version: 66.07
glider: 33
mission: 24
dive: 9
start: 9 5 110 8 18 30
data:
$ID,33
$MISSION,24
$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,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,-237151.61
$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,18
$R_STBD_OVSHOOT,52
$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
$GPS1,050910,081337,1833.936,-6559.096,27,1.4,27,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-52.4
$GPS2,050910,081744,1833.927,-6559.095,13,1.5,13,-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,350.2,4154,-16.0,-7.500
$D_GRID,717
$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,-1.17,-136.1,0.0,0.0,0,117,0.00,0.00,-100.53,0.000,2,0.000,0.000,14,1934,1793,0,0,0,0,0,0
$GC,119,-1.18,-146.6,3.1,-6.1,9,171,8.27,2.55,-33.58,0.000,4,0.194,0.077,1574,3288,2578,0,0,0,0,0,0
$GC,238,-1.18,-146.6,16.7,-14.2,20,243,0.00,2.55,0.00,0.000,6,0.000,0.067,1574,1877,2579,0,0,0,0,0,0
$GC,562,-1.18,-146.6,54.2,-12.0,50,566,0.00,2.53,0.00,0.000,4,0.000,0.079,1574,486,2580,0,0,0,0,0,0
$GC,1006,-1.18,-146.6,90.6,-8.5,89,1010,0.00,2.45,0.00,0.000,6,0.000,0.062,1574,1883,2582,0,0,0,0,0,0
$GC,1330,-1.18,-146.6,112.3,-5.6,119,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,1885,2583,0,0,0,0,0,0
$GC,1650,-1.18,-146.6,132.8,-5.9,149,1654,0.00,2.53,0.00,0.000,4,0.000,0.079,1574,496,2585,0,0,0,0,0,0
$GC,1715,-1.18,-146.6,137.5,-6.0,154,1723,0.00,2.50,0.00,0.000,6,0.000,0.065,1574,1894,2585,0,0,0,0,0,0
$GC,2047,-1.18,-146.6,159.1,-6.0,179,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,1894,2585,0,0,0,0,0,0
$GC,2356,-1.18,-146.6,181.6,-7.2,194,2360,0.00,2.58,0.00,0.000,4,0.000,0.084,1573,3299,2585,0,0,0,0,0,0
$GC,2376,-1.18,-146.6,183.2,-7.2,195,2381,0.00,2.58,0.00,0.000,6,0.000,0.072,1574,1897,2585,0,0,0,0,0,0
$GC,2704,-1.18,-146.6,205.0,-6.9,211,2708,0.00,2.60,0.00,0.000,4,0.000,0.087,1574,3295,2585,0,0,0,0,0,0
$GC,2808,-1.18,-146.6,212.9,-7.3,215,2816,0.00,2.55,0.00,0.000,6,0.000,0.072,1574,1905,2585,0,0,0,0,0,0
$GC,3125,-1.18,-146.6,236.2,-7.6,231,3129,0.00,2.62,0.00,0.000,4,0.000,0.087,1574,3306,2585,0,0,0,0,0,0
$GC,3176,-1.18,-146.6,240.2,-7.4,233,3180,0.00,2.55,0.00,0.000,6,0.000,0.074,1574,1901,2585,0,0,0,0,0,0
$GC,3492,-1.18,-146.6,265.4,-8.0,248,3496,0.00,2.62,0.00,0.000,4,0.000,0.089,1574,3297,2584,0,0,0,0,0,0
$GC,3552,-1.18,-146.6,271.1,-8.3,251,3557,0.00,2.58,0.00,0.000,6,0.000,0.077,1574,1900,2585,0,0,0,0,0,0
$GC,3880,-1.18,-146.6,298.6,-8.3,267,3884,0.00,2.65,0.00,0.000,4,0.000,0.092,1574,3298,2584,0,0,0,0,0,0
$GC,3933,-1.18,-146.6,303.1,-7.4,269,3941,0.00,2.60,0.00,0.000,6,0.000,0.077,1574,1906,2584,0,0,0,0,0,0
$GC,4246,-1.18,-146.6,328.2,-7.8,280,4250,0.00,2.67,0.00,0.000,4,0.000,0.092,1574,3304,2584,0,0,0,0,0,0
$GC,4282,-1.18,-146.6,331.1,-9.0,281,4287,0.00,2.62,0.00,0.000,6,0.000,0.077,1574,1903,2584,0,0,0,0,0,0
$GC,4612,-1.18,-146.6,358.3,-8.8,292,4617,0.00,2.70,0.00,0.000,4,0.000,0.094,1574,3302,2583,0,0,0,0,0,0
$GC,4689,-1.18,-146.6,365.6,-9.0,294,4694,0.00,2.65,0.00,0.000,6,0.000,0.077,1574,1897,2583,0,0,0,0,0,0
$GC,5014,-1.18,-146.6,394.0,-8.8,305,5018,0.00,2.67,0.00,0.000,4,0.000,0.094,1574,3295,2582,0,0,0,0,0,0
$GC,5063,-1.18,-146.6,398.6,-9.5,306,5067,0.00,2.60,0.00,0.000,6,0.000,0.079,1574,1900,2582,0,0,0,0,0,0
$GC,5377,-1.18,-146.6,425.4,-8.7,316,5381,0.00,2.70,0.00,0.000,4,0.000,0.097,1574,3299,2581,0,0,0,0,0,0
$GC,5473,-1.18,-146.6,435.0,-9.8,319,5477,0.00,2.62,0.00,0.000,6,0.000,0.082,1573,1895,2581,0,0,0,0,0,0
$GC,5808,-1.18,-146.6,467.5,-10.3,330,5812,0.00,2.72,0.00,0.000,4,0.000,0.099,1574,3295,2581,0,0,0,0,0,0
$GC,5836,-1.18,-146.6,470.7,-12.1,331,5841,0.00,2.62,0.00,0.000,6,0.000,0.084,1574,1902,2580,0,0,0,0,0,0
$GC,6172,-1.18,-146.6,505.5,-10.0,342,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,1900,2579,0,0,0,0,0,0
$GC,6477,-1.18,-146.6,537.3,-10.4,352,6481,0.00,2.75,0.00,0.000,4,0.000,0.102,1574,3296,2578,0,0,0,0,0,0
$GC,6586,-1.18,-146.6,548.9,-10.1,355,6591,0.00,2.70,0.00,0.000,6,0.000,0.087,1574,1903,2577,0,0,0,0,0,0
$GC,6912,-1.18,-146.6,582.6,-10.8,366,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,1902,2576,0,0,0,0,0,0
$GC,7219,-1.18,-146.6,615.3,-10.8,376,7224,0.00,2.78,0.00,0.000,4,0.000,0.107,1574,3293,2575,0,0,0,0,0,0
$GC,7307,-1.18,-146.6,625.2,-10.2,378,7315,0.00,2.70,0.00,0.000,6,0.000,0.089,1574,1895,2574,0,0,0,0,0,0
$GC,7621,-1.18,-146.6,661.1,-11.9,389,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,1895,2573,0,0,0,0,0,0
$GC,7928,-1.18,-146.6,697.6,-11.9,399,7933,0.00,2.83,0.00,0.000,4,0.000,0.112,1574,3290,2572,0,0,0,0,0,0
$GC,7976,-1.18,-146.6,703.9,-12.7,400,7981,0.00,2.75,0.00,0.000,6,0.000,0.092,1574,1904,2571,0,0,0,0,0,0
$STATE,8110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8110,begin apogee
$GC,8114,-0.31,0.0,720.0,12.2,405,8222,0.82,0.00,103.30,1.281,6,0.117,0.000,1761,1748,2082,0,0,0,0,0,0
$STATE,8223,end apogee,CONTROL_FINISHED_OK
$STATE,8223,begin climb
$GC,8224,1.18,146.6,725.6,0.0,408,8340,1.42,2.92,106.68,1.256,4,0.094,0.117,2092,3141,1584,0,0,0,0,0,0
$GC,8594,1.58,474.8,743.3,-4.6,420,8852,0.38,2.72,249.05,1.274,6,0.074,0.097,2193,1745,472,0,0,0,0,0,0
$GC,9176,1.58,474.8,682.2,15.4,439,9180,0.00,2.85,0.00,0.000,4,0.000,0.117,2193,3145,472,0,0,0,0,0,0
$GC,9439,1.58,474.8,642.2,15.4,447,9444,0.00,2.72,0.00,0.000,6,0.000,0.099,2193,1750,470,0,0,0,0,0,0
$GC,9773,1.58,474.8,590.1,16.2,458,9778,0.00,2.78,0.00,0.000,4,0.000,0.112,2193,340,470,0,0,0,0,0,0
$GC,9877,1.58,474.8,572.5,16.6,461,9882,0.00,2.70,0.00,0.000,6,0.000,0.094,2193,1731,470,0,0,1,0,0,0
$GC,10207,1.58,474.8,522.2,15.3,472,10212,0.00,2.72,0.00,0.000,4,0.000,0.107,2193,339,470,0,0,0,0,0,0
$GC,10362,1.58,474.8,495.9,16.1,476,10370,0.00,2.72,0.00,0.000,6,0.000,0.092,2193,1756,470,0,0,1,0,0,0
$GC,10675,1.58,474.8,443.0,17.1,487,10680,0.00,2.78,0.00,0.000,4,0.000,0.104,2193,340,470,0,0,0,0,0,0
$GC,10815,1.58,474.8,417.5,18.7,491,10820,0.00,2.67,0.00,0.000,6,0.000,0.087,2193,1757,470,0,0,1,0,0,0
$GC,11137,1.58,474.8,360.3,18.2,502,11142,0.00,2.70,0.00,0.000,4,0.000,0.102,2193,3160,470,0,0,0,0,0,0
$GC,11168,1.58,474.8,354.4,18.2,503,11173,0.00,2.72,0.00,0.000,6,0.000,0.087,2193,1750,470,0,0,0,0,0,0
$GC,11494,1.58,474.8,293.9,19.3,514,11499,0.00,2.70,0.00,0.000,4,0.000,0.099,2193,334,470,0,0,0,0,0,0
$GC,11616,1.58,474.8,268.1,20.3,519,11624,0.00,2.65,0.00,0.000,6,0.000,0.074,2193,1747,470,0,0,0,0,0,0
$GC,11932,1.58,474.8,205.4,19.6,535,11937,0.00,2.72,0.00,0.000,4,0.000,0.094,2193,331,469,0,0,0,0,0,0
$GC,12048,1.58,474.8,181.1,22.2,540,12054,0.00,2.65,0.00,0.000,6,0.000,0.072,2193,1755,469,0,0,0,0,0,0
$GC,12375,1.58,474.8,118.7,18.5,563,12379,0.00,2.72,0.00,0.000,4,0.000,0.092,2194,329,470,0,0,0,0,0,0
$GC,12582,1.58,474.8,75.5,18.2,581,12586,0.00,2.55,0.00,0.000,6,0.000,0.067,2193,1757,470,0,0,0,0,0,0
$GC,12906,1.58,474.8,29.7,13.2,611,12910,0.00,2.55,0.00,0.000,4,0.000,0.079,2193,3160,470,0,0,0,0,0,0
$GC,12993,1.58,474.8,17.1,14.0,618,13001,0.00,2.62,0.00,0.000,6,0.000,0.070,2193,1734,470,0,0,0,0,0,0
$STATE,13084,end climb,SURFACE_DEPTH_REACHED
$STATE,13084,begin surface coast
$FINISH,-0.0,0.997836
$STATE,13106,end surface coast,CONTROL_FINISHED_OK
$STATE,13106,begin surface
$SM_CCo,13121,18.95,0.755,0,0,388,500.11
$SM_GC,1.19,0.00,0.00,18.95,0.000,0.000,0.755,11,1936,388,-8.39,1.05,500.11
$IRIDIUM_FIX,1825.94,-6602.71,050910,050551
$TT8_MAMPS,0.021721
$HUMID,56.73
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.2
$24V_AH,24.4,43.013
$10V_AH,10.4,15.293
$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,19.600,138.950,459.025,18.950,0.000,25.946,30.176,113.152,26.250,0.000,14.398,1754.193,8998.660,571.372,1991.926,102.834,0.000,1524.613,0.000,1634.644,0.000,176.571,0.000
$DEVICE_MAMPS,193.674,116.701,1281.228,754.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.135,0.000,957.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327828
$DATA_FILE_SIZE,33447,629
$CAP_FILE_SIZE,132056,0
$CFSIZE,260280320,249970688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,050910,115854,1835.268,-6557.788,32,2.0,50,-12.8