version: 66.07
glider: 34
mission: 9
dive: 17
start: 1 30 111 7 38 13
data:
$ID,34
$MISSION,9
$DIVE,17
$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,-12444.905
$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,35
$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,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
$GPS1,300111,073237,1833.932,-6600.625,25,1.5,25,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-58.9
$GPS2,300111,073750,1833.962,-6600.650,12,1.7,12,-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,29.5,3944,-24.0,-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,-1.49,-65.0,0.0,0.0,0,181,0.00,0.00,-163.20,0.000,2,0.000,0.000,343,2610,2103,0,0,0,0,0,0
$GC,183,-1.56,-123.1,4.0,-2.9,15,218,10.12,2.42,-15.88,0.000,4,0.176,0.109,2115,1199,2475,0,0,0,0,0,0
$GC,466,-1.52,-123.1,52.1,-17.2,40,470,0.00,2.38,0.00,0.000,6,0.000,0.112,2115,2593,2476,0,0,0,0,0,0
$GC,790,-1.50,-123.1,104.4,-14.7,70,794,0.00,2.35,0.00,0.000,4,0.000,0.117,2115,1189,2477,0,0,0,0,0,0
$GC,863,-1.47,-123.1,114.6,-13.9,76,869,0.12,2.40,0.00,0.000,6,0.179,0.112,2132,2610,2478,0,0,0,0,0,0
$GC,1188,-1.51,-125.6,144.9,-7.3,106,1192,0.00,2.28,0.00,0.000,4,0.000,0.117,2133,3959,2480,0,0,0,0,0,0
$GC,1487,-1.51,-125.6,168.5,-9.0,120,1496,0.00,2.17,0.00,0.000,6,0.000,0.082,2133,2626,2481,0,0,0,0,0,0
$GC,1805,-1.51,-129.3,193.2,-7.2,136,1810,0.00,2.28,-0.12,0.000,4,0.000,0.117,2133,3965,2511,0,0,0,0,0,0
$GC,1915,-1.51,-129.3,202.3,-8.9,141,1920,0.00,2.22,0.00,0.000,6,0.000,0.084,2133,2601,2511,0,0,0,0,0,0
$GC,2243,-1.51,-129.3,231.3,-8.9,157,2248,0.00,2.42,0.00,0.000,4,0.000,0.132,2133,1176,2511,0,0,0,0,0,0
$GC,2292,-1.51,-129.3,235.2,-9.3,159,2297,0.00,2.45,0.00,0.000,6,0.000,0.119,2133,2589,2511,0,0,0,0,0,0
$GC,2615,-1.51,-129.3,268.4,-10.7,175,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2590,2512,0,0,0,0,0,0
$GC,2935,-1.51,-129.3,304.5,-11.8,190,2939,0.00,2.30,0.00,0.000,4,0.000,0.114,2133,3972,2512,0,0,0,0,0,0
$GC,2983,-1.51,-129.3,308.1,-11.9,191,2988,0.00,2.25,0.00,0.000,6,0.000,0.084,2133,2601,2511,0,0,0,0,0,0
$GC,3302,-1.51,-129.3,350.0,-12.4,202,3306,0.00,2.33,0.00,0.000,4,0.000,0.117,2134,3970,2511,0,0,0,0,0,0
$GC,3399,-1.51,-129.3,363.0,-13.4,205,3405,0.00,2.25,0.00,0.000,6,0.000,0.087,2133,2604,2511,0,0,0,0,0,0
$GC,3735,-1.51,-129.3,407.7,-13.9,216,3740,0.00,2.45,0.00,0.000,4,0.000,0.134,2133,1172,2511,0,0,0,0,0,0
$GC,3783,-1.51,-129.3,412.1,-14.3,217,3788,0.00,2.47,0.00,0.000,6,0.000,0.119,2133,2594,2511,0,0,0,0,0,0
$GC,4102,-1.51,-129.3,457.5,-13.3,228,4106,0.00,2.30,0.00,0.000,4,0.000,0.119,2133,3969,2511,0,0,0,0,0,0
$GC,4227,-1.51,-129.3,471.9,-14.7,231,4232,0.00,2.28,0.00,0.000,6,0.000,0.089,2133,2595,2510,0,0,0,0,0,0
$GC,4569,-1.51,-129.3,521.5,-14.5,242,4573,0.00,2.42,0.00,0.000,4,0.000,0.137,2133,1181,2509,0,0,0,0,0,0
$GC,4659,-1.51,-129.3,534.7,-14.3,244,4664,0.00,2.47,0.00,0.000,6,0.000,0.122,2133,2599,2509,0,0,0,0,0,0
$GC,4984,-1.54,-129.3,587.0,-15.3,255,4988,0.00,2.30,0.00,0.000,4,0.000,0.119,2133,3970,2507,0,0,0,0,0,0
$GC,5054,-1.54,-129.3,596.6,-15.7,257,5058,0.00,2.28,0.00,0.000,6,0.000,0.089,2133,2601,2506,0,0,0,0,0,0
$GC,5385,-1.54,-129.3,650.5,-16.3,268,5389,0.00,2.45,0.00,0.000,4,0.000,0.137,2133,1181,2505,0,0,0,0,0,0
$GC,5460,-1.56,-129.3,661.2,-16.9,270,5465,0.00,2.47,0.00,0.000,6,0.000,0.124,2133,2593,2504,0,0,0,0,0,0
$GC,5785,-1.58,-129.3,716.4,-16.3,281,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2593,2503,0,0,0,0,0,0
$GC,6094,-1.60,-129.3,771.8,-18.6,291,6098,0.00,2.38,0.00,0.000,4,0.000,0.124,2133,3972,2502,0,0,0,0,0,0
$GC,6132,-1.62,-129.3,777.4,-18.5,292,6137,0.10,2.30,0.00,0.000,6,0.139,0.094,2110,2586,2502,0,0,0,0,0,0
$GC,6461,-1.62,-129.3,837.6,-17.8,303,6465,0.00,2.33,0.00,0.000,4,0.000,0.114,2109,1189,2500,0,0,0,0,0,0
$GC,6522,-1.62,-129.3,849.5,-18.7,305,6526,0.00,2.33,0.00,0.000,6,0.000,0.097,2109,2607,2499,0,0,0,0,0,0
$GC,6858,-1.62,-129.3,914.9,-20.2,316,6862,0.00,2.35,0.00,0.000,4,0.000,0.114,2109,1190,2497,0,0,0,0,0,0
$GC,6890,-1.62,-129.3,920.8,-20.0,317,6895,0.00,2.33,0.00,0.000,6,0.000,0.094,2109,2593,2497,0,0,0,0,0,0
$GC,7243,-1.62,-129.3,984.4,-17.9,328,7247,0.00,2.35,0.00,0.000,4,0.000,0.114,2109,1184,2494,0,0,0,0,0,0
$STATE,7287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7287,begin apogee
$GC,7292,-0.29,0.0,992.5,18.2,329,7403,1.58,0.00,98.05,1.443,6,0.176,0.000,2386,2510,2057,0,0,0,0,0,0
$STATE,7404,end apogee,CONTROL_FINISHED_OK
$STATE,7404,begin climb
$GC,7405,1.57,129.3,1002.0,0.0,332,7516,2.22,2.60,100.25,1.428,4,0.132,0.109,2801,3911,1619,0,0,0,0,0,0
$GC,7521,1.69,224.4,1009.0,-0.0,333,7604,0.08,2.42,74.62,1.418,6,0.089,0.072,2829,2480,1296,0,0,0,0,0,0
$GC,7959,1.62,268.6,1010.7,4.0,341,7996,0.00,0.00,35.22,1.393,6,0.000,0.000,2829,2479,1146,0,0,0,0,0,0
$GC,8263,1.50,268.6,981.0,11.8,348,8265,0.22,0.00,0.00,0.000,6,0.166,0.000,2792,2478,1144,0,0,0,0,0,0
$GC,8569,1.43,268.6,949.3,9.8,358,8573,0.00,2.22,0.00,0.000,4,0.000,0.092,2791,1105,1143,0,0,0,0,0,0
$GC,8696,1.35,268.6,939.5,8.9,361,8701,0.20,2.22,0.00,0.000,6,0.161,0.079,2758,2507,1143,0,0,0,0,0,0
$GC,9031,1.31,268.6,910.9,7.7,372,9035,0.00,2.35,0.00,0.000,4,0.000,0.104,2758,3906,1142,0,0,0,0,0,0
$GC,9164,1.24,268.6,899.9,8.5,376,9169,0.10,2.25,0.00,0.000,6,0.166,0.072,2732,2491,1142,0,0,0,0,0,0
$GC,9500,1.23,282.0,875.5,6.4,387,9515,0.00,2.28,10.52,1.229,4,0.000,0.099,2733,1102,1104,0,0,0,0,0,0
$GC,9781,1.23,282.0,855.2,7.8,395,9786,0.00,2.30,0.00,0.000,6,0.000,0.087,2733,2495,1103,0,0,0,0,0,0
$GC,10116,1.23,282.0,829.4,7.9,406,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2495,1102,0,0,0,0,0,0
$GC,10423,1.23,282.0,801.4,10.1,416,10427,0.00,2.25,0.00,0.000,4,0.000,0.092,2732,1108,1102,0,0,0,0,0,0
$GC,10600,1.21,282.0,785.4,8.8,421,10604,0.00,2.22,0.00,0.000,6,0.000,0.087,2733,2501,1102,0,0,0,0,0,0
$GC,10934,1.21,282.5,760.4,7.5,432,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2501,1101,0,0,0,0,0,0
$GC,11240,1.23,299.5,740.9,6.2,442,11260,0.00,2.40,15.00,1.237,4,0.000,0.109,2733,3918,1042,0,0,0,0,0,0
$GC,11416,1.19,299.5,728.9,8.6,446,11421,0.00,2.28,0.00,0.000,6,0.000,0.072,2733,2515,1040,0,0,0,0,0,0
$GC,11735,1.19,299.5,696.4,8.9,457,11739,0.00,2.35,0.00,0.000,4,0.000,0.104,2733,3912,1040,0,0,0,0,0,0
$GC,11820,1.16,299.5,688.8,9.5,459,11824,0.00,2.28,0.00,0.000,6,0.000,0.072,2733,2502,1040,0,0,0,0,0,0
$GC,12149,1.16,299.5,659.6,9.0,470,12153,0.00,2.28,0.00,0.000,4,0.000,0.097,2733,1087,1040,0,0,0,0,0,0
$GC,12263,1.16,299.5,648.9,9.6,473,12267,0.00,2.33,0.00,0.000,6,0.000,0.087,2733,2501,1040,0,0,0,0,0,0
$GC,12598,1.16,299.5,613.6,10.8,484,12602,0.00,2.33,0.00,0.000,4,0.000,0.104,2733,3911,1040,0,0,0,0,0,0
$GC,12743,1.13,299.5,600.5,11.8,487,12748,0.10,2.28,0.00,0.000,6,0.164,0.072,2714,2477,1040,0,0,0,0,0,0
$GC,13062,1.13,299.5,560.7,10.4,498,13066,0.00,2.22,0.00,0.000,4,0.000,0.097,2714,1109,1040,0,0,0,0,0,0
$GC,13147,1.13,299.5,552.7,10.5,500,13152,0.00,2.28,0.00,0.000,6,0.000,0.087,2713,2498,1040,0,0,0,0,0,0
$GC,13477,1.13,299.5,519.5,10.2,511,13478,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2498,1040,0,0,0,0,0,0
$GC,13800,1.13,299.5,486.5,10.9,521,13804,0.00,2.33,0.00,0.000,4,0.000,0.104,2714,3913,1040,0,0,0,0,0,0
$GC,13965,1.10,299.5,466.4,12.7,525,13970,0.00,2.22,0.00,0.000,6,0.000,0.072,2713,2522,1040,0,0,0,0,0,0
$GC,14295,1.10,299.5,424.1,12.2,536,14299,0.00,2.30,0.00,0.000,4,0.000,0.102,2714,3915,1040,0,0,0,0,0,0
$GC,14485,1.06,299.5,396.1,14.9,541,14490,0.12,2.22,0.00,0.000,6,0.191,0.074,2696,2484,1040,0,0,0,0,0,0
$GC,14819,1.06,299.5,353.0,13.1,552,14823,0.00,2.38,0.00,0.000,4,0.000,0.109,2696,3915,1040,0,0,0,0,0,0
$GC,14949,1.06,299.5,336.3,14.8,555,14954,0.00,2.25,0.00,0.000,6,0.000,0.077,2696,2525,1040,0,0,0,0,0,0
$GC,15279,1.06,299.5,283.1,15.2,568,15283,0.00,2.35,0.00,0.000,4,0.000,0.104,2696,1083,1041,0,0,0,0,0,0
$GC,15367,1.06,299.5,270.2,15.6,572,15372,0.00,2.33,0.00,0.000,6,0.000,0.092,2696,2494,1042,0,0,0,0,0,0
$GC,15695,1.06,299.5,217.5,16.3,588,15699,0.00,2.35,0.00,0.000,4,0.000,0.104,2695,3923,1042,0,0,0,0,0,0
$GC,15748,1.06,299.5,210.7,16.7,590,15757,0.00,2.30,0.00,0.000,6,0.000,0.074,2696,2496,1042,0,0,0,0,0,0
$GC,16066,1.06,299.5,155.7,15.8,606,16071,0.00,2.35,0.00,0.000,4,0.000,0.104,2696,3918,1043,0,0,0,0,0,0
$GC,16323,1.06,299.5,117.5,12.8,627,16331,0.00,2.28,0.00,0.000,6,0.000,0.074,2696,2499,1044,0,0,0,0,0,0
$GC,16649,1.06,299.5,76.4,11.7,658,16653,0.00,2.35,0.00,0.000,4,0.000,0.102,2696,3921,1046,0,0,0,0,0,0
$GC,16860,1.04,299.5,47.7,13.5,676,16868,0.00,2.25,0.00,0.000,6,0.000,0.072,2696,2508,1047,0,0,0,0,0,0
$STATE,17174,end climb,SURFACE_DEPTH_REACHED
$STATE,17174,begin surface coast
$FINISH,0.6,0.998361
$STATE,17197,end surface coast,CONTROL_FINISHED_OK
$STATE,17197,begin surface
$SM_CCo,17214,3.28,0.449,0,0,1040,300.22
$SM_GC,2.50,0.00,0.00,3.28,0.000,0.000,0.449,344,2604,1040,-9.73,0.11,300.22
$IRIDIUM_FIX,1823.67,-6603.63,300111,030325
$TT8_MAMPS,0.02247
$HUMID,53.03
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,17.1
$24V_AH,24.0,9.890
$10V_AH,10.5,3.074
$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,25.825,153.525,333.675,3.275,0.000,24.579,37.037,165.607,20.250,0.000,14.852,1997.380,11380.624,513.945,3507.713,135.683,0.000,1615.924,0.000,1925.617,0.000,137.071,0.000
$DEVICE_MAMPS,191.191,146.497,1442.623,449.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.722,0.000,0.000,2248.250,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326328
$DATA_FILE_SIZE,40160,708
$CAP_FILE_SIZE,186778,0
$CFSIZE,260165632,252387328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300111,122625,1836.197,-6600.276,38,1.6,38,-12.7