version: 66.07
glider: 33
mission: 24
dive: 10
start: 9 5 110 12 4 29
data:
$ID,33
$MISSION,24
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,1080
$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,450
$T_MISSION,480
$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,-237152.86
$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,0.02
$PITCH_ADJ_DBAND,1
$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,30
$R_STBD_OVSHOOT,53
$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
$GPS1,050910,115854,1835.268,-6557.788,32,2.0,50,-12.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-52.4
$GPS2,050910,120343,1835.274,-6557.804,14,1.9,31,-12.8
$SPEED_LIMITS,0.080,0.230
$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,302.0,4083,-16.4,-8.000
$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,-1.20,-144.1,0.0,0.0,0,117,0.00,0.00,-100.65,0.000,2,0.000,0.000,11,1937,1799,0,0,0,0,0,0
$GC,119,-1.21,-146.6,3.0,-5.4,9,171,8.20,2.50,-34.72,0.000,4,0.191,0.077,1566,3289,2579,0,0,0,0,0,0
$GC,261,-1.18,-146.6,17.2,-12.2,22,266,0.00,2.53,0.00,0.000,6,0.000,0.065,1566,1890,2579,0,0,0,0,0,0
$GC,585,-1.18,-146.6,59.0,-12.5,52,590,0.00,2.53,0.00,0.000,4,0.000,0.074,1566,3286,2580,0,0,0,0,0,0
$GC,785,-1.21,-146.6,76.3,-8.2,69,793,0.00,2.50,0.00,0.000,6,0.000,0.065,1566,1900,2581,0,0,0,0,0,0
$GC,1112,-1.23,-146.6,99.6,-5.6,100,1116,0.00,2.53,0.00,0.000,4,0.000,0.077,1566,3292,2582,0,0,0,0,0,0
$GC,1166,-1.26,-146.6,103.3,-6.1,104,1174,0.00,2.47,0.00,0.000,6,0.000,0.067,1566,1898,2583,0,0,0,0,0,0
$GC,1491,-1.26,-146.6,124.6,-7.3,135,1496,0.00,2.55,0.00,0.000,4,0.000,0.079,1566,3288,2584,0,0,0,0,0,0
$GC,1568,-1.28,-146.6,130.0,-6.8,141,1576,0.00,2.47,0.00,0.000,6,0.000,0.067,1566,1900,2584,0,0,0,0,0,0
$GC,1905,-1.30,-146.6,151.7,-6.6,172,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,1900,2585,0,0,0,0,0,0
$GC,2213,-1.33,-146.6,173.2,-7.4,187,2218,0.00,2.58,0.00,0.000,4,0.000,0.082,1566,3289,2585,0,0,0,0,0,0
$GC,2302,-1.36,-146.6,179.1,-6.4,191,2307,0.12,2.50,0.00,0.000,6,0.102,0.070,1523,1903,2585,0,0,0,0,0,0
$GC,2630,-1.34,-146.6,206.0,-9.0,207,2635,0.10,2.58,0.00,0.000,4,0.161,0.084,1541,3282,2585,0,0,0,0,0,0
$GC,2639,-1.34,-146.6,207.0,-8.8,207,2647,0.00,2.53,0.00,0.000,6,0.000,0.072,1542,1910,2585,0,0,0,0,0,0
$GC,2956,-1.34,-146.6,231.4,-8.0,223,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,1910,2585,0,0,0,0,0,0
$GC,3264,-1.34,-146.6,256.7,-8.5,238,3269,0.00,2.58,0.00,0.000,4,0.000,0.087,1541,3281,2585,0,0,0,0,0,0
$GC,3329,-1.34,-146.6,262.7,-9.0,241,3334,0.00,2.55,0.00,0.000,6,0.000,0.072,1542,1903,2585,0,0,0,0,0,0
$GC,3656,-1.34,-146.6,293.7,-9.6,257,3661,0.00,2.62,0.00,0.000,4,0.000,0.089,1541,3285,2585,0,0,0,0,0,0
$GC,3732,-1.34,-146.6,301.6,-10.8,260,3737,0.00,2.58,0.00,0.000,6,0.000,0.074,1541,1901,2584,0,0,0,0,0,0
$GC,4057,-1.34,-146.6,336.3,-11.2,271,4062,0.00,2.62,0.00,0.000,4,0.000,0.092,1542,3284,2584,0,0,0,0,0,0
$GC,4100,-1.34,-146.6,341.2,-10.8,272,4105,0.00,2.60,0.00,0.000,6,0.000,0.077,1541,1897,2584,0,0,0,0,0,0
$GC,4425,-1.34,-146.6,374.3,-10.4,283,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,1898,2584,0,0,0,0,0,0
$GC,4732,-1.34,-146.6,408.2,-11.4,293,4736,0.00,2.65,0.00,0.000,4,0.000,0.094,1541,3279,2583,0,0,0,0,0,0
$GC,4853,-1.34,-146.6,422.7,-12.0,296,4861,0.00,2.60,0.00,0.000,6,0.000,0.079,1541,1902,2583,0,0,0,0,0,0
$GC,5166,-1.34,-146.6,459.4,-11.7,307,5170,0.00,2.67,0.00,0.000,4,0.000,0.097,1541,3277,2582,0,0,0,0,0,0
$GC,5177,-1.34,-146.6,460.5,-11.9,307,5181,0.00,2.60,0.00,0.000,6,0.000,0.084,1542,1902,2582,0,0,0,0,0,0
$GC,5497,-1.32,-146.6,495.8,-10.7,318,5501,0.00,2.70,0.00,0.000,4,0.000,0.099,1541,3279,2581,0,0,0,0,0,0
$GC,5568,-1.32,-146.6,504.4,-11.5,320,5573,0.00,2.62,0.00,0.000,6,0.000,0.084,1541,1895,2581,0,0,0,0,0,0
$GC,5892,-1.29,-146.6,539.9,-11.0,331,5897,0.00,2.67,0.00,0.000,4,0.000,0.102,1541,3268,2579,0,0,0,0,0,0
$GC,5969,-1.26,-146.6,549.0,-11.4,333,5974,0.00,2.65,0.00,0.000,6,0.000,0.087,1541,1899,2579,0,0,0,0,0,0
$GC,6302,-1.24,-146.6,588.4,-12.3,344,6307,0.12,2.75,0.00,0.000,4,0.151,0.104,1566,3275,2578,0,0,0,0,0,0
$GC,6368,-1.24,-146.6,596.3,-10.7,346,6373,0.00,2.67,0.00,0.000,6,0.000,0.087,1566,1902,2577,0,0,0,0,0,0
$GC,6705,-1.24,-146.6,633.1,-11.3,357,6709,0.00,2.78,0.00,0.000,4,0.000,0.107,1566,3282,2576,0,0,0,0,0,0
$GC,6714,-1.24,-146.6,634.4,-11.1,357,6718,0.00,2.72,0.00,0.000,6,0.000,0.092,1566,1898,2576,0,0,0,0,0,0
$GC,7039,-1.24,-146.6,670.7,-11.4,368,7044,0.00,2.80,0.00,0.000,4,0.000,0.109,1566,3275,2574,0,0,0,0,0,0
$GC,7122,-1.24,-146.6,680.6,-11.6,370,7126,0.00,2.70,0.00,0.000,6,0.000,0.094,1566,1896,2574,0,0,0,0,0,0
$STATE,7433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7433,begin apogee
$GC,7437,-0.31,0.0,719.1,12.3,380,7546,0.88,0.00,103.88,1.271,6,0.117,0.000,1764,1744,2082,0,0,0,0,0,0
$STATE,7547,end apogee,CONTROL_FINISHED_OK
$STATE,7547,begin climb
$GC,7548,1.21,146.6,724.1,0.0,383,7666,1.45,2.97,107.32,1.251,4,0.094,0.117,2100,343,1583,0,0,0,0,0,0
$GC,7684,1.71,511.2,730.3,-5.6,388,7974,0.45,2.72,279.85,1.246,6,0.072,0.094,2219,1728,349,0,0,1,0,0,0
$GC,8298,1.65,511.2,653.5,17.4,408,8300,0.12,0.00,0.00,0.000,6,0.154,0.000,2195,1728,349,0,0,0,0,0,0
$GC,8604,1.62,511.2,603.4,16.2,418,8608,0.00,2.75,0.00,0.000,4,0.000,0.112,2195,340,349,0,0,0,0,0,0
$GC,8699,1.56,511.2,586.7,16.9,421,8704,0.00,2.70,0.00,0.000,6,0.000,0.097,2195,1740,347,0,0,1,0,0,0
$GC,9033,1.52,511.2,530.0,17.5,432,9039,0.15,2.78,0.00,0.000,4,0.146,0.107,2165,339,347,0,0,0,0,0,0
$GC,9116,1.49,511.2,515.6,17.3,434,9121,0.00,2.72,0.00,0.000,6,0.000,0.092,2165,1760,347,0,0,1,0,0,0
$GC,9435,1.49,511.2,466.4,15.2,445,9439,0.00,2.80,0.00,0.000,4,0.000,0.104,2164,339,347,0,0,0,0,0,0
$GC,9496,1.45,511.2,456.5,16.5,447,9501,0.00,2.67,0.00,0.000,6,0.000,0.089,2165,1753,347,0,0,1,0,0,0
$GC,9831,1.42,511.2,402.3,16.3,458,9836,0.00,2.78,0.00,0.000,4,0.000,0.102,2165,334,347,0,0,0,0,0,0
$GC,9908,1.38,511.2,388.4,19.2,460,9913,0.15,2.67,0.00,0.000,6,0.149,0.084,2136,1757,347,0,0,1,0,0,0
$GC,10226,1.38,511.2,338.3,16.1,471,10230,0.00,2.75,0.00,0.000,4,0.000,0.097,2136,334,346,0,0,0,0,0,0
$GC,10321,1.35,511.2,321.9,19.0,474,10326,0.00,2.65,0.00,0.000,6,0.000,0.077,2136,1755,346,0,0,0,0,0,0
$GC,10638,1.35,511.2,267.9,17.7,487,10642,0.00,2.72,0.00,0.000,4,0.000,0.094,2136,337,346,0,0,0,0,0,0
$GC,10716,1.32,511.2,252.5,20.2,490,10722,0.00,2.60,0.00,0.000,6,0.000,0.074,2136,1750,347,0,0,0,0,0,0
$GC,11031,1.29,511.2,195.1,17.2,506,11036,0.00,2.70,0.00,0.000,4,0.000,0.092,2136,336,346,0,0,0,0,0,0
$GC,11138,1.25,511.2,173.1,19.7,511,11143,0.15,2.60,0.00,0.000,6,0.149,0.072,2107,1756,347,0,0,0,0,0,0
$GC,11458,1.25,511.2,122.6,15.3,534,11463,0.00,2.67,0.00,0.000,4,0.000,0.089,2106,335,346,0,0,0,0,0,0
$GC,11497,1.25,511.2,116.3,16.2,537,11501,0.00,2.58,0.00,0.000,6,0.000,0.067,2106,1756,346,0,0,0,0,0,0
$GC,11821,1.28,511.2,67.3,14.3,567,11823,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1762,347,0,0,0,0,0,0
$GC,12142,1.33,511.2,31.3,10.2,597,12147,0.00,2.65,0.00,0.000,4,0.000,0.084,2106,329,346,0,0,0,0,0,0
$GC,12216,1.36,511.2,21.9,12.3,603,12221,0.10,2.53,0.00,0.000,6,0.114,0.062,2142,1758,347,0,0,0,0,0,0
$STATE,12348,end climb,SURFACE_DEPTH_REACHED
$STATE,12348,begin surface coast
$FINISH,0.1,1.022279
$STATE,12370,end surface coast,CONTROL_FINISHED_OK
$STATE,12370,begin surface
$SM_CCo,12445,0.00,0.000,0,0,346,512.51
$SM_GC,0.77,8.45,0.00,0.00,0.062,0.000,0.000,17,1936,346,-8.27,1.02,512.51
$IRIDIUM_FIX,1825.94,-6557.63,050910,080847
$TT8_MAMPS,0.021721
$HUMID,55.07
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$24V_AH,24.2,43.201
$10V_AH,10.5,15.358
$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,20.450,137.950,491.050,0.000,0.000,28.958,25.951,133.462,26.250,0.000,32.247,1705.215,8549.250,569.497,1827.034,110.302,0.000,1448.348,0.000,1446.043,0.000,176.981,0.000
$DEVICE_MAMPS,191.191,116.701,1271.296,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.521,0.000,939.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327848
$DATA_FILE_SIZE,33568,617
$CAP_FILE_SIZE,132093,0
$CFSIZE,260280320,249905152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,050910,153306,1836.799,-6559.022,40,1.2,40,-12.7