version: 66.07
glider: 33
mission: 24
dive: 5
start: 9 4 110 19 33 23
data:
$ID,33
$MISSION,24
$DIVE,5
$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,-237146.42
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,040910,192901,1832.340,-6606.432,12,1.5,12,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-48.6
$GPS2,040910,193237,1832.316,-6606.484,12,1.9,17,-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,71.8,13270,-15.4,-7.500
$D_GRID,350
$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,12,begin dive
$GC,14,-1.14,-146.6,0.0,0.0,0,120,0.00,0.00,-104.10,0.000,2,0.000,0.000,15,1882,2080,0,0,0,0,0,0
$GC,122,-1.14,-146.6,3.3,-6.0,10,157,8.38,2.53,-19.60,0.000,4,0.201,0.079,1583,493,2578,0,0,0,0,0,0
$GC,225,-1.14,-146.6,13.6,-10.5,19,229,0.00,2.47,0.00,0.000,6,0.000,0.067,1583,1911,2578,0,0,0,0,0,0
$GC,549,-1.14,-146.6,45.7,-9.8,49,553,0.00,2.50,0.00,0.000,4,0.000,0.082,1583,3300,2578,0,0,0,0,0,0
$GC,756,-1.14,-146.6,62.4,-6.9,67,760,0.00,2.50,0.00,0.000,6,0.000,0.070,1583,1897,2578,0,0,0,0,0,0
$GC,1080,-1.14,-146.6,80.7,-6.2,97,1084,0.00,2.53,0.00,0.000,4,0.000,0.082,1583,494,2577,0,0,0,0,0,0
$GC,1187,-1.14,-146.6,87.2,-5.8,106,1192,0.00,2.45,0.00,0.000,6,0.000,0.067,1583,1898,2577,0,0,0,0,0,0
$GC,1512,-1.14,-146.6,106.6,-6.6,136,1516,0.00,2.55,0.00,0.000,4,0.000,0.084,1583,3301,2577,0,0,0,0,0,0
$GC,1641,-1.14,-146.6,115.4,-7.2,147,1645,0.00,2.53,0.00,0.000,6,0.000,0.072,1583,1897,2577,0,0,0,0,0,0
$GC,1965,-1.14,-146.6,133.9,-6.1,177,1970,0.00,2.53,0.00,0.000,4,0.000,0.084,1583,492,2577,0,0,0,0,0,0
$GC,2185,-1.14,-146.6,147.0,-5.0,196,2189,0.00,2.47,0.00,0.000,6,0.000,0.070,1583,1895,2576,0,0,0,0,0,0
$GC,2501,-1.14,-146.6,166.5,-5.7,213,2506,0.00,2.60,0.00,0.000,4,0.000,0.089,1583,3311,2575,0,0,0,0,0,0
$GC,2679,-1.14,-146.6,179.1,-7.3,221,2683,0.00,2.58,0.00,0.000,6,0.000,0.074,1583,1908,2575,0,0,0,0,0,0
$GC,3006,-1.14,-146.6,202.1,-7.0,237,3011,0.00,2.60,0.00,0.000,4,0.000,0.087,1583,486,2573,0,0,0,0,0,0
$GC,3078,-1.14,-146.6,207.1,-6.3,240,3082,0.00,2.58,0.00,0.000,6,0.000,0.072,1583,1894,2572,0,0,0,0,0,0
$GC,3401,-1.14,-146.6,231.4,-7.7,256,3405,0.00,2.65,0.00,0.000,4,0.000,0.094,1583,3309,2571,0,0,0,0,0,0
$GC,3552,-1.14,-146.6,244.2,-9.0,263,3556,0.00,2.60,0.00,0.000,6,0.000,0.079,1583,1902,2570,0,0,0,0,0,0
$GC,3878,-1.14,-146.6,270.8,-8.0,279,3882,0.00,2.62,0.00,0.000,4,0.000,0.092,1583,482,2569,0,0,0,0,0,0
$GC,3928,-1.14,-146.6,275.2,-8.7,281,3932,0.00,2.58,0.00,0.000,6,0.000,0.077,1583,1901,2569,0,0,0,0,0,0
$GC,4253,-1.14,-146.6,302.7,-8.8,296,4258,0.00,2.67,0.00,0.000,4,0.000,0.097,1583,3316,2567,0,0,0,0,0,0
$GC,4443,-1.14,-146.6,319.4,-8.2,301,4450,0.00,2.62,0.00,0.000,6,0.000,0.082,1583,1900,2565,0,0,0,0,0,0
$GC,4757,-1.14,-146.6,347.3,-9.0,312,4761,0.00,2.72,0.00,0.000,4,0.000,0.099,1583,3308,2563,0,0,0,0,0,0
$STATE,4788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4788,begin apogee
$GC,4795,-0.31,0.0,350.3,8.5,313,4897,0.77,0.00,96.97,1.013,6,0.112,0.000,1764,1747,2082,0,0,0,0,0,0
$STATE,4897,end apogee,CONTROL_FINISHED_OK
$STATE,4898,begin climb
$GC,4899,1.14,146.6,354.4,0.0,316,5010,1.33,2.78,100.05,0.996,4,0.092,0.104,2079,338,1584,0,0,0,0,0,0
$GC,5066,1.26,241.2,353.0,4.3,321,5141,0.12,2.65,66.65,0.968,6,0.102,0.079,2119,1755,1265,0,0,0,0,0,0
$GC,5445,1.26,241.2,320.8,9.9,334,5449,0.00,2.65,0.00,0.000,4,0.000,0.099,2120,3151,1263,0,0,0,0,0,0
$GC,5453,1.26,241.2,319.9,10.1,334,5459,0.00,2.67,0.00,0.000,6,0.000,0.084,2120,1748,1262,0,0,0,0,0,0
$GC,5770,1.26,241.2,289.4,9.4,346,5774,0.00,2.65,0.00,0.000,4,0.000,0.099,2119,338,1261,0,0,0,0,0,0
$GC,5812,1.26,241.2,284.2,12.0,348,5817,0.00,2.62,0.00,0.000,6,0.000,0.079,2120,1744,1260,0,0,0,0,0,0
$GC,6140,1.26,241.2,252.8,9.5,364,6144,0.00,2.67,0.00,0.000,4,0.000,0.097,2120,344,1260,0,0,0,0,0,0
$GC,6188,1.26,241.2,248.1,9.7,366,6193,0.00,2.60,0.00,0.000,6,0.000,0.077,2120,1743,1260,0,0,0,0,0,0
$GC,6510,1.26,241.2,218.8,9.1,382,6514,0.00,2.70,0.00,0.000,4,0.000,0.097,2120,335,1260,0,0,0,0,0,0
$GC,6581,1.26,241.2,211.5,10.7,385,6586,0.00,2.60,0.00,0.000,6,0.000,0.077,2120,1751,1259,0,0,0,0,0,0
$GC,6896,1.26,241.2,181.6,9.4,400,6901,0.00,2.65,0.00,0.000,4,0.000,0.097,2120,3157,1259,0,0,0,0,0,0
$GC,6916,1.26,241.2,179.8,8.3,401,6921,0.00,2.65,0.00,0.000,6,0.000,0.082,2120,1753,1258,0,0,0,0,0,0
$GC,7244,1.26,241.2,149.0,9.7,417,7248,0.00,2.67,0.00,0.000,4,0.000,0.094,2119,341,1258,0,0,0,0,0,0
$GC,7589,1.26,241.2,117.7,8.7,447,7598,0.00,2.58,0.00,0.000,6,0.000,0.070,2120,1750,1257,0,0,0,0,0,0
$GC,7915,1.26,241.2,88.7,7.8,478,7919,0.00,2.62,0.00,0.000,4,0.000,0.089,2120,3157,1257,0,0,0,0,0,0
$GC,8002,1.26,241.2,81.0,9.7,485,8010,0.00,2.62,0.00,0.000,6,0.000,0.074,2119,1745,1257,0,0,0,0,0,0
$GC,8328,1.42,373.6,62.2,3.0,516,8429,0.10,2.72,93.10,0.802,4,0.114,0.087,2156,3152,815,0,0,1,0,0,0
$GC,8502,1.42,373.6,50.6,8.9,532,8507,0.00,2.60,0.00,0.000,6,0.000,0.072,2156,1743,815,0,0,0,0,0,0
$GC,8826,1.42,373.6,15.8,12.1,562,8831,0.00,2.58,0.00,0.000,4,0.000,0.084,2157,344,815,0,0,0,0,0,0
$STATE,8921,end climb,SURFACE_DEPTH_REACHED
$STATE,8921,begin surface coast
$FINISH,0.2,1.022049
$STATE,8956,end surface coast,CONTROL_FINISHED_OK
$STATE,8956,begin surface
$SM_CCo,8974,90.55,0.747,0,0,388,500.11
$SM_GC,0.75,0.00,0.00,90.55,0.000,0.000,0.747,19,1928,388,-8.36,0.79,500.11
$IRIDIUM_FIX,1825.94,-6609.87,040910,191935
$TT8_MAMPS,0.021721
$HUMID,54.56
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,24.9,42.371
$10V_AH,10.6,15.030
$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,19.200,109.975,356.775,90.550,0.000,0.000,0.000,0.000,8.000,0.000,18.263,1506.730,5604.872,538.018,1437.095,74.855,0.000,1294.318,0.000,1314.924,0.000,54.545,0.000
$DEVICE_MAMPS,201.123,104.286,1013.064,747.383,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.899,0.000,872.306,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327796
$DATA_FILE_SIZE,30227,573
$CAP_FILE_SIZE,175811,0
$CFSIZE,260280320,250167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040910,220536,1832.682,-6605.687,36,1.8,36,-12.7