version: 66.07
glider: 34
mission: 9
dive: 15
start: 1 30 111 0 32 19
data:
$ID,34
$MISSION,9
$DIVE,15
$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,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,14
$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,-12442.392
$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,47
$R_STBD_OVSHOOT,26
$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,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
$GPS1,300111,002738,1830.929,-6559.713,12,1.5,12,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-64.7
$GPS2,300111,003155,1830.940,-6559.676,15,1.5,32,-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,-0.099,-0.189
$KALMAN_X,-4904.8,0.0,0.0,18074.9,-279.1
$KALMAN_Y,1246.0,0.0,0.0,-5961.2,1376.3
$MHEAD_RNG_PITCHd_Wd,9.2,9388,-15.9,-7.500
$D_GRID,990
$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,-1.12,-146.6,0.0,0.0,0,73,0.00,0.00,-55.97,0.000,2,0.000,0.000,343,2576,1854,0,0,0,0,0,0
$GC,75,-1.12,-146.6,3.0,-3.3,5,132,10.70,2.33,-37.12,0.000,4,0.179,0.099,2211,3965,2554,0,0,0,0,0,0
$GC,281,-1.02,-146.6,24.0,-12.9,23,290,0.08,2.15,0.00,0.000,6,0.159,0.070,2229,2605,2554,0,0,0,0,0,0
$GC,607,-0.98,-146.6,56.2,-8.9,54,611,0.00,2.20,0.00,0.000,4,0.000,0.084,2229,1196,2555,0,0,0,0,0,0
$GC,757,-0.96,-146.6,69.6,-9.5,67,765,0.08,2.22,0.00,0.000,6,0.151,0.077,2245,2613,2555,0,0,0,0,0,0
$GC,1082,-0.96,-146.6,94.5,-6.6,98,1086,0.00,2.20,0.00,0.000,4,0.000,0.079,2246,1196,2555,0,0,0,0,0,0
$GC,1189,-0.96,-146.6,102.2,-7.2,107,1194,0.00,2.15,0.00,0.000,6,0.000,0.074,2245,2603,2555,0,0,0,0,0,0
$GC,1514,-0.98,-146.6,124.1,-6.2,137,1518,0.00,2.17,0.00,0.000,4,0.000,0.079,2245,1195,2556,0,0,0,0,0,0
$GC,1547,-1.01,-146.6,125.7,-5.7,139,1554,0.00,2.17,0.00,0.000,6,0.000,0.072,2245,2595,2556,0,0,0,0,0,0
$GC,1872,-1.06,-146.6,141.3,-3.7,170,1876,0.00,2.20,0.00,0.000,4,0.000,0.097,2245,3962,2557,0,0,0,0,0,0
$GC,2144,-1.10,-146.6,154.0,-5.3,190,2149,0.10,2.12,0.00,0.000,6,0.084,0.067,2213,2540,2557,0,0,0,0,0,0
$GC,2468,-1.10,-146.6,172.8,-5.7,206,2472,0.00,2.28,0.00,0.000,4,0.000,0.099,2212,3956,2557,0,0,0,0,0,0
$GC,2657,-1.10,-146.6,182.9,-6.0,213,2661,0.00,2.10,0.00,0.000,6,0.000,0.070,2213,2598,2557,0,0,0,0,0,0
$GC,2981,-1.10,-146.6,203.9,-5.9,229,2985,0.00,2.22,0.00,0.000,4,0.000,0.099,2212,3962,2558,0,0,0,0,0,0
$GC,3091,-1.08,-146.6,210.1,-5.6,234,3096,0.00,2.12,0.00,0.000,6,0.000,0.072,2212,2595,2557,0,0,0,0,0,0
$GC,3421,-1.08,-146.6,230.9,-7.5,250,3425,0.00,2.20,0.00,0.000,4,0.000,0.089,2212,1193,2557,0,0,0,0,0,0
$GC,3552,-1.08,-146.6,240.6,-7.2,256,3556,0.00,2.17,0.00,0.000,6,0.000,0.082,2212,2592,2557,0,0,0,0,0,0
$GC,3878,-1.08,-146.6,265.2,-7.8,272,3882,0.00,2.22,0.00,0.000,4,0.000,0.099,2212,3962,2557,0,0,0,0,0,0
$GC,3920,-1.08,-146.6,268.4,-7.9,274,3925,0.00,2.12,0.00,0.000,6,0.000,0.070,2212,2601,2557,0,0,0,0,0,0
$GC,4250,-1.08,-146.6,292.1,-6.6,290,4254,0.00,2.20,0.00,0.000,4,0.000,0.092,2212,1193,2556,0,0,0,0,0,0
$GC,4290,-1.08,-146.6,294.8,-6.5,292,4294,0.00,2.22,0.00,0.000,6,0.000,0.082,2212,2606,2556,0,0,0,0,0,0
$GC,4605,-1.08,-146.6,315.9,-6.9,304,4609,0.00,2.20,0.00,0.000,4,0.000,0.102,2212,3956,2555,0,0,0,0,0,0
$GC,4732,-1.08,-146.6,324.8,-8.1,307,4737,0.00,2.10,0.00,0.000,6,0.000,0.070,2212,2609,2555,0,0,0,0,0,0
$GC,5086,-1.08,-146.6,352.2,-8.6,318,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2609,2555,0,0,0,0,0,0
$GC,5375,-1.08,-146.6,377.5,-7.8,328,5378,0.00,2.22,0.00,0.000,4,0.000,0.092,2212,1190,2554,0,0,0,0,0,0
$GC,5411,-1.08,-146.6,380.1,-8.2,329,5416,0.00,2.22,0.00,0.000,6,0.000,0.079,2212,2587,2553,0,0,0,0,0,0
$GC,5742,-1.08,-146.6,409.2,-9.0,340,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2587,2552,0,0,0,0,0,0
$GC,6047,-1.08,-146.6,437.4,-9.1,350,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2587,2551,0,0,0,0,0,0
$GC,6355,-1.08,-146.6,464.9,-9.1,360,6359,0.00,2.22,0.00,0.000,4,0.000,0.102,2212,3960,2550,0,0,0,0,0,0
$GC,6386,-1.08,-146.6,467.3,-9.0,361,6391,0.00,2.12,0.00,0.000,6,0.000,0.072,2212,2608,2549,0,0,0,0,0,0
$GC,6723,-1.25,-146.6,481.4,0.0,372,6725,0.12,0.00,0.00,0.000,6,0.132,0.000,2188,2600,2548,0,0,0,0,0,0
$STATE,6966,end dive,NO_VERTICAL_VELOCITY
$STATE,6966,begin apogee
$GC,6970,-0.29,0.0,481.6,0.0,380,7096,1.05,0.00,104.05,1.050,6,0.142,0.000,2386,2511,2057,0,0,0,0,0,0
$STATE,7097,end apogee,CONTROL_FINISHED_OK
$STATE,7097,begin climb
$GC,7098,1.12,146.6,481.6,0.0,383,7217,1.75,2.62,107.75,1.033,4,0.164,0.122,2694,1084,1561,0,0,0,0,0,0
$GC,7511,1.61,356.7,481.4,-0.1,393,7677,0.52,2.42,159.30,1.038,6,0.112,0.109,2805,2489,848,0,0,0,0,0,0
$GC,7990,1.42,356.7,401.4,22.3,408,7995,0.20,2.25,0.00,0.000,4,0.159,0.084,2771,1087,844,0,0,0,0,0,0
$GC,8078,1.25,356.7,388.1,21.9,410,8086,0.17,2.28,0.00,0.000,6,0.139,0.074,2735,2507,843,0,0,0,0,0,0
$GC,8391,1.12,356.7,322.1,19.4,421,8396,0.17,2.33,0.00,0.000,4,0.186,0.102,2708,3905,842,0,0,0,0,0,0
$GC,8457,0.99,356.7,309.7,19.9,423,8462,0.12,2.28,0.00,0.000,6,0.186,0.074,2684,2483,841,0,0,0,0,0,0
$GC,8785,0.92,356.7,255.0,16.4,438,8790,0.12,2.33,0.00,0.000,4,0.211,0.099,2664,3905,840,0,0,0,0,0,0
$GC,8802,0.84,356.7,252.4,16.1,439,8806,0.00,2.17,0.00,0.000,6,0.000,0.072,2664,2501,840,0,0,0,0,0,0
$GC,9128,0.78,356.7,197.0,17.6,455,9133,0.20,2.28,0.00,0.000,4,0.201,0.099,2633,1101,840,0,0,0,0,0,0
$GC,9160,0.72,356.7,194.2,17.4,456,9167,0.00,2.30,0.00,0.000,6,0.000,0.092,2633,2495,840,0,0,0,0,0,0
$GC,9476,0.68,356.7,144.7,14.8,473,9481,0.12,2.33,0.00,0.000,4,0.196,0.102,2614,3915,840,0,0,0,0,0,0
$GC,9610,0.65,356.7,126.1,13.6,484,9617,0.00,2.22,0.00,0.000,6,0.000,0.074,2614,2512,840,0,0,0,0,0,0
$GC,9935,0.65,356.7,89.9,10.6,515,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2512,840,0,0,0,0,0,0
$GC,10254,0.65,356.7,52.9,12.1,545,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2512,840,0,0,0,0,0,0
$GC,10572,0.65,356.7,13.7,11.1,575,10576,0.00,2.28,0.00,0.000,4,0.000,0.094,2613,1088,840,0,0,0,0,0,0
$STATE,10666,end climb,SURFACE_DEPTH_REACHED
$STATE,10666,begin surface coast
$FINISH,2.3,1.023359
$STATE,10683,end surface coast,CONTROL_FINISHED_OK
$STATE,10683,begin surface
$SM_CCo,10762,0.00,0.000,0,0,837,359.55
$SM_GC,1.62,10.38,0.00,0.00,0.077,0.000,0.000,343,2617,837,-9.59,0.48,359.55
$IRIDIUM_FIX,1825.94,-6557.63,290111,222224
$TT8_MAMPS,0.02247
$HUMID,54.01
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,24.5,9.538
$10V_AH,10.5,2.886
$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,25.900,89.575,371.100,0.000,0.000,25.053,28.292,108.836,7.750,0.000,34.640,1557.127,6747.273,375.860,2252.714,97.003,0.000,1226.687,0.000,1326.885,0.000,54.256,0.000
$DEVICE_MAMPS,211.055,121.667,1050.309,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.073,0.000,0.000,1513.118,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326324
$DATA_FILE_SIZE,30192,584
$CAP_FILE_SIZE,121591,0
$CFSIZE,260165632,252588032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300111,033254,1832.160,-6559.918,39,1.2,40,-12.7