072,2211,2577,2564,0,0,0,0,0,0
$GC,5442,-1.12,-146.6,420.4,-8.6,311,5446,0.00,2.20,0.00,0.000,4,0.000,0.092,2211,1177,2563,0,0,0,0,0,0
$GC,5545,-1.12,-146.6,427.2,-8.8,313,5550,0.00,2.25,0.00,0.000,6,0.000,0.082,2211,2574,2563,0,0,0,0,0,0
$GC,5886,-1.12,-146.6,459.7,-9.5,324,5890,0.00,2.25,0.00,0.000,4,0.000,0.102,2211,3963,2561,0,0,0,0,0,0
$GC,5971,-1.12,-146.6,467.7,-9.9,326,5976,0.00,2.17,0.00,0.000,6,0.000,0.072,2211,2578,2561,0,0,0,0,0,0
$GC,6319,-1.12,-146.6,501.4,-9.6,337,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2578,2560,0,0,0,0,0,0
$GC,6608,-1.12,-146.6,530.2,-9.4,347,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2578,2559,0,0,0,0,0,0
$GC,6915,-1.12,-146.6,560.3,-10.0,357,6919,0.00,2.20,0.00,0.000,4,0.000,0.092,2211,1178,2559,0,0,0,0,0,0
$GC,6946,-1.12,-146.6,563.1,-9.9,358,6951,0.00,2.25,0.00,0.000,6,0.000,0.082,2211,2572,2559,0,0,0,0,0,0
$GC,7282,-1.12,-146.6,596.0,-9.9,369,7286,0.00,2.28,0.00,0.000,4,0.000,0.107,2211,3963,2558,0,0,0,0,0,0
$GC,7361,-1.12,-146.6,602.0,-9.6,371,7367,0.00,2.20,0.00,0.000,6,0.000,0.074,2211,2578,2558,0,0,0,0,0,0
$GC,7698,-1.12,-146.6,635.2,-9.7,382,7702,0.00,2.25,0.00,0.000,4,0.000,0.094,2211,1170,2557,0,0,0,0,0,0
$GC,7763,-1.12,-146.6,640.9,-9.5,384,7768,0.00,2.28,0.00,0.000,6,0.000,0.084,2211,2573,2556,0,0,0,0,0,0
$GC,8099,-1.12,-146.6,673.2,-9.4,395,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2574,2555,0,0,0,0,0,0
$GC,8406,-1.12,-146.6,703.1,-10.3,405,8410,0.00,2.25,0.00,0.000,4,0.000,0.092,2211,1173,2553,0,0,0,0,0,0
$GC,8467,-1.12,-146.6,709.6,-10.6,407,8471,0.00,2.25,0.00,0.000,6,0.000,0.084,2211,2584,2553,0,0,0,0,0,0
$GC,8806,-1.12,-146.6,743.2,-9.7,418,8810,0.00,2.28,0.00,0.000,4,0.000,0.109,2211,3962,2550,0,0,0,0,0,0
$GC,8886,-1.12,-146.6,749.9,-10.4,420,8890,0.00,2.20,0.00,0.000,6,0.000,0.074,2211,2578,2550,0,0,0,0,0,0
$STATE,9036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9037,begin apogee
$GC,9040,-0.29,0.0,767.6,10.2,425,9153,0.98,0.00,107.97,1.296,6,0.169,0.000,2386,2578,2056,0,0,0,0,0,0
$STATE,9154,end apogee,CONTROL_FINISHED_OK
$STATE,9154,begin climb
$GC,9155,1.12,146.6,770.7,0.0,428,9292,1.73,2.60,111.05,1.279,4,0.144,0.122,2696,3963,1561,0,0,0,0,0,0
$GC,9367,1.57,518.8,781.7,-5.9,433,9685,0.45,2.33,305.00,1.276,6,0.072,0.082,2812,2592,299,0,0,0,0,0,0
$GC,10005,1.57,518.8,666.6,23.7,454,10009,0.00,2.35,0.00,0.000,4,0.000,0.089,2813,1157,297,0,0,0,0,0,0
$GC,10096,1.57,518.8,644.7,24.2,456,10100,0.00,2.30,0.00,0.000,6,0.000,0.082,2812,2580,296,0,0,0,0,0,0
$GC,10414,1.57,518.8,558.8,26.6,467,10418,0.00,2.30,0.00,0.000,4,0.000,0.087,2812,1158,295,0,0,0,0,0,0
$GC,10451,1.57,518.8,551.4,26.7,468,10456,0.00,2.30,0.00,0.000,6,0.000,0.079,2812,2569,295,0,0,0,0,0,0
$GC,10781,1.57,518.8,462.0,27.2,479,10785,0.00,2.25,0.00,0.000,4,0.000,0.087,2812,1162,296,0,0,0,0,0,0
$GC,10858,1.57,518.8,443.4,27.5,481,10863,0.00,2.30,0.00,0.000,6,0.000,0.077,2812,2580,294,0,0,0,0,0,0
$GC,11188,1.57,518.8,348.3,28.7,492,11192,0.00,2.30,0.00,0.000,4,0.000,0.102,2813,3966,294,0,0,0,0,0,0
$GC,11267,1.57,518.8,329.6,29.8,494,11272,0.00,2.22,0.00,0.000,6,0.000,0.070,2812,2553,294,0,0,0,0,0,0
$GC,11584,1.57,518.8,227.3,31.2,508,11588,0.00,2.17,0.00,0.000,4,0.000,0.084,2813,1177,294,0,0,0,0,0,0
$GC,11646,1.57,518.8,207.8,31.7,511,11650,0.00,2.20,0.00,0.000,6,0.000,0.077,2813,2584,293,0,0,0,0,0,0
$GC,11966,1.57,518.8,111.0,27.9,532,11970,0.00,2.25,0.00,0.000,4,0.000,0.097,2813,3956,293,0,0,0,0,0,0
$GC,12042,1.57,518.8,89.4,29.9,538,12050,0.00,2.15,0.00,0.000,6,0.000,0.067,2813,2569,293,0,0,0,0,0,0
$STATE,12345,end climb,SURFACE_DEPTH_REACHED
$STATE,12345,begin surface coast
$FINISH,1.2,1.023700
$STATE,12357,end surface coast,CONTROL_FINISHED_OK
$STATE,12357,begin surface
$SM_CCo,12435,0.00,0.000,0,0,293,520.73
$SM_GC,1.81,11.52,0.00,0.00,0.084,0.000,0.000,344,2562,293,-9.59,-0.42,520.73
$IRIDIUM_FIX,1828.22,-6602.71,280111,222239
$TT8_MAMPS,0.023219
$HUMID,62.91
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.0,16.0
$24V_AH,24.1,8.434
$10V_AH,10.4,2.385
$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,25.375,112.175,524.025,0.000,0.000,31.087,33.988,134.551,14.500,0.000,12.995,1518.295,8072.806,615.802,2427.682,109.131,0.384,1513.537,0.000,1358.627,0.000,98.829,0.000
$DEVICE_MAMPS,178.776,121.667,1296.126,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.397,0.000,0.000,1596.566,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327592
$DATA_FILE_SIZE,30147,568
$CAP_FILE_SIZE,134334,0
$CFSIZE,260165632,252973056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290111,044637,1835.551,-6601.206,33,1.2,34,-12.7