version: 66.07
glider: 34
mission: 9
dive: 9
start: 1 29 111 5 2 56
data:
$ID,34
$MISSION,9
$DIVE,9
$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,-12374.754
$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,59
$R_STBD_OVSHOOT,29
$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
$GPS1,290111,044637,1835.551,-6601.206,33,1.2,34,-12.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-59.5
$GPS2,290111,050207,1835.602,-6601.400,12,1.1,29,-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,0.209,0.041
$KALMAN_X,-3109.9,0.0,0.0,10411.8,-2895.2
$KALMAN_Y,-323.1,0.0,0.0,1745.9,-344.3
$MHEAD_RNG_PITCHd_Wd,91.5,2566,-15.9,-7.500
$D_GRID,930
$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,12,begin dive
$GC,14,-1.12,-146.6,0.0,0.0,0,169,0.00,0.00,-151.75,0.000,2,0.000,0.000,344,2562,2132,0,0,0,0,0,0
$GC,171,-1.12,-146.6,3.3,-3.4,14,209,10.77,2.33,-21.15,0.000,4,0.179,0.099,2213,3955,2554,0,0,1,0,0,0
$GC,325,-1.12,-146.6,21.5,-13.9,27,333,0.00,2.15,0.00,0.000,6,0.000,0.070,2213,2607,2554,0,0,0,0,0,0
$GC,651,-1.12,-146.6,61.2,-11.4,58,655,0.00,2.22,0.00,0.000,4,0.000,0.102,2213,3956,2555,0,0,0,0,0,0
$GC,690,-1.12,-146.6,65.6,-11.1,61,694,0.00,2.17,0.00,0.000,6,0.000,0.072,2213,2569,2556,0,0,0,0,0,0
$GC,1017,-1.12,-146.6,99.9,-9.8,91,1021,0.00,2.22,0.00,0.000,4,0.000,0.094,2213,1172,2557,0,0,0,0,0,0
$GC,1067,-1.12,-146.6,105.2,-10.1,95,1071,0.00,2.25,0.00,0.000,6,0.000,0.084,2213,2579,2557,0,0,0,0,0,0
$GC,1393,-1.12,-146.6,132.4,-6.6,125,1397,0.00,2.28,0.00,0.000,4,0.000,0.104,2213,3962,2558,0,0,0,0,0,0
$GC,1432,-1.12,-146.6,135.8,-7.6,128,1437,0.00,2.12,0.00,0.000,6,0.000,0.072,2213,2574,2558,0,0,0,0,0,0
$GC,1766,-1.12,-146.6,154.0,-5.5,156,1770,0.00,2.22,0.00,0.000,4,0.000,0.094,2213,1172,2559,0,0,0,0,0,0
$GC,1823,-1.12,-146.6,156.5,-6.3,158,1827,0.00,2.28,0.00,0.000,6,0.000,0.087,2214,2581,2559,0,0,0,0,0,0
$GC,2150,-1.12,-146.6,177.1,-5.1,174,2154,0.00,2.25,0.00,0.000,4,0.000,0.104,2213,3968,2560,0,0,0,0,0,0
$GC,2266,-1.12,-146.6,182.9,-5.4,179,2271,0.00,2.17,0.00,0.000,6,0.000,0.072,2213,2581,2559,0,0,0,0,0,0
$GC,2589,-1.12,-146.6,203.1,-6.6,195,2593,0.00,2.28,0.00,0.000,4,0.000,0.104,2213,3969,2560,0,0,0,0,0,0
$GC,2637,-1.12,-146.6,205.6,-6.3,197,2642,0.00,2.20,0.00,0.000,6,0.000,0.072,2213,2574,2560,0,0,0,0,0,0
$GC,2959,-1.12,-146.6,226.4,-7.0,213,2963,0.00,2.28,0.00,0.000,4,0.000,0.104,2213,3963,2560,0,0,0,0,0,0
$GC,3054,-1.12,-146.6,233.1,-8.0,217,3057,0.00,2.17,0.00,0.000,6,0.000,0.074,2213,2569,2560,0,0,0,0,0,0
$GC,3369,-1.12,-146.6,256.2,-7.3,232,3373,0.00,2.25,0.00,0.000,4,0.000,0.099,2213,1165,2560,0,0,0,0,0,0
$GC,3453,-1.12,-146.6,263.1,-8.1,236,3457,0.00,2.25,0.00,0.000,6,0.000,0.087,2213,2576,2560,0,0,0,0,0,0
$GC,3779,-1.12,-146.6,287.7,-7.3,252,3783,0.00,2.25,0.00,0.000,4,0.000,0.104,2213,3962,2560,0,0,0,0,0,0
$GC,3822,-1.12,-146.6,290.8,-7.6,254,3826,0.00,2.15,0.00,0.000,6,0.000,0.074,2213,2569,2560,0,0,0,0,0,0
$GC,4141,-1.12,-146.6,315.0,-7.5,267,4145,0.00,2.25,0.00,0.000,4,0.000,0.099,2213,1165,2559,0,0,0,0,0,0
$GC,4195,-1.12,-146.6,317.1,-7.5,268,4218,0.00,2.28,0.00,0.000,6,0.000,0.087,2213,2570,2559,0,0,0,0,0,0
$GC,4508,-1.12,-146.6,343.6,-7.9,279,4512,0.00,2.30,0.00,0.000,4,0.000,0.104,2213,3968,2559,0,0,0,0,0,0
$GC,4654,-1.12,-146.6,354.9,-8.8,283,4659,0.00,2.20,0.00,0.000,6,0.000,0.074,2213,2578,2559,0,0,0,0,0,0
$GC,4990,-1.12,-146.6,384.4,-7.7,294,4994,0.00,2.25,0.00,0.000,4,0.000,0.099,2213,1167,2559,0,0,0,0,0,0
$GC,5033,-1.12,-146.6,386.4,-7.5,295,5038,0.00,2.30,0.00,0.000,6,0.000,0.087,2213,2583,2559,0,0,0,0,0,0
$GC,5359,-1.12,-146.6,410.7,-7.8,306,5363,0.00,2.25,0.00,0.000,4,0.000,0.094,2213,1170,2558,0,0,0,0,0,0
$GC,5404,-1.12,-146.6,413.0,-8.0,307,5409,0.00,2.28,0.00,0.000,6,0.000,0.087,2213,2571,2558,0,0,0,0,0,0
$GC,5740,-1.12,-146.6,443.6,-8.4,318,5744,0.00,2.30,0.00,0.000,4,0.000,0.107,2213,3963,2557,0,0,0,0,0,0
$GC,5836,-1.12,-146.6,452.9,-9.5,321,5840,0.00,2.17,0.00,0.000,6,0.000,0.077,2213,2575,2557,0,0,0,0,0,0
$GC,6176,-1.12,-146.6,487.1,-10.1,332,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2575,2556,0,0,0,0,0,0
$GC,6482,-1.12,-146.6,516.9,-9.6,342,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2575,2554,0,0,0,0,0,0
$GC,6789,-1.12,-146.6,545.9,-9.6,352,6793,0.00,2.28,0.00,0.000,4,0.000,0.099,2213,1165,2553,0,0,0,0,0,0
$GC,6843,-1.12,-146.6,548.9,-9.7,353,6852,0.00,2.30,0.00,0.000,6,0.000,0.089,2213,2570,2553,0,0,0,0,0,0
$GC,7157,-1.12,-146.6,582.4,-9.6,364,7161,0.00,2.33,0.00,0.000,4,0.000,0.109,2214,3966,2551,0,0,0,0,0,0
$GC,7243,-1.12,-146.6,591.1,-10.8,366,7247,0.00,2.17,0.00,0.000,6,0.000,0.079,2213,2578,2551,0,0,0,0,0,0
$GC,7566,-1.12,-146.6,626.0,-9.9,377,7570,0.00,2.25,0.00,0.000,4,0.000,0.102,2213,1170,2549,0,0,0,0,0,0
$GC,7612,-1.12,-146.6,628.7,-9.8,378,7617,0.00,2.30,0.00,0.000,6,0.000,0.092,2213,2567,2549,0,0,0,0,0,0
$GC,7948,-1.12,-146.6,663.0,-9.7,389,7952,0.00,2.33,0.00,0.000,4,0.000,0.112,2213,3968,2547,0,0,0,0,0,0
$GC,7979,-1.12,-146.6,665.7,-9.5,390,7984,0.00,2.22,0.00,0.000,6,0.000,0.077,2213,2582,2548,0,0,0,0,0,0
$GC,8315,-1.12,-146.6,698.5,-9.6,401,8319,0.00,2.30,0.00,0.000,4,0.000,0.102,2213,1165,2545,0,0,0,0,0,0
$GC,8376,-1.12,-146.6,704.4,-9.9,403,8380,0.00,2.30,0.00,0.000,6,0.000,0.092,2213,2578,2545,0,0,0,0,0,0
$GC,8710,-1.12,-146.6,735.1,-9.8,414,8714,0.00,2.33,0.00,0.000,4,0.000,0.114,2213,3968,2544,0,0,0,0,0,0
$GC,8755,-1.12,-146.6,738.3,-10.3,415,8760,0.00,2.25,0.00,0.000,6,0.000,0.079,2213,2577,2544,0,0,0,0,0,0
$GC,9090,-1.12,-146.6,776.9,-11.0,426,9094,0.00,2.30,0.00,0.000,4,0.000,0.102,2213,1162,2542,0,0,0,0,0,0
$GC,9165,-1.12,-146.6,780.8,-11.2,427,9173,0.00,2.35,0.00,0.000,6,0.000,0.094,2213,2577,2541,0,0,0,0,0,0
$GC,9478,-1.12,-146.6,817.6,-10.2,438,9482,0.00,2.33,0.00,0.000,4,0.000,0.114,2213,3965,2540,0,0,0,0,0,0
$GC,9509,-1.12,-146.6,820.3,-9.8,439,9514,0.00,2.25,0.00,0.000,6,0.000,0.079,2213,2575,2539,0,0,0,0,0,0
$GC,9863,-1.12,-146.6,854.1,-10.7,450,9867,0.00,2.28,0.00,0.000,4,0.000,0.102,2213,1167,2538,0,0,0,0,0,0
$GC,9948,-1.12,-146.6,862.6,-10.9,452,9953,0.00,2.35,0.00,0.000,6,0.000,0.094,2213,2579,2538,0,0,0,0,0,0
$GC,10278,-1.12,-146.6,899.1,-10.4,463,10282,0.00,2.35,0.00,0.000,4,0.000,0.119,2213,3964,2536,0,0,0,0,0,0
$GC,10330,-1.12,-146.6,902.6,-10.4,464,10336,0.00,2.25,0.00,0.000,6,0.000,0.079,2213,2578,2536,0,0,0,0,0,0
$STATE,10574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10574,begin apogee
$GC,10578,-0.29,0.0,930.8,10.6,472,10690,0.95,0.00,106.78,1.425,6,0.166,0.000,2385,2578,2057,0,0,0,0,0,0
$STATE,10691,end apogee,CONTROL_FINISHED_OK
$STATE,10691,begin climb
$GC,10693,1.12,146.6,934.5,0.0,474,10816,1.73,2.67,112.68,1.405,4,0.142,0.124,2696,1167,1561,0,0,0,0,0,0
$GC,10854,1.66,586.3,948.0,-8.3,479,11213,0.55,2.55,348.38,1.405,6,0.074,0.112,2831,2572,150,0,0,0,0,0,0
$GC,11519,1.66,586.3,826.3,27.5,500,11524,0.00,2.38,0.00,0.000,4,0.000,0.094,2831,1162,147,0,0,0,0,0,0
$GC,11568,1.66,586.3,818.6,27.4,501,11573,0.00,2.38,0.00,0.000,6,0.000,0.084,2831,2577,147,0,0,0,0,0,0
$GC,11887,1.66,586.3,725.6,27.6,512,11891,0.00,2.33,0.00,0.000,4,0.000,0.092,2831,1168,147,0,0,0,0,0,0
$GC,11966,1.66,586.3,704.2,28.0,514,11971,0.00,2.33,0.00,0.000,6,0.000,0.084,2831,2572,146,0,0,0,0,0,0
$GC,12302,1.66,586.3,610.3,28.2,525,12306,0.00,2.30,0.00,0.000,4,0.000,0.092,2831,1167,146,0,0,0,0,0,0
$GC,12339,1.66,586.3,602.4,28.3,526,12344,0.00,2.33,0.00,0.000,6,0.000,0.084,2831,2577,145,0,0,0,0,0,0
$GC,12686,1.66,586.3,504.4,29.3,537,12690,0.00,2.28,0.00,0.000,4,0.000,0.089,2831,1167,145,0,0,0,0,0,0
$GC,12706,2.92,1609.7,504.4,-29.3,537,12715,0.32,2.30,0.00,0.000,6,0.084,0.082,2909,2577,145,0,0,0,0,0,0
$GC,13035,2.92,1609.7,385.8,35.5,548,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2577,144,0,0,0,0,0,0
$GC,13326,2.92,1609.7,273.6,37.6,559,13330,0.00,2.30,0.00,0.000,4,0.000,0.089,2909,1167,144,0,0,0,0,0,0
$GC,13391,2.92,1609.7,250.1,37.8,562,13397,0.00,2.28,0.00,0.000,6,0.000,0.077,2909,2576,143,0,0,0,0,0,0
$GC,13710,2.92,1609.7,125.2,37.7,580,13714,0.00,2.25,0.00,0.000,4,0.000,0.099,2909,3957,144,0,0,0,0,0,0
$GC,13742,2.92,1609.7,114.6,37.2,582,13750,0.00,2.20,0.00,0.000,6,0.000,0.067,2909,2554,144,0,0,0,0,0,0
$STATE,14045,end climb,SURFACE_DEPTH_REACHED
$STATE,14045,begin surface coast
$FINISH,1.1,1.000438
$STATE,14057,end surface coast,CONTROL_FINISHED_OK
$STATE,14057,begin surface
$SM_CCo,14135,0.00,0.000,0,0,144,564.72
$SM_GC,1.87,12.05,0.00,0.00,0.084,0.000,0.000,345,2547,144,-9.59,-0.85,564.72
$IRIDIUM_FIX,1825.94,-6602.71,290111,040450
$TT8_MAMPS,0.023219
$HUMID,65.00
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.5,16.7
$24V_AH,23.8,8.694
$10V_AH,10.4,2.474
$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,26.375,145.725,567.825,0.000,0.000,113.215,197.948,293.059,18.750,0.000,32.339,1671.707,9456.249,628.428,3207.569,132.744,0.386,1630.134,0.000,1497.545,0.000,127.087,0.000
$DEVICE_MAMPS,178.776,124.150,1425.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.002,0.000,0.000,1820.763,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327556
$DATA_FILE_SIZE,33584,612
$CAP_FILE_SIZE,164319,0
$CFSIZE,260165632,252874752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290111,085937,1836.031,-6559.412,31,1.2,32,-12.7