version: 66.07
glider: 33
mission: 24
dive: 12
start: 9 5 110 19 55 37
data:
$ID,33
$MISSION,24
$DIVE,12
$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,571.55945
$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,-237155.45
$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,20
$R_STBD_OVSHOOT,54
$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
$GPS1,050910,194436,1836.218,-6600.436,38,1.6,39,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-50.2
$GPS2,050910,195514,1836.201,-6600.511,14,1.8,14,-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,125.3,972,-43.5,-8.000
$D_GRID,1144
$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,-2.75,-21.3,0.0,0.0,0,117,0.00,0.00,-100.50,0.000,2,0.000,0.000,19,1935,1929,0,0,0,0,0,0
$GC,119,-2.75,-25.6,3.6,-6.9,9,141,6.50,2.47,-9.98,0.000,4,0.199,0.074,1228,3289,2170,0,0,0,0,0,0
$GC,288,-2.91,-25.6,40.2,-18.3,24,293,0.12,2.53,0.00,0.000,6,0.107,0.065,1192,1877,2171,0,0,0,0,0,0
$GC,613,-3.04,-33.6,73.0,-6.0,54,618,0.00,2.55,-0.28,0.000,4,0.000,0.072,1192,3289,2200,0,0,0,0,0,0
$GC,1001,-3.16,-38.3,92.6,-6.8,88,1007,0.20,2.47,-0.15,0.000,6,0.092,0.067,1136,1895,2220,0,0,0,0,0,0
$GC,1326,-3.27,-52.2,110.4,-4.5,118,1331,0.00,2.53,-0.32,0.000,4,0.000,0.074,1136,3288,2264,0,0,0,0,0,0
$GC,2004,-3.34,-52.2,178.7,-10.0,165,2009,0.10,2.53,0.00,0.000,6,0.079,0.070,1100,1900,2264,0,0,0,0,0,0
$GC,2327,-3.39,-52.2,214.7,-13.0,181,2334,0.00,2.53,0.00,0.000,4,0.000,0.082,1100,3282,2264,0,0,0,0,0,0
$GC,2850,-3.42,-52.2,302.4,-19.6,204,2854,0.00,2.50,0.00,0.000,6,0.000,0.074,1100,1904,2264,0,0,0,0,0,0
$GC,3168,-3.47,-52.2,366.9,-21.3,215,3175,0.00,2.58,0.00,0.000,4,0.000,0.087,1100,492,2264,0,0,0,0,0,0
$GC,3226,-3.47,-52.2,380.3,-21.7,216,3230,0.00,2.53,0.00,0.000,6,0.000,0.074,1100,1869,2264,0,0,0,0,0,0
$GC,3539,-3.51,-52.2,450.5,-23.2,226,3544,0.12,2.70,0.00,0.000,4,0.107,0.092,1062,3305,2264,0,0,0,0,0,0
$GC,4219,-3.51,-52.2,641.2,-30.1,246,4224,0.00,2.62,0.00,0.000,6,0.000,0.084,1062,1908,2261,0,0,0,0,0,0
$GC,4548,-3.51,-52.2,743.9,-32.1,257,4553,0.00,2.78,0.00,0.000,4,0.000,0.104,1062,3307,2259,0,0,0,0,0,0
$GC,5072,-3.51,-52.2,921.7,-32.8,272,5076,0.00,2.72,0.00,0.000,6,0.000,0.094,1062,1904,2255,0,0,0,0,0,0
$GC,5385,-3.51,-52.2,1029.4,-34.8,281,5390,0.00,2.85,0.00,0.000,4,0.000,0.119,1062,3302,2252,0,0,0,0,0,0
$STATE,5524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5524,begin apogee
$GC,5530,-0.31,0.0,1080.1,37.0,283,5574,3.53,0.00,37.72,1.500,6,0.166,0.000,1762,1749,2081,0,0,0,0,0,0
$STATE,5575,end apogee,CONTROL_FINISHED_OK
$STATE,5575,begin climb
$GC,5576,2.78,52.2,1088.2,0.0,283,5627,2.88,3.00,39.80,1.482,4,0.089,0.124,2448,344,1904,0,0,0,0,0,0
$GC,5655,3.16,149.5,1094.0,-16.3,285,5737,0.32,2.88,73.70,1.510,6,0.079,0.109,2531,1747,1574,0,0,1,0,0,0
$GC,6081,3.41,224.1,1140.0,-10.7,292,6145,0.15,3.03,56.58,1.537,4,0.099,0.124,2575,340,1321,0,0,1,0,0,0
$GC,6820,3.64,256.3,1150.9,-0.1,303,6851,0.00,2.80,25.12,1.515,6,0.000,0.112,2575,1756,1213,0,0,1,0,0,0
$GC,7184,3.73,262.9,1134.1,6.4,309,7198,0.00,2.88,6.38,1.204,4,0.000,0.119,2575,338,1189,0,0,0,0,0,0
$GC,7400,3.77,262.9,1115.9,8.1,312,7404,0.00,2.83,0.00,0.000,6,0.000,0.114,2575,1745,1187,0,0,1,0,0,0
$GC,7755,3.85,267.1,1090.2,6.9,318,7765,0.00,2.83,4.12,0.958,4,0.000,0.122,2575,340,1177,0,0,1,0,0,0
$GC,7898,3.89,267.1,1079.3,8.5,320,7902,0.00,2.83,0.00,0.000,6,0.000,0.112,2576,1756,1176,0,0,1,0,0,0
$GC,8254,3.98,273.5,1056.1,6.4,326,8267,0.00,2.92,6.55,1.212,4,0.000,0.122,2575,339,1155,0,0,1,0,0,0
$GC,8616,4.03,276.5,1029.0,7.2,331,8626,0.00,2.85,3.83,0.909,6,0.000,0.112,2575,1758,1144,0,0,1,0,0,0
$GC,8959,4.12,280.6,1005.1,7.0,337,8969,0.00,2.88,4.90,1.068,4,0.000,0.134,2575,3157,1131,0,0,0,0,0,0
$GC,9036,4.19,280.6,998.7,8.9,338,9041,0.00,2.78,0.00,0.000,6,0.000,0.109,2575,1752,1131,0,0,1,0,0,0
$GC,9363,4.27,280.6,970.8,8.5,348,9368,0.00,2.85,0.00,0.000,4,0.000,0.122,2575,337,1130,0,0,0,0,0,0
$GC,9563,4.31,281.0,954.0,7.9,354,9568,0.00,2.83,0.00,0.000,6,0.000,0.109,2575,1748,1129,0,0,1,0,0,0
$GC,9898,4.40,282.5,929.1,7.6,365,9903,0.00,2.92,0.00,0.000,4,0.000,0.129,2575,3158,1130,0,0,0,0,0,0
$GC,9908,4.48,284.0,928.0,7.6,365,9918,0.00,2.85,4.10,0.939,6,0.000,0.109,2575,1745,1120,0,0,0,0,0,0
$GC,10232,4.57,284.0,901.8,8.8,376,10236,0.00,2.85,0.00,0.000,4,0.000,0.119,2575,337,1120,0,0,0,0,0,0
$GC,10815,4.62,290.9,865.6,6.3,393,10832,0.00,2.83,7.00,1.179,6,0.000,0.107,2575,1753,1096,0,0,1,0,0,0
$GC,11137,4.70,290.9,842.3,8.2,404,11142,0.00,2.88,0.00,0.000,4,0.000,0.127,2575,3157,1096,0,0,0,0,0,0
$GC,11814,4.78,293.6,792.1,7.3,424,11824,0.00,2.83,3.88,0.859,6,0.000,0.104,2575,1749,1087,0,0,0,0,0,0
$GC,12143,4.86,294.4,767.7,7.8,435,12148,0.00,2.83,0.00,0.000,4,0.000,0.117,2575,335,1087,0,0,0,0,0,0
$GC,12558,4.91,298.5,733.7,7.0,447,12568,0.00,2.80,5.53,1.023,6,0.000,0.102,2575,1751,1070,0,0,1,0,0,0
$GC,12875,4.99,298.5,704.6,10.0,457,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1751,1070,0,0,0,0,0,0
$GC,13182,5.08,298.5,674.6,10.0,467,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1751,1070,0,0,0,0,0,0
$GC,13488,5.16,298.5,643.4,10.3,477,13492,0.00,2.83,0.00,0.000,4,0.000,0.109,2575,337,1070,0,0,0,0,0,0
$GC,13873,5.21,298.5,598.5,12.8,488,13878,0.00,2.78,0.00,0.000,6,0.000,0.097,2575,1755,1069,0,0,1,0,0,0
$GC,14186,5.28,298.5,560.6,13.4,498,14191,0.00,2.85,0.00,0.000,4,0.000,0.104,2576,331,1069,0,0,0,0,0,0
$GC,14207,5.33,298.5,557.2,14.9,498,14214,0.00,2.78,0.00,0.000,6,0.000,0.094,2575,1745,1069,0,0,1,0,0,0
$GC,14520,5.41,298.5,513.0,14.8,509,14524,0.00,2.80,0.00,0.000,4,0.000,0.102,2575,335,1069,0,0,0,0,0,0
$GC,14703,5.44,298.5,479.9,18.2,514,14708,0.00,2.72,0.00,0.000,6,0.000,0.089,2575,1751,1069,0,0,1,0,0,0
$GC,15022,5.51,298.5,422.8,17.9,525,15027,0.00,2.78,0.00,0.000,4,0.000,0.099,2575,334,1069,0,0,0,0,0,0
$GC,15152,5.54,298.5,397.6,20.9,529,15156,0.00,2.70,0.00,0.000,6,0.000,0.084,2575,1754,1069,0,0,1,0,0,0
$GC,15486,5.54,298.5,329.3,21.2,540,15490,0.00,2.75,0.00,0.000,4,0.000,0.094,2575,332,1069,0,0,0,0,0,0
$GC,15669,5.57,298.5,285.8,23.9,546,15674,0.03,2.67,0.00,0.000,6,0.194,0.079,2570,1747,1069,0,0,1,0,0,0
$GC,15991,5.57,298.5,208.8,24.5,562,15996,0.00,2.75,0.00,0.000,4,0.000,0.089,2569,327,1069,0,0,0,0,0,0
$GC,16191,5.57,298.5,157.9,22.8,571,16196,0.00,2.65,0.00,0.000,6,0.000,0.074,2569,1748,1069,0,0,1,0,0,0
$GC,16517,5.57,298.5,88.7,20.3,600,16521,0.00,2.65,0.00,0.000,4,0.000,0.084,2569,3165,1069,0,0,0,0,0,0
$GC,16526,5.57,298.5,86.7,20.0,600,16533,0.00,2.70,0.00,0.000,6,0.000,0.077,2569,1738,1069,0,0,0,0,0,0
$GC,16853,5.57,298.5,46.6,8.5,631,16857,0.00,2.62,0.00,0.000,4,0.000,0.084,2569,335,1069,0,0,0,0,0,0
$GC,17105,5.58,308.2,33.5,5.6,653,17121,0.00,2.55,10.07,0.723,6,0.000,0.062,2570,1766,1037,0,0,0,0,0,0
$STATE,17322,end climb,SURFACE_DEPTH_REACHED
$STATE,17322,begin surface coast
$FINISH,0.1,1.022069
$STATE,17345,end surface coast,CONTROL_FINISHED_OK
$STATE,17345,begin surface
$SM_CCo,17362,200.95,0.752,0,0,145,571.56
$SM_GC,0.64,0.00,0.00,200.95,0.000,0.000,0.752,18,1931,145,-8.35,0.85,571.56
$IRIDIUM_FIX,1828.22,-6559.71,050910,151517
$TT8_MAMPS,0.021721
$HUMID,51.02
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,17.8
$ALTIM_BOTTOM_PING,1080.1,74.1
$24V_AH,23.7,43.534
$10V_AH,10.3,15.535
$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,24.575,148.750,289.275,200.950,0.000,163.894,141.108,0.000,45.000,0.000,15.812,2223.419,11879.655,615.703,3334.292,151.502,0.000,2015.413,0.000,2751.715,0.000,306.154,0.000
$DEVICE_MAMPS,198.640,134.082,1536.977,752.349,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.100,0.000,1031.621,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327704
$DATA_FILE_SIZE,36908,675
$CAP_FILE_SIZE,186305,0
$CFSIZE,260280320,249683968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,060910,004936,1835.722,-6600.024,41,1.1,42,-12.7