version: 66.07
glider: 34
mission: 9
dive: 18
start: 1 30 111 12 32 8
data:
$ID,34
$MISSION,9
$DIVE,18
$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,-12446.163
$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,24
$R_STBD_OVSHOOT,14
$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
$GPS1,300111,122625,1836.197,-6600.276,38,1.6,38,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-64.3
$GPS2,300111,123144,1836.198,-6600.347,11,1.3,11,-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,133.7,711,-43.4,-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,-2.58,-19.9,0.0,0.0,0,94,0.00,0.00,-77.50,0.000,2,0.000,0.000,343,2605,2090,0,0,0,0,0,0
$GC,96,-2.60,-39.9,3.5,-2.4,7,120,8.80,2.38,-4.88,0.000,4,0.179,0.099,1887,1192,2193,0,0,0,0,0,0
$GC,233,-2.67,-39.9,34.0,-24.5,19,237,0.00,2.33,0.00,0.000,6,0.000,0.094,1887,2612,2193,0,0,0,0,0,0
$GC,557,-2.75,-39.9,105.8,-20.1,49,562,0.12,2.25,0.00,0.000,4,0.114,0.104,1858,3970,2196,0,0,0,0,0,0
$GC,597,-2.79,-39.9,113.7,-20.3,52,601,0.00,2.17,0.00,0.000,6,0.000,0.074,1858,2601,2197,0,0,0,0,0,0
$GC,931,-2.88,-64.3,150.7,-1.3,80,937,0.12,2.33,-0.52,0.000,4,0.117,0.107,1823,1178,2281,0,0,0,0,0,0
$GC,1022,-2.95,-84.0,152.6,-2.5,83,1031,0.00,2.38,-0.40,0.000,6,0.000,0.102,1823,2593,2354,0,0,0,0,0,0
$GC,1340,-2.99,-84.0,189.5,-11.1,99,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2593,2355,0,0,0,0,0,0
$GC,1648,-3.03,-84.0,222.7,-11.5,114,1652,0.00,2.35,0.00,0.000,4,0.000,0.109,1823,1171,2356,0,0,0,0,0,0
$GC,1836,-3.05,-84.0,245.9,-13.6,122,1844,0.10,2.40,0.00,0.000,6,0.077,0.104,1785,2599,2356,0,0,0,0,0,0
$GC,2153,-3.05,-84.0,297.6,-17.7,138,2157,0.00,2.22,0.00,0.000,4,0.000,0.102,1785,3971,2357,0,0,0,0,0,0
$GC,2371,-2.99,-84.0,332.7,-20.0,144,2382,0.10,2.17,0.00,0.000,6,0.204,0.072,1802,2605,2357,0,0,0,0,0,0
$GC,2685,-2.99,-84.0,406.2,-19.8,155,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2605,2357,0,0,0,0,0,0
$GC,3008,-2.99,-84.0,476.3,-23.1,165,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2605,2357,0,0,0,0,0,0
$GC,3298,-2.99,-84.0,554.5,-27.0,175,3302,0.00,2.22,0.00,0.000,4,0.000,0.099,1802,3972,2357,0,0,0,0,0,0
$GC,3498,-2.95,-84.0,610.3,-31.0,180,3502,0.00,2.17,0.00,0.000,6,0.000,0.074,1802,2587,2357,0,0,0,0,0,0
$GC,3828,-2.95,-84.0,718.1,-31.6,191,3832,0.00,2.28,0.00,0.000,4,0.000,0.102,1802,3973,2355,0,0,0,0,0,0
$GC,3897,-2.95,-84.0,738.8,-32.6,193,3902,0.00,2.20,0.00,0.000,6,0.000,0.074,1802,2597,2355,0,0,0,0,0,0
$GC,4244,-2.95,-84.0,848.8,-32.9,204,4248,0.00,2.28,0.00,0.000,4,0.000,0.104,1802,3972,2353,0,0,0,0,0,0
$GC,4298,-2.95,-84.0,863.9,-33.4,205,4306,0.00,2.17,0.00,0.000,6,0.000,0.077,1802,2593,2353,0,0,0,0,0,0
$GC,4611,-2.95,-84.0,981.6,-34.4,216,4616,0.00,2.30,0.00,0.000,4,0.000,0.107,1802,3966,2351,0,0,0,0,0,0
$STATE,4644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4644,begin apogee
$GC,4650,-0.29,0.0,993.6,34.3,217,4722,3.35,0.00,65.10,1.405,6,0.189,0.000,2389,2501,2057,0,0,0,0,0,0
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4725,2.66,84.0,1000.7,0.0,218,4803,2.85,2.50,65.30,1.395,4,0.151,0.099,2904,1091,1773,0,0,0,0,0,0
$GC,4940,2.93,153.5,1021.4,-10.1,222,5003,0.00,2.38,54.00,1.403,6,0.000,0.089,2904,2510,1537,0,0,0,0,0,0
$GC,5305,3.18,207.3,1045.2,-6.1,228,5355,0.00,2.50,41.95,1.413,4,0.000,0.094,2905,1087,1354,0,0,0,0,0,0
$GC,5590,3.38,231.5,1042.2,1.4,232,5615,0.00,2.35,19.65,1.351,6,0.000,0.084,2905,2497,1271,0,0,0,0,0,0
$GC,5937,3.56,231.6,1014.6,7.5,238,5941,0.00,2.33,0.00,0.000,4,0.000,0.089,2905,1086,1271,0,0,0,0,0,0
$GC,6061,3.74,234.0,1010.0,6.9,239,6068,0.00,2.30,0.00,0.000,6,0.000,0.084,2905,2500,1270,0,0,0,0,0,0
$GC,6372,3.91,234.8,982.0,7.3,248,6376,0.00,2.38,0.00,0.000,4,0.000,0.104,2904,3908,1268,0,0,0,0,0,0
$GC,6671,4.04,237.2,963.2,6.9,255,6682,0.00,2.28,5.10,1.003,6,0.000,0.072,2904,2488,1252,0,0,0,0,0,0
$GC,7035,4.22,248.2,944.5,4.7,267,7049,0.00,2.40,9.20,1.219,4,0.000,0.107,2904,3908,1216,0,0,1,0,0,0
$GC,7320,4.34,248.2,925.3,7.7,274,7325,0.00,2.28,0.00,0.000,6,0.000,0.072,2905,2494,1216,0,0,0,0,0,0
$GC,7651,4.51,251.3,903.1,6.7,285,7660,0.00,2.40,4.10,0.881,4,0.000,0.104,2905,3908,1205,0,0,1,0,0,0
$GC,7942,4.63,251.3,882.2,7.6,292,7947,0.00,2.25,0.00,0.000,6,0.000,0.072,2905,2499,1205,0,0,0,0,0,0
$GC,8267,4.80,253.2,858.4,7.0,303,8271,0.00,2.25,0.00,0.000,4,0.000,0.092,2905,1096,1204,0,0,0,0,0,0
$GC,8333,4.97,255.5,854.0,6.9,305,8343,0.00,2.28,4.43,0.916,6,0.000,0.082,2904,2496,1192,0,0,0,0,0,0
$GC,8684,5.13,255.8,829.6,7.4,316,8688,0.00,2.35,0.00,0.000,4,0.000,0.104,2905,3909,1192,0,0,0,0,0,0
$GC,8940,5.25,255.8,809.5,8.4,323,8948,0.00,2.25,0.00,0.000,6,0.000,0.072,2904,2499,1191,0,0,0,0,0,0
$GC,9254,5.25,257.4,784.0,7.1,334,9258,0.00,2.38,0.00,0.000,4,0.000,0.099,2905,3912,1191,0,0,0,0,0,0
$GC,9566,5.37,258.0,763.6,7.3,341,9575,0.00,2.25,3.62,0.777,6,0.000,0.072,2904,2499,1182,0,0,0,0,0,0
$GC,9895,5.37,258.0,734.2,8.7,352,9899,0.00,2.35,0.00,0.000,4,0.000,0.099,2904,3914,1182,0,0,0,0,0,0
$GC,10193,5.37,258.0,706.6,10.1,359,10201,0.00,2.25,0.00,0.000,6,0.000,0.072,2904,2499,1182,0,0,0,0,0,0
$GC,10506,5.37,258.0,672.3,9.1,370,10510,0.00,2.35,0.00,0.000,4,0.000,0.099,2905,3917,1182,0,0,0,0,0,0
$GC,10584,5.37,258.0,666.7,9.0,372,10588,0.00,2.22,0.00,0.000,6,0.000,0.072,2904,2497,1182,0,0,0,0,0,0
$GC,10936,5.37,258.0,638.1,8.2,383,10940,0.00,2.25,0.00,0.000,4,0.000,0.092,2904,1099,1182,0,0,0,0,0,0
$GC,10982,5.37,258.0,634.2,8.4,384,10986,0.00,2.28,0.00,0.000,6,0.000,0.082,2905,2503,1182,0,0,0,0,0,0
$GC,11318,5.37,258.0,598.3,11.5,395,11322,0.00,2.25,0.00,0.000,4,0.000,0.087,2905,1102,1182,0,0,0,0,0,0
$GC,11603,5.37,258.0,566.4,12.5,402,11626,0.00,2.25,0.00,0.000,6,0.000,0.079,2904,2500,1182,0,0,0,0,0,0
$GC,11916,5.37,258.0,523.0,12.7,413,11920,0.00,2.22,0.00,0.000,4,0.000,0.087,2904,1101,1182,0,0,0,0,0,0
$GC,12044,5.37,258.0,510.5,11.6,416,12049,0.00,2.25,0.00,0.000,6,0.000,0.079,2904,2501,1182,0,0,0,0,0,0
$GC,12380,5.37,258.0,460.3,15.0,427,12384,0.00,2.30,0.00,0.000,4,0.000,0.099,2905,3909,1182,0,0,0,0,0,0
$GC,12694,5.37,258.0,411.7,18.2,434,12698,0.00,2.22,0.00,0.000,6,0.000,0.070,2905,2496,1183,0,0,0,0,0,0
$GC,13013,5.37,258.0,350.3,16.3,445,13017,0.00,2.33,0.00,0.000,4,0.000,0.097,2904,3915,1183,0,0,0,0,0,0
$GC,13325,5.37,258.0,288.0,21.4,453,13333,0.00,2.22,0.00,0.000,6,0.000,0.070,2905,2495,1183,0,0,0,0,0,0
$GC,13642,5.37,258.0,219.6,21.3,469,13646,0.00,2.30,0.00,0.000,4,0.000,0.094,2905,3909,1184,0,0,0,0,0,0
$GC,13898,5.37,258.0,167.0,19.8,480,13903,0.00,2.20,0.00,0.000,6,0.000,0.067,2905,2498,1185,0,0,0,0,0,0
$GC,14228,5.37,258.0,116.4,12.1,507,14232,0.00,2.30,0.00,0.000,4,0.000,0.092,2905,3918,1186,0,0,0,0,0,0
$GC,14485,5.37,258.0,83.6,12.5,529,14492,0.00,2.20,0.00,0.000,6,0.000,0.065,2904,2490,1188,0,0,0,0,0,0
$GC,14810,5.37,258.0,34.7,17.4,560,14822,0.00,2.33,3.50,0.489,4,0.000,0.092,2905,3908,1182,0,0,1,0,0,0
$STATE,14967,end climb,SURFACE_DEPTH_REACHED
$STATE,14967,begin surface coast
$FINISH,0.8,1.001407
$STATE,14979,end surface coast,CONTROL_FINISHED_OK
$STATE,14980,begin surface
$SM_CCo,15000,30.40,0.732,0,0,1040,300.22
$SM_GC,3.35,0.00,0.00,30.40,0.000,0.000,0.732,344,2604,1040,-9.73,0.11,300.22
$IRIDIUM_FIX,1825.94,-6602.71,300111,070749
$TT8_MAMPS,0.023219
$HUMID,53.18
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,24.1,10.019
$10V_AH,10.4,3.171
$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,27.425,128.175,275.950,30.400,0.000,28.672,29.565,169.383,20.250,0.000,13.712,1726.909,9471.521,436.585,3585.274,131.007,0.000,1488.716,0.000,1920.857,0.000,137.455,0.000
$DEVICE_MAMPS,203.606,109.252,1412.827,732.485,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.960,0.000,0.000,2141.256,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326276
$DATA_FILE_SIZE,30270,575
$CAP_FILE_SIZE,180080,0
$CFSIZE,260165632,252329984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,300111,164436,1836.115,-6559.172,76,1.0,81,-12.7