version: 66.07
glider: 33
mission: 24
dive: 11
start: 9 5 110 15 38 30
data:
$ID,33
$MISSION,24
$DIVE,11
$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,-237154.11
$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,19
$R_STBD_OVSHOOT,62
$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
$GPS1,050910,153306,1836.799,-6559.022,40,1.2,40,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-52.1
$GPS2,050910,153744,1836.803,-6559.042,11,1.6,11,-12.7
$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,241.2,2245,-37.9,-8.000
$D_GRID,930
$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,-2.41,-27.6,0.0,0.0,0,126,0.00,0.00,-109.38,0.000,2,0.000,0.000,16,1935,1938,0,0,0,0,0,0
$GC,128,-2.42,-37.8,3.3,-6.0,10,152,6.85,2.53,-11.32,0.000,4,0.194,0.072,1306,3282,2211,0,0,0,0,0,0
$GC,156,-2.30,-37.8,8.2,-14.7,12,165,0.10,2.55,0.00,0.000,6,0.169,0.067,1332,1885,2211,0,0,0,0,0,0
$GC,482,-2.46,-37.8,67.5,-11.0,43,487,0.15,2.50,0.00,0.000,4,0.102,0.074,1287,487,2211,0,0,0,0,0,0
$GC,648,-2.56,-39.7,83.3,-7.6,57,656,0.00,2.42,0.00,0.000,6,0.000,0.060,1288,1880,2212,0,0,0,0,0,0
$GC,974,-2.70,-65.2,100.4,-3.1,88,978,0.17,0.00,-0.80,0.000,6,0.097,0.000,1234,1882,2312,0,0,0,0,0,0
$GC,1292,-2.77,-65.2,126.7,-11.4,118,1296,0.00,2.55,0.00,0.000,4,0.000,0.077,1234,3298,2312,0,0,0,0,0,0
$GC,1466,-2.83,-65.2,146.3,-10.8,133,1470,0.00,2.50,0.00,0.000,6,0.000,0.067,1233,1900,2313,0,0,0,0,0,0
$GC,1784,-2.90,-65.2,176.9,-9.6,150,1789,0.12,2.55,0.00,0.000,4,0.109,0.079,1193,496,2313,0,0,0,0,0,0
$GC,1996,-2.90,-65.2,202.5,-13.2,159,2003,0.00,2.47,0.00,0.000,6,0.000,0.067,1192,1891,2313,0,0,0,0,0,0
$GC,2314,-2.92,-65.2,240.9,-13.3,175,2318,0.00,2.60,0.00,0.000,4,0.000,0.082,1193,3304,2313,0,0,0,0,0,0
$GC,2651,-2.92,-65.2,295.1,-17.3,190,2656,0.00,2.55,0.00,0.000,6,0.000,0.072,1192,1905,2313,0,0,0,0,0,0
$GC,2992,-2.94,-65.2,357.1,-18.9,202,2997,0.00,2.60,0.00,0.000,4,0.000,0.087,1192,3302,2313,0,0,0,0,0,0
$GC,3333,-2.94,-65.2,431.1,-21.3,212,3337,0.00,2.60,0.00,0.000,6,0.000,0.077,1193,1899,2313,0,0,0,0,0,0
$GC,3668,-2.94,-65.2,504.0,-22.1,223,3675,0.00,2.67,0.00,0.000,4,0.000,0.092,1192,3299,2312,0,0,0,0,0,0
$GC,3982,-2.94,-65.2,581.6,-25.2,232,3987,0.00,2.67,0.00,0.000,6,0.000,0.082,1193,1900,2311,0,0,0,0,0,0
$GC,4313,-2.94,-65.2,665.9,-26.8,243,4318,0.00,2.70,0.00,0.000,4,0.000,0.102,1193,3291,2310,0,0,0,0,0,0
$GC,4496,-2.94,-65.2,717.1,-28.4,248,4501,0.00,2.70,0.00,0.000,6,0.000,0.089,1193,1905,2308,0,0,0,0,0,0
$GC,4821,-2.94,-65.2,812.0,-30.0,259,4826,0.00,2.75,0.00,0.000,4,0.000,0.109,1193,3289,2306,0,0,0,0,0,0
$GC,5088,-2.94,-65.2,893.3,-31.4,267,5092,0.00,2.72,0.00,0.000,6,0.000,0.097,1192,1902,2304,0,0,0,0,0,0
$STATE,5237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5237,begin apogee
$GC,5241,-0.31,0.0,938.9,30.3,272,5296,2.78,0.00,48.22,1.403,6,0.156,0.000,1762,1746,2081,0,0,0,0,0,0
$STATE,5297,end apogee,CONTROL_FINISHED_OK
$STATE,5297,begin climb
$GC,5298,2.45,65.2,945.4,0.0,273,5356,2.58,2.95,48.70,1.390,4,0.089,0.124,2375,337,1861,0,0,0,0,0,0
$GC,5400,2.81,168.8,952.5,-12.0,277,5485,0.30,2.83,77.18,1.410,6,0.082,0.104,2453,1726,1510,0,0,1,0,0,0
$GC,5791,2.99,245.8,981.6,-6.9,289,5856,0.15,2.95,58.28,1.430,4,0.102,0.119,2496,342,1248,0,0,1,0,0,0
$GC,6531,3.01,259.8,937.3,5.3,311,6547,0.00,2.78,10.73,1.261,6,0.000,0.109,2496,1754,1202,0,0,1,0,0,0
$GC,6866,3.06,264.8,915.6,7.0,322,6876,0.00,2.85,5.43,1.033,4,0.000,0.119,2497,337,1184,0,0,0,0,0,0
$GC,7096,3.06,267.9,898.0,7.4,329,7105,0.00,2.80,3.80,0.832,6,0.000,0.109,2496,1749,1174,0,0,1,0,0,0
$GC,7435,3.12,277.5,876.1,6.1,340,7450,0.00,2.88,8.77,1.209,4,0.000,0.122,2496,339,1142,0,0,0,0,0,0
$GC,7636,3.12,277.5,859.0,8.3,346,7641,0.00,2.80,0.00,0.000,6,0.000,0.109,2496,1747,1141,0,0,1,0,0,0
$GC,7971,3.16,277.5,830.3,8.3,357,7976,0.12,2.85,0.00,0.000,4,0.107,0.117,2533,342,1141,0,0,1,0,0,0
$GC,8054,3.14,282.2,823.8,7.1,359,8067,0.00,2.78,4.90,0.973,6,0.000,0.109,2533,1752,1126,0,0,1,0,0,0
$GC,8371,3.14,282.2,798.3,8.2,370,8376,0.00,2.88,0.00,0.000,4,0.000,0.124,2533,3157,1126,0,0,0,0,0,0
$GC,8829,3.14,286.2,762.0,7.2,383,8840,0.00,2.83,4.90,0.956,6,0.000,0.104,2533,1752,1111,0,0,0,0,0,0
$GC,9176,3.14,286.2,733.5,8.5,395,9181,0.00,2.83,0.00,0.000,4,0.000,0.117,2533,340,1111,0,0,0,0,0,0
$GC,9309,3.11,286.2,721.2,9.6,399,9314,0.12,2.78,0.00,0.000,6,0.186,0.104,2512,1748,1110,0,0,1,0,0,0
$GC,9644,3.14,286.2,691.8,9.4,410,9648,0.00,2.88,0.00,0.000,4,0.000,0.122,2513,3160,1110,0,0,0,0,0,0
$GC,10001,3.14,286.6,660.5,7.9,420,10008,0.00,2.83,0.00,0.000,6,0.000,0.099,2512,1749,1110,0,0,0,0,0,0
$GC,10314,3.16,286.6,633.1,8.6,431,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1749,1110,0,0,0,0,0,0
$GC,10620,3.19,286.6,605.5,8.8,441,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1749,1110,0,0,0,0,0,0
$GC,10926,3.22,286.6,577.0,10.0,451,10932,0.10,2.88,0.00,0.000,4,0.119,0.114,2543,3161,1110,0,0,0,0,0,0
$GC,11318,3.22,286.6,529.3,11.5,462,11326,0.00,2.83,0.00,0.000,6,0.000,0.099,2543,1747,1109,0,0,0,0,0,0
$GC,11631,3.22,286.6,488.8,13.6,473,11636,0.00,2.78,0.00,0.000,4,0.000,0.107,2543,334,1108,0,0,0,0,0,0
$GC,11989,3.16,286.6,434.1,14.7,483,11996,0.00,2.72,0.00,0.000,6,0.000,0.089,2543,1761,1107,0,0,1,0,0,0
$GC,12301,3.16,286.6,382.0,17.6,494,12306,0.00,2.72,0.00,0.000,4,0.000,0.102,2543,3159,1107,0,0,0,0,0,0
$GC,12431,3.14,286.6,359.5,16.5,498,12437,0.12,2.72,0.00,0.000,6,0.191,0.087,2523,1743,1107,0,0,0,0,0,0
$GC,12766,3.14,286.6,295.0,20.3,509,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1742,1108,0,0,0,0,0,0
$GC,13075,3.14,286.6,228.0,22.1,524,13080,0.00,2.67,0.00,0.000,4,0.000,0.094,2523,338,1107,0,0,0,0,0,0
$GC,13348,3.10,286.6,161.7,24.0,536,13353,0.00,2.65,0.00,0.000,6,0.000,0.074,2523,1749,1107,0,0,0,0,0,0
$GC,13678,3.10,286.6,92.8,19.2,565,13683,0.00,2.67,0.00,0.000,4,0.000,0.087,2523,336,1108,0,0,0,0,0,0
$GC,13878,3.06,286.6,59.5,12.3,582,13887,0.08,2.62,0.00,0.000,6,0.171,0.070,2507,1757,1107,0,0,0,0,0,0
$GC,14204,3.11,305.4,34.1,4.4,613,14225,0.00,0.00,15.75,0.775,6,0.000,0.000,2507,1758,1047,0,0,0,0,0,0
$STATE,14509,end climb,SURFACE_DEPTH_REACHED
$STATE,14509,begin surface coast
$FINISH,0.3,1.022127
$STATE,14532,end surface coast,CONTROL_FINISHED_OK
$STATE,14532,begin surface
$SM_CCo,14549,144.85,0.765,0,0,388,500.11
$SM_GC,0.80,0.00,0.00,144.85,0.000,0.000,0.765,19,1934,388,-8.35,0.99,500.11
$IRIDIUM_FIX,1830.49,-6556.71,050910,121208
$TT8_MAMPS,0.021721
$HUMID,53.85
$INTERNAL_PRESSURE,8.01789
$TCM_TEMP,23.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.9
$24V_AH,24.3,43.357
$10V_AH,10.4,15.439
$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,23.900,119.925,286.650,144.850,0.000,24.942,26.299,142.332,36.750,0.000,12.759,1962.876,9744.088,561.201,2605.831,126.605,0.000,1699.029,0.000,2182.405,0.000,245.940,0.000
$DEVICE_MAMPS,193.674,124.150,1430.208,764.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.244,0.000,982.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327824
$DATA_FILE_SIZE,36906,644
$CAP_FILE_SIZE,154990,0
$CFSIZE,260280320,249815040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,050910,194436,1836.218,-6600.436,38,1.6,39,-12.7