version: 66.07
glider: 33
mission: 22
dive: 11
start: 7 30 110 5 27 54
data:
$ID,33
$MISSION,22
$DIVE,11
$D_SURF,4
$D_FLARE,3
$D_TGT,1080
$D_ABORT,5800
$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,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,5761
$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,300
$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,-229830.72
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1850
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$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,-20.341413
$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,100
$ALTIM_PING_DELTA,10
$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
$GPS1,300710,052257,1836.274,-6606.005,27,99.0,46,-12.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-55.7
$GPS2,300710,052732,1836.286,-6606.062,15,2.0,15,-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,0.245,-0.034
$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,105.5,10655,-16.3,-8.000
$D_GRID,1080
$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,-1.20,-146.6,0.0,0.0,0,99,0.00,0.00,-82.75,0.000,2,0.000,0.000,11,2205,2308,0,0,0,0,0,0
$GC,101,-1.20,-146.6,3.4,-5.2,8,127,8.32,2.33,-10.98,0.000,4,0.196,0.074,1583,786,2581,0,0,0,0,0,0
$GC,182,-1.20,-146.6,13.6,-9.6,15,190,0.00,2.22,0.00,0.000,6,0.000,0.062,1583,2212,2581,0,0,0,0,0,0
$GC,508,-1.20,-146.6,41.2,-8.1,46,512,0.00,2.20,0.00,0.000,4,0.000,0.084,1582,3599,2582,0,0,0,0,0,0
$GC,625,-1.20,-146.6,50.9,-8.3,56,629,0.00,2.12,0.00,0.000,6,0.000,0.062,1583,2178,2583,0,0,0,0,0,0
$GC,949,-1.20,-146.6,74.4,-6.3,86,953,0.00,2.28,0.00,0.000,4,0.000,0.084,1583,3596,2585,0,0,0,0,0,0
$GC,1265,-1.20,-146.6,94.4,-7.4,114,1269,0.00,2.10,0.00,0.000,6,0.000,0.062,1583,2194,2586,0,0,0,0,0,0
$GC,1589,-1.20,-146.6,114.5,-5.4,144,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2194,2587,0,0,0,0,0,0
$GC,1908,-1.20,-146.6,134.0,-5.4,174,1912,0.00,2.25,0.00,0.000,4,0.000,0.084,1583,3593,2587,0,0,0,0,0,0
$GC,2232,-1.20,-146.6,152.3,-5.2,200,2239,0.00,2.12,0.00,0.000,6,0.000,0.062,1583,2207,2587,0,0,0,0,0,0
$GC,2548,-1.20,-146.6,168.7,-5.3,216,2552,0.00,2.22,0.00,0.000,4,0.000,0.087,1583,3602,2588,0,0,0,0,0,0
$GC,2596,-1.20,-146.6,171.2,-4.9,218,2601,0.00,2.15,0.00,0.000,6,0.000,0.065,1583,2202,2588,0,0,0,0,0,0
$GC,2918,-1.20,-146.6,189.5,-6.0,234,2922,0.00,2.22,0.00,0.000,4,0.000,0.087,1583,3593,2588,0,0,0,0,0,0
$GC,3092,-1.20,-146.6,201.8,-6.7,242,3096,0.00,2.12,0.00,0.000,6,0.000,0.065,1583,2200,2588,0,0,0,0,0,0
$GC,3418,-1.20,-146.6,224.3,-6.3,258,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2200,2588,0,0,0,0,0,0
$GC,3727,-1.20,-146.6,245.5,-7.1,273,3731,0.00,2.30,0.00,0.000,4,0.000,0.097,1582,3600,2588,0,0,1,0,0,0
$GC,3839,-1.20,-146.6,254.2,-7.0,278,3843,0.00,2.12,0.00,0.000,6,0.000,0.067,1583,2204,2588,0,0,0,0,0,0
$GC,4161,-1.20,-146.6,277.2,-6.8,294,4165,0.00,2.30,0.00,0.000,4,0.000,0.097,1582,3600,2588,0,0,0,0,0,0
$GC,4222,-1.20,-146.6,281.8,-7.3,297,4226,0.00,2.15,0.00,0.000,6,0.000,0.067,1583,2201,2588,0,0,0,0,0,0
$GC,4553,-1.20,-146.6,305.7,-7.6,312,4557,0.00,2.25,0.00,0.000,4,0.000,0.092,1583,3592,2587,0,0,1,0,0,0
$GC,4724,-1.20,-146.6,318.7,-7.3,317,4729,0.00,2.20,0.00,0.000,6,0.000,0.067,1583,2198,2587,0,0,0,0,0,0
$GC,5054,-1.20,-146.6,344.4,-8.1,328,5058,0.00,2.28,0.00,0.000,4,0.000,0.092,1583,3593,2587,0,0,0,0,0,0
$GC,5165,-1.20,-146.6,353.3,-7.6,331,5170,0.00,2.20,0.00,0.000,6,0.000,0.070,1582,2204,2587,0,0,0,0,0,0
$GC,5489,-1.20,-146.6,378.7,-8.1,342,5493,0.00,2.28,0.00,0.000,4,0.000,0.092,1582,3590,2586,0,0,0,0,0,0
$GC,5666,-1.20,-146.6,394.8,-9.4,347,5671,0.00,2.20,0.00,0.000,6,0.000,0.070,1582,2203,2585,0,0,0,0,0,0
$GC,5992,-1.20,-146.6,422.4,-8.5,358,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2203,2585,0,0,0,0,0,0
$GC,6298,-1.20,-146.6,450.4,-9.1,368,6302,0.00,2.30,0.00,0.000,4,0.000,0.094,1583,3589,2583,0,0,0,0,0,0
$GC,6352,-1.20,-146.6,455.7,-8.9,369,6361,0.00,2.25,0.00,0.000,6,0.000,0.082,1583,2199,2582,0,0,0,0,0,0
$GC,6666,-1.20,-146.6,483.7,-9.0,380,6670,0.00,2.30,0.00,0.000,4,0.000,0.097,1583,3589,2581,0,0,0,0,0,0
$GC,6736,-1.20,-146.6,490.6,-9.8,382,6741,0.00,2.22,0.00,0.000,6,0.000,0.072,1583,2203,2581,0,0,0,0,0,0
$GC,7067,-1.20,-146.6,520.5,-9.2,393,7071,0.00,2.30,0.00,0.000,4,0.000,0.097,1583,3589,2580,0,0,0,0,0,0
$GC,7168,-1.20,-146.6,530.1,-9.0,396,7172,0.00,2.20,0.00,0.000,6,0.000,0.074,1582,2199,2580,0,0,0,0,0,0
$GC,7497,-1.20,-146.6,562.1,-10.0,407,7501,0.00,2.33,0.00,0.000,4,0.000,0.099,1583,3589,2579,0,0,0,0,0,0
$GC,7626,-1.20,-146.6,575.4,-10.8,411,7630,0.00,2.22,0.00,0.000,6,0.000,0.077,1583,2201,2578,0,0,0,0,0,0
$GC,7961,-1.20,-146.6,610.3,-11.2,422,7965,0.00,2.35,0.00,0.000,4,0.000,0.102,1583,3593,2577,0,0,0,0,0,0
$GC,8099,-1.20,-146.6,627.1,-11.4,426,8104,0.00,2.30,0.00,0.000,6,0.000,0.089,1583,2204,2576,0,0,0,0,0,0
$GC,8429,-1.20,-146.6,665.3,-11.8,437,8433,0.00,2.38,0.00,0.000,4,0.000,0.107,1583,3593,2574,0,0,0,0,0,0
$GC,8558,-1.20,-146.6,681.4,-12.9,441,8562,0.00,2.25,0.00,0.000,6,0.000,0.092,1583,2208,2574,0,0,0,0,0,0
$GC,8893,-1.20,-146.6,722.2,-12.1,452,8897,0.00,2.40,0.00,0.000,4,0.000,0.109,1583,3592,2572,0,0,0,0,0,0
$GC,8980,-1.20,-146.6,734.2,-13.4,454,8988,0.00,2.33,0.00,0.000,6,0.000,0.084,1583,2203,2572,0,0,0,0,0,0
$GC,9294,-1.20,-146.6,774.6,-12.9,465,9298,0.00,2.42,0.00,0.000,4,0.000,0.112,1583,3592,2570,0,0,0,0,0,0
$GC,9381,-1.20,-146.6,786.5,-13.6,467,9389,0.00,2.33,0.00,0.000,6,0.000,0.087,1583,2207,2570,0,0,0,0,0,0
$GC,9695,-1.20,-146.6,826.4,-12.6,478,9699,0.00,2.42,0.00,0.000,4,0.000,0.114,1583,3587,2569,0,0,0,0,0,0
$GC,9749,-1.20,-146.6,833.6,-12.1,479,9757,0.00,2.33,0.00,0.000,6,0.000,0.087,1583,2209,2568,0,0,0,0,0,0
$GC,10064,-1.20,-146.6,870.8,-12.5,490,10069,0.00,2.42,0.00,0.000,4,0.000,0.114,1583,3585,2566,0,0,0,0,0,0
$GC,10160,-1.20,-146.6,883.9,-14.0,493,10164,0.00,2.33,0.00,0.000,6,0.000,0.092,1583,2200,2566,0,0,0,0,0,0
$GC,10494,-1.20,-146.6,925.2,-11.5,504,10498,0.00,2.45,0.00,0.000,4,0.000,0.117,1583,3585,2564,0,0,0,0,0,0
$GC,10598,-1.20,-146.6,937.4,-11.8,507,10603,0.00,2.35,0.00,0.000,6,0.000,0.092,1583,2209,2563,0,0,0,0,0,0
$GC,10928,-1.20,-146.6,978.1,-12.9,518,10932,0.00,2.45,0.00,0.000,4,0.000,0.122,1583,3585,2561,0,0,0,0,0,0
$GC,11606,-1.20,-146.6,979.4,-0.4,538,11611,0.00,2.40,0.00,0.000,6,0.000,0.097,1583,2204,2559,0,0,0,0,0,0
$STATE,11935,end dive,NO_VERTICAL_VELOCITY
$STATE,11935,begin apogee
$GC,11939,-0.31,0.0,979.3,0.0,549,12046,0.82,0.00,104.20,1.505,6,0.087,0.000,1783,2045,2083,0,0,0,0,0,0
$STATE,12047,end apogee,CONTROL_FINISHED_OK
$STATE,12047,begin climb
$GC,12049,1.20,146.6,979.4,0.0,552,12168,1.42,2.62,110.00,1.470,4,0.089,0.124,2114,636,1585,0,0,1,0,0,0
$GC,12172,1.43,337.3,979.3,1.0,555,12328,0.20,2.53,147.70,1.472,6,0.097,0.104,2164,2023,939,0,0,1,0,0,0
$GC,12663,1.62,489.6,976.1,2.4,571,12793,0.15,2.62,122.45,1.455,4,0.094,0.132,2210,3461,423,0,0,0,0,0,0
$GC,12984,1.62,489.6,918.2,16.5,581,12988,0.00,2.45,0.00,0.000,6,0.000,0.102,2210,2051,420,0,0,1,0,0,0
$GC,13318,1.62,489.6,863.4,16.2,592,13322,0.00,2.47,0.00,0.000,4,0.000,0.122,2210,641,419,0,0,0,0,0,0
$GC,13413,1.62,489.6,847.5,16.0,595,13417,0.00,2.42,0.00,0.000,6,0.000,0.102,2210,2059,417,0,0,1,0,0,0
$GC,13746,1.62,489.6,794.8,15.8,606,13750,0.00,2.50,0.00,0.000,4,0.000,0.127,2210,641,417,0,0,0,0,0,0
$GC,13924,1.62,489.6,764.5,16.6,611,13929,0.00,2.40,0.00,0.000,6,0.000,0.099,2210,2043,417,0,0,1,0,0,0
$GC,14248,1.62,489.6,711.0,16.6,622,14253,0.00,2.45,0.00,0.000,4,0.000,0.119,2210,638,417,0,0,0,0,0,0
$GC,14325,1.62,489.6,697.5,16.9,624,14330,0.00,2.40,0.00,0.000,6,0.000,0.097,2210,2044,417,0,0,1,0,0,0
$GC,14650,1.62,489.6,644.0,16.8,635,14654,0.00,2.45,0.00,0.000,4,0.000,0.117,2210,632,417,0,0,0,0,0,0
$GC,14754,1.62,489.6,625.4,17.6,638,14759,0.00,2.40,0.00,0.000,6,0.000,0.097,2210,2050,417,0,0,1,0,0,0
$GC,15084,1.62,489.6,565.8,18.8,649,15088,0.00,2.45,0.00,0.000,4,0.000,0.112,2210,640,417,0,0,1,0,0,0
$GC,15213,1.62,489.6,541.3,19.1,653,15217,0.00,2.33,0.00,0.000,6,0.000,0.092,2210,2054,417,0,0,1,0,0,0
$GC,15546,1.62,489.6,476.8,20.0,664,15550,0.00,2.42,0.00,0.000,4,0.000,0.107,2210,638,417,0,0,0,0,0,0
$GC,15680,1.62,489.6,448.3,22.3,668,15684,0.00,2.35,0.00,0.000,6,0.000,0.089,2210,2049,417,0,0,1,0,0,0
$GC,16015,1.62,489.6,378.9,21.1,679,16019,0.00,2.40,0.00,0.000,4,0.000,0.102,2210,632,417,0,0,0,0,0,0
$GC,16153,1.62,489.6,348.0,21.7,683,16158,0.00,2.33,0.00,0.000,6,0.000,0.084,2210,2048,417,0,0,1,0,0,0
$GC,16473,1.62,489.6,277.5,22.7,695,16478,0.00,2.38,0.00,0.000,4,0.000,0.097,2210,631,417,0,0,0,0,0,0
$GC,16528,1.62,489.6,263.6,23.4,697,16536,0.00,2.33,0.00,0.000,6,0.000,0.079,2210,2058,417,0,0,1,0,0,0
$GC,16845,1.62,489.6,190.6,22.8,713,16849,0.00,2.38,0.00,0.000,4,0.000,0.094,2210,630,417,0,0,0,0,0,0
$GC,17000,1.62,489.6,152.6,24.9,720,17005,0.00,2.30,0.00,0.000,6,0.000,0.074,2210,2050,417,0,0,0,0,0,0
$GC,17326,1.62,489.6,77.6,23.3,750,17330,0.00,2.30,0.00,0.000,4,0.000,0.089,2210,633,417,0,0,1,0,0,0
$GC,17419,1.62,489.6,57.8,21.6,758,17428,0.00,2.28,0.00,0.000,6,0.000,0.070,2210,2057,417,0,0,0,0,0,0
$STATE,17680,end climb,SURFACE_DEPTH_REACHED
$STATE,17680,begin surface coast
$FINISH,1.6,1.022746
$STATE,17692,end surface coast,CONTROL_FINISHED_OK
$STATE,17692,begin surface
$SM_CCo,17767,0.00,0.000,0,0,416,491.85
$SM_GC,1.03,8.70,0.00,0.00,0.062,0.000,0.000,14,2224,416,-8.36,0.68,491.85
$IRIDIUM_FIX,1828.22,-6607.79,220112,202013
$TT8_MAMPS,0.021721
$HUMID,1078841926
$INTERNAL_PRESSURE,7.74444
$TCM_TEMP,23.10
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.9,18.3
$24V_AH,23.1,24.309
$10V_AH,10.4,8.493
$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,19.625,163.100,484.350,0.000,0.000,24.121,39.120,130.297,25.250,0.000,16.067,2229.956,12448.035,595.571,2660.192,114.556,0.000,1829.166,0.000,2262.340,0.000,143.881,0.000
$DEVICE_MAMPS,196.157,131.599,1504.698,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.819,0.000,1193.207,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326640
$DATA_FILE_SIZE,43510,784
$CAP_FILE_SIZE,167977,0
$CFSIZE,260280320,252469248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,300710,102507,1835.277,-6603.939,33,1.3,34,-12.7