version: 66.07
glider: 33
mission: 24
dive: 8
start: 9 5 110 5 5 22
data:
$ID,33
$MISSION,24
$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,470
$T_ABORT,2880
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,180
$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,2
$KALMAN_USE,2
$HD_A,0.0048177
$HD_B,0.011392
$HD_C,1.0709e-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,500
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-237150.36
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1835
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,340
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,2082
$VBD_DBAND,2
$VBD_CNV,-0.29522699
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$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,-19.047844
$PRESSURE_SLOPE,0.00093601202
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,101
$DEVICE4,-1
$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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,050910,045937,1833.089,-6601.113,29,1.4,29,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-50.6
$GPS2,050910,050436,1833.093,-6601.112,12,1.4,28,-12.7
$SPEED_LIMITS,0.075,0.224
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,32.6,5728,-15.4,-7.500
$D_GRID,589
$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,-1.14,-146.6,0.0,0.0,0,121,0.00,0.00,-103.85,0.000,2,0.000,0.000,19,1885,1941,0,0,0,0,0,0
$GC,123,-1.14,-146.6,3.4,-7.1,10,162,8.30,2.60,-25.05,0.000,4,0.196,0.072,1581,3310,2579,0,0,0,0,0,0
$GC,319,-1.14,-146.6,26.9,-11.6,27,323,0.00,2.53,0.00,0.000,6,0.000,0.067,1581,1893,2579,0,0,0,0,0,0
$GC,643,-1.14,-146.6,60.4,-7.7,57,647,0.00,2.53,0.00,0.000,4,0.000,0.079,1581,488,2580,0,0,0,0,0,0
$GC,674,-1.14,-146.6,63.1,-8.3,59,682,0.00,2.53,0.00,0.000,6,0.000,0.062,1581,1916,2580,0,0,0,0,0,0
$GC,1000,-1.14,-146.6,83.2,-6.1,90,1005,0.00,2.50,0.00,0.000,4,0.000,0.079,1581,3296,2580,0,0,0,0,0,0
$GC,1119,-1.14,-146.6,91.4,-7.3,100,1123,0.00,2.47,0.00,0.000,6,0.000,0.067,1581,1899,2581,0,0,0,0,0,0
$GC,1443,-1.14,-146.6,115.1,-6.7,130,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,1899,2581,0,0,0,0,0,0
$GC,1762,-1.14,-146.6,133.0,-5.0,160,1767,0.00,2.53,0.00,0.000,4,0.000,0.082,1581,493,2582,0,0,0,0,0,0
$GC,1903,-1.14,-146.6,141.2,-5.8,172,1907,0.00,2.47,0.00,0.000,6,0.000,0.065,1581,1892,2582,0,0,0,0,0,0
$GC,2233,-1.14,-146.6,163.1,-6.6,194,2237,0.00,2.58,0.00,0.000,4,0.000,0.084,1581,3308,2582,0,0,0,0,0,0
$GC,2343,-1.14,-146.6,170.9,-5.7,199,2348,0.00,2.55,0.00,0.000,6,0.000,0.070,1581,1907,2583,0,0,0,0,0,0
$GC,2671,-1.14,-146.6,192.3,-6.9,215,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,1908,2582,0,0,0,0,0,0
$GC,2980,-1.14,-146.6,214.1,-7.2,230,2984,0.00,2.60,0.00,0.000,4,0.000,0.084,1581,494,2582,0,0,0,0,0,0
$GC,3023,-1.14,-146.6,217.7,-8.7,232,3027,0.00,2.50,0.00,0.000,6,0.000,0.070,1581,1894,2582,0,0,0,0,0,0
$GC,3343,-1.14,-146.6,242.9,-7.8,248,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,1896,2581,0,0,0,0,0,0
$GC,3655,-1.14,-146.6,266.2,-7.4,263,3659,0.00,2.62,0.00,0.000,4,0.000,0.092,1581,3306,2581,0,0,0,0,0,0
$GC,3771,-1.14,-146.6,275.4,-8.1,268,3776,0.00,2.60,0.00,0.000,6,0.000,0.074,1581,1905,2580,0,0,0,0,0,0
$GC,4093,-1.14,-146.6,298.7,-7.4,284,4098,0.00,2.60,0.00,0.000,4,0.000,0.089,1581,493,2580,0,0,0,0,0,0
$GC,4111,-1.14,-146.6,300.0,-7.5,285,4115,0.00,2.55,0.00,0.000,6,0.000,0.074,1581,1898,2579,0,0,0,0,0,0
$GC,4423,-1.14,-146.6,324.1,-8.0,295,4427,0.00,2.67,0.00,0.000,4,0.000,0.094,1581,3312,2579,0,0,0,0,0,0
$GC,4510,-1.14,-146.6,331.3,-6.8,297,4518,0.00,2.65,0.00,0.000,6,0.000,0.077,1581,1902,2579,0,0,0,0,0,0
$GC,4824,-1.14,-146.6,356.5,-7.9,308,4829,0.00,2.70,0.00,0.000,4,0.000,0.094,1581,3314,2578,0,0,0,0,0,0
$GC,4890,-1.14,-146.6,362.0,-7.2,310,4894,0.00,2.65,0.00,0.000,6,0.000,0.079,1580,1895,2577,0,0,0,0,0,0
$GC,5225,-1.14,-146.6,389.5,-9.1,321,5229,0.00,2.72,0.00,0.000,4,0.000,0.097,1581,3312,2577,0,0,0,0,0,0
$GC,5311,-1.14,-146.6,398.2,-10.4,323,5320,0.00,2.67,0.00,0.000,6,0.000,0.079,1581,1899,2576,0,0,0,0,0,0
$GC,5625,-1.14,-146.6,428.4,-9.5,334,5629,0.00,2.75,0.00,0.000,4,0.000,0.099,1581,3308,2574,0,0,0,0,0,0
$GC,5701,-1.14,-146.6,435.9,-9.1,336,5706,0.00,2.67,0.00,0.000,6,0.000,0.082,1581,1899,2574,0,0,0,0,0,0
$GC,6026,-1.14,-146.6,466.1,-9.6,347,6031,0.00,2.75,0.00,0.000,4,0.000,0.099,1581,3308,2573,0,0,0,0,0,0
$GC,6097,-1.14,-146.6,473.4,-9.8,349,6102,0.00,2.67,0.00,0.000,6,0.000,0.082,1581,1906,2573,0,0,0,0,0,0
$GC,6427,-1.14,-146.6,503.4,-9.2,360,6432,0.00,2.75,0.00,0.000,4,0.000,0.102,1581,3309,2572,0,0,0,0,0,0
$GC,6492,-1.14,-146.6,509.6,-8.1,362,6498,0.00,2.72,0.00,0.000,6,0.000,0.084,1581,1899,2571,0,0,0,0,0,0
$GC,6828,-1.14,-146.6,544.2,-11.1,373,6832,0.00,2.72,0.00,0.000,4,0.000,0.099,1581,484,2570,0,0,0,0,0,0
$GC,6870,-1.14,-146.6,549.0,-11.1,374,6875,0.00,2.70,0.00,0.000,6,0.000,0.084,1581,1890,2569,0,0,0,0,0,0
$GC,7196,-1.14,-146.6,584.8,-11.0,385,7201,0.00,2.78,0.00,0.000,4,0.000,0.112,1581,3306,2568,0,0,0,0,0,0
$STATE,7232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7232,begin apogee
$GC,7239,-0.31,0.0,589.6,12.0,386,7346,0.80,0.00,101.12,1.179,6,0.117,0.000,1764,1750,2082,0,0,0,0,0,0
$STATE,7347,end apogee,CONTROL_FINISHED_OK
$STATE,7347,begin climb
$GC,7348,1.14,146.6,595.9,0.0,389,7462,1.38,2.90,104.47,1.155,4,0.092,0.112,2083,327,1584,0,0,0,0,0,0
$GC,7545,1.55,484.1,605.3,-4.1,395,7806,0.32,2.75,251.90,1.157,6,0.067,0.087,2186,1759,442,0,0,1,0,0,0
$GC,8135,1.55,484.1,538.5,15.4,415,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1759,441,0,0,0,0,0,0
$GC,8441,1.55,484.1,489.4,16.4,425,8446,0.00,2.75,0.00,0.000,4,0.000,0.104,2185,338,441,0,0,0,0,0,0
$GC,8512,1.55,484.1,477.1,16.8,427,8517,0.00,2.67,0.00,0.000,6,0.000,0.089,2185,1737,439,0,0,1,0,0,0
$GC,8842,1.55,484.1,423.5,16.5,438,8846,0.00,2.72,0.00,0.000,4,0.000,0.104,2186,335,439,0,0,0,0,0,0
$GC,8907,1.55,484.1,412.0,18.5,440,8912,0.00,2.67,0.00,0.000,6,0.000,0.087,2185,1745,439,0,0,1,0,0,0
$GC,9242,1.55,484.1,355.9,16.8,451,9247,0.00,2.72,0.00,0.000,4,0.000,0.102,2185,334,438,0,0,0,0,0,0
$GC,9307,1.55,484.1,343.0,20.4,453,9312,0.00,2.67,0.00,0.000,6,0.000,0.084,2186,1753,439,0,0,1,0,0,0
$GC,9634,1.55,484.1,283.3,19.4,465,9638,0.00,2.72,0.00,0.000,4,0.000,0.097,2185,332,439,0,0,0,0,0,0
$GC,9743,1.55,484.1,261.0,19.2,470,9748,0.00,2.67,0.00,0.000,6,0.000,0.077,2185,1751,439,0,0,0,0,0,0
$GC,10072,1.55,484.1,196.2,19.7,486,10077,0.00,2.72,0.00,0.000,4,0.000,0.094,2185,332,439,0,0,0,0,0,0
$GC,10156,1.55,484.1,178.9,20.5,490,10161,0.00,2.60,0.00,0.000,6,0.000,0.074,2185,1756,439,0,0,0,0,0,0
$GC,10476,1.55,484.1,117.1,17.8,513,10481,0.00,2.67,0.00,0.000,4,0.000,0.092,2185,335,439,0,0,0,0,0,0
$GC,10594,1.55,484.1,94.8,19.0,523,10598,0.00,2.55,0.00,0.000,6,0.000,0.070,2185,1752,439,0,0,0,0,0,0
$GC,10918,1.55,484.1,40.2,12.7,553,10922,0.00,2.67,0.00,0.000,4,0.000,0.087,2185,328,438,0,0,0,0,0,0
$GC,10957,1.55,484.1,34.7,15.1,556,10961,0.00,2.53,0.00,0.000,6,0.000,0.065,2185,1755,438,0,0,0,0,0,0
$STATE,11186,end climb,SURFACE_DEPTH_REACHED
$STATE,11186,begin surface coast
$FINISH,-0.0,1.009624
$STATE,11207,end surface coast,CONTROL_FINISHED_OK
$STATE,11207,begin surface
$SM_CCo,11222,12.40,0.723,0,0,388,500.11
$SM_GC,1.61,0.00,0.00,12.40,0.000,0.000,0.723,15,1934,388,-8.37,0.96,500.11
$IRIDIUM_FIX,1823.67,-6605.71,050910,010150
$TT8_MAMPS,0.021721
$HUMID,58.50
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,23.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.4
$24V_AH,24.5,42.831
$10V_AH,10.5,15.225
$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,19.450,127.675,457.500,12.400,0.000,22.483,35.334,141.290,19.750,0.000,29.453,1583.121,7584.772,541.135,1758.683,96.454,0.000,1371.906,0.000,1380.619,0.000,133.115,0.000
$DEVICE_MAMPS,196.157,111.735,1179.425,722.553,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.628,0.000,881.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327832
$DATA_FILE_SIZE,30179,579
$CAP_FILE_SIZE,116086,0
$CFSIZE,260280320,250044416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,050910,081337,1833.936,-6559.096,27,1.4,27,-12.7