version: 66.07
glider: 33
mission: 22
dive: 13
start: 7 30 110 15 38 34
data:
$ID,33
$MISSION,22
$DIVE,13
$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,1800
$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,-229833.22
$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,20
$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
$GPS1,300710,153307,1834.804,-6602.096,42,1.1,43,-12.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-53.7
$GPS2,300710,153813,1834.792,-6602.171,11,1.2,16,-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,72.3,4419,-23.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.56,-70.7,0.0,0.0,0,105,0.00,0.00,-88.10,0.000,2,0.000,0.000,12,2206,2114,0,0,0,0,0,0
$GC,107,-1.60,-100.6,3.1,-5.7,9,134,7.88,2.28,-13.68,0.000,4,0.194,0.082,1494,3600,2423,0,0,0,0,0,0
$GC,325,-1.60,-100.6,32.2,-14.9,28,329,0.00,2.20,0.00,0.000,6,0.000,0.062,1495,2155,2424,0,0,0,0,0,0
$GC,651,-1.61,-106.7,64.8,-7.5,58,656,0.00,2.35,-0.25,0.000,4,0.000,0.084,1495,3609,2452,0,0,0,0,0,0
$GC,735,-1.61,-106.7,72.3,-9.2,65,739,0.00,2.15,0.00,0.000,6,0.000,0.062,1495,2197,2451,0,0,0,0,0,0
$GC,1059,-1.62,-113.6,98.8,-7.5,95,1064,0.00,2.28,-0.17,0.000,4,0.000,0.084,1495,3605,2476,0,0,0,0,0,0
$GC,1403,-1.63,-124.2,125.3,-7.2,125,1407,0.00,2.15,-0.25,0.000,6,0.000,0.062,1495,2193,2513,0,0,0,0,0,0
$GC,1727,-1.65,-136.5,148.2,-7.1,155,1732,0.00,2.15,-0.25,0.000,4,0.000,0.084,1494,812,2554,0,0,0,0,0,0
$GC,1848,-1.65,-139.5,157.5,-7.8,161,1856,0.00,2.17,0.00,0.000,6,0.000,0.065,1494,2209,2555,0,0,0,0,0,0
$GC,2165,-1.66,-144.8,181.0,-7.6,177,2170,0.00,2.25,-0.17,0.000,4,0.000,0.087,1494,3603,2588,0,0,0,0,0,0
$GC,2432,-1.66,-146.6,203.7,-7.4,189,2437,0.00,2.15,0.00,0.000,6,0.000,0.062,1494,2210,2588,0,0,0,0,0,0
$GC,2760,-1.66,-146.6,229.9,-9.1,205,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2210,2589,0,0,0,0,0,0
$GC,3069,-1.66,-146.6,258.6,-9.6,220,3073,0.00,2.28,0.00,0.000,4,0.000,0.089,1494,3597,2589,0,0,0,0,0,0
$GC,3287,-1.66,-146.6,280.8,-10.0,230,3291,0.00,2.15,0.00,0.000,6,0.000,0.067,1494,2205,2589,0,0,0,0,0,0
$GC,3611,-1.66,-146.6,313.9,-10.3,244,3615,0.00,2.28,0.00,0.000,4,0.000,0.092,1494,3600,2589,0,0,0,0,0,0
$GC,3833,-1.66,-146.6,338.9,-12.1,250,3841,0.00,2.20,0.00,0.000,6,0.000,0.077,1494,2211,2589,0,0,0,0,0,0
$GC,4147,-1.66,-146.6,374.3,-11.2,261,4151,0.00,2.28,0.00,0.000,4,0.000,0.094,1494,3602,2588,0,0,0,0,0,0
$GC,4243,-1.66,-146.6,386.4,-11.6,264,4247,0.00,2.17,0.00,0.000,6,0.000,0.070,1494,2201,2588,0,0,0,0,0,0
$GC,4577,-1.66,-146.6,427.2,-12.4,275,4581,0.00,2.30,0.00,0.000,4,0.000,0.092,1494,3593,2587,0,0,1,0,0,0
$GC,4743,-1.66,-146.6,449.4,-12.7,280,4749,0.00,2.22,0.00,0.000,6,0.000,0.077,1494,2206,2587,0,0,0,0,0,0
$GC,5079,-1.66,-146.6,495.1,-13.9,291,5083,0.00,2.30,0.00,0.000,4,0.000,0.097,1494,3592,2587,0,0,0,0,0,0
$GC,5229,-1.66,-146.6,518.5,-15.8,295,5234,0.00,2.25,0.00,0.000,6,0.000,0.074,1494,2200,2586,0,0,0,0,0,0
$GC,5554,-1.66,-146.6,566.3,-14.9,306,5558,0.00,2.35,0.00,0.000,4,0.000,0.097,1494,3597,2585,0,0,0,0,0,0
$GC,5658,-1.66,-146.6,582.9,-16.0,309,5663,0.00,2.28,0.00,0.000,6,0.000,0.087,1494,2198,2585,0,0,0,0,0,0
$GC,5990,-1.66,-146.6,633.6,-15.9,320,5994,0.00,2.38,0.00,0.000,4,0.000,0.102,1494,3597,2583,0,0,0,0,0,0
$GC,6100,-1.66,-146.6,652.7,-17.3,323,6105,0.00,2.30,0.00,0.000,6,0.000,0.082,1495,2203,2582,0,0,0,0,0,0
$GC,6425,-1.66,-146.6,704.6,-16.3,334,6429,0.00,2.38,0.00,0.000,4,0.000,0.107,1495,3590,2580,0,0,0,0,0,0
$GC,6580,-1.66,-146.6,731.7,-17.2,338,6588,0.00,2.30,0.00,0.000,6,0.000,0.082,1495,2210,2579,0,0,0,0,0,0
$GC,6894,-1.66,-146.6,783.4,-16.6,349,6898,0.00,2.40,0.00,0.000,4,0.000,0.109,1494,3589,2578,0,0,0,0,0,0
$GC,7037,-1.66,-146.6,808.3,-18.3,353,7043,0.00,2.33,0.00,0.000,6,0.000,0.087,1494,2203,2577,0,0,0,0,0,0
$GC,7363,-1.66,-146.6,865.4,-18.1,364,7368,0.00,2.42,0.00,0.000,4,0.000,0.114,1494,3589,2576,0,0,0,0,0,0
$GC,8041,-1.66,-146.6,875.5,0.4,384,8045,0.00,2.38,0.00,0.000,6,0.000,0.092,1494,2199,2572,0,0,0,0,0,0
$GC,8371,-1.66,-146.6,875.7,-0.1,395,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2193,2570,0,0,0,0,0,0
$GC,8677,-1.66,-146.6,875.8,-0.1,405,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2192,2568,0,0,0,0,0,0
$GC,8983,-1.66,-146.6,875.7,-0.1,415,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2193,2566,0,0,0,0,0,0
$GC,9289,-1.66,-146.6,875.7,-0.1,425,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2193,2565,0,0,0,0,0,0
$GC,9596,-1.66,-146.6,876.2,-0.5,435,9600,0.00,2.50,0.00,0.000,4,0.000,0.124,1494,3588,2565,0,0,0,0,0,0
$GC,10273,-1.66,-146.6,876.5,0.9,455,10278,0.00,2.40,0.00,0.000,6,0.000,0.094,1494,2197,2562,0,0,0,0,0,0
$GC,10603,-1.66,-146.6,876.5,-0.0,466,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2193,2562,0,0,0,0,0,0
$GC,10909,-1.66,-146.6,876.5,0.0,476,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2193,2561,0,0,0,0,0,0
$GC,11216,-1.66,-146.6,876.4,0.1,486,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2192,2560,0,0,0,0,0,0
$GC,11522,-1.66,-146.6,876.5,-0.0,496,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2193,2559,0,0,0,0,0,0
$GC,11828,-1.66,-146.6,876.5,0.1,506,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2192,2558,0,0,0,0,0,0
$STATE,12102,end dive,NO_VERTICAL_VELOCITY
$STATE,12102,begin apogee
$GC,12106,-0.31,0.0,876.5,0.0,515,12214,1.23,0.00,104.35,1.448,6,0.094,0.000,1781,2045,2082,0,0,0,0,0,0
$STATE,12215,end apogee,CONTROL_FINISHED_OK
$STATE,12215,begin climb
$GC,12217,1.66,146.6,876.4,0.0,518,12337,1.92,2.67,111.05,1.410,4,0.099,0.132,2210,3434,1585,0,0,1,0,0,0
$GC,13010,1.79,255.2,876.3,-0.2,542,13100,0.10,2.40,82.93,1.418,6,0.074,0.102,2256,2052,1217,0,0,1,0,0,0
$GC,13413,1.92,361.3,876.2,-0.0,556,13507,0.00,2.67,83.40,1.430,4,0.000,0.129,2256,3434,857,0,0,1,0,0,0
$GC,13529,1.95,388.1,873.4,6.0,559,13557,0.00,2.50,22.55,1.326,6,0.000,0.099,2256,2056,767,0,0,1,0,0,0
$GC,13875,1.95,388.1,827.2,12.7,571,13879,0.00,2.53,0.00,0.000,4,0.000,0.129,2256,637,766,0,0,0,0,0,0
$GC,14041,1.95,388.1,804.5,14.7,576,14046,0.00,2.40,0.00,0.000,6,0.000,0.102,2256,2017,766,0,0,1,0,0,0
$GC,14377,1.95,388.1,755.6,14.5,587,14378,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2018,765,0,0,0,0,0,0
$GC,14683,1.95,388.1,711.5,14.2,597,14687,0.00,2.42,0.00,0.000,4,0.000,0.119,2257,637,765,0,0,0,0,0,0
$GC,14804,1.95,388.1,693.1,14.8,600,14812,0.00,2.40,0.00,0.000,6,0.000,0.097,2256,2042,766,0,0,1,0,0,0
$GC,15117,1.95,388.1,649.2,14.3,611,15121,0.00,2.47,0.00,0.000,4,0.000,0.114,2256,631,764,0,0,0,0,0,0
$GC,15267,1.95,388.1,625.3,16.0,615,15271,0.00,2.42,0.00,0.000,6,0.000,0.097,2256,2052,764,0,0,1,0,0,0
$GC,15585,1.95,388.1,577.8,15.0,626,15590,0.00,2.47,0.00,0.000,4,0.000,0.112,2256,629,764,0,0,0,0,0,0
$GC,15763,1.95,388.1,549.2,16.0,631,15768,0.00,2.40,0.00,0.000,6,0.000,0.092,2256,2052,764,0,0,1,0,0,0
$GC,16088,1.95,388.1,500.0,15.7,642,16092,0.00,2.42,0.00,0.000,4,0.000,0.107,2256,628,764,0,0,0,0,0,0
$GC,16209,1.95,388.1,479.1,16.7,645,16217,0.00,2.38,0.00,0.000,6,0.000,0.089,2256,2050,764,0,0,1,0,0,0
$GC,16523,1.95,388.1,426.1,17.2,656,16528,0.00,2.40,0.00,0.000,4,0.000,0.102,2256,628,764,0,0,1,0,0,0
$GC,16695,1.95,388.1,393.2,17.6,661,16701,0.00,2.35,0.00,0.000,6,0.000,0.084,2255,2046,764,0,0,1,0,0,0
$GC,17026,1.95,388.1,332.3,19.3,672,17030,0.00,2.38,0.00,0.000,4,0.000,0.097,2256,633,764,0,0,0,0,0,0
$GC,17154,1.95,388.1,306.2,20.8,676,17159,0.00,2.28,0.00,0.000,6,0.000,0.082,2256,2054,765,0,0,1,0,0,0
$GC,17481,1.95,388.1,239.9,20.4,691,17485,0.00,2.38,0.00,0.000,4,0.000,0.094,2256,630,764,0,0,0,0,0,0
$GC,17580,1.95,388.1,218.3,19.7,695,17588,0.00,2.30,0.00,0.000,6,0.000,0.077,2256,2045,764,0,0,1,0,0,0
$GC,17898,1.95,388.1,154.9,19.6,711,17902,0.00,2.33,0.00,0.000,4,0.000,0.092,2256,625,764,0,0,0,0,0,0
$GC,17974,1.95,388.1,138.0,19.7,716,17982,0.00,2.30,0.00,0.000,6,0.000,0.072,2256,2048,764,0,0,0,0,0,0
$GC,18300,1.95,388.1,75.0,17.5,747,18304,0.00,2.30,0.00,0.000,4,0.000,0.087,2256,625,764,0,0,0,0,0,0
$GC,18331,1.95,388.1,69.2,15.6,749,18339,0.00,2.28,0.00,0.000,6,0.000,0.070,2256,2047,764,0,0,0,0,0,0
$GC,18657,1.95,388.1,16.2,14.1,780,18658,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2047,764,0,0,0,0,0,0
$STATE,18740,end climb,SURFACE_DEPTH_REACHED
$STATE,18740,begin surface coast
$FINISH,0.4,1.022494
$STATE,18763,end surface coast,CONTROL_FINISHED_OK
$STATE,18763,begin surface
$SM_CCo,18838,0.00,0.000,0,0,764,389.11
$SM_GC,1.15,8.95,0.00,0.00,0.067,0.000,0.000,18,2216,764,-8.34,0.45,389.11
$IRIDIUM_FIX,1825.94,-6604.79,230112,040415
$TT8_MAMPS,0.021721
$HUMID,1078685797
$INTERNAL_PRESSURE,7.76397
$TCM_TEMP,23.20
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.2,18.4
$24V_AH,23.1,24.659
$10V_AH,10.4,8.672
$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,20.075,131.275,404.275,0.000,0.000,28.360,29.004,155.595,23.000,0.000,17.621,2265.842,13392.683,545.106,2820.666,115.835,0.000,1799.273,0.000,2407.646,0.000,128.134,0.000
$DEVICE_MAMPS,193.674,131.599,1447.589,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.690,0.000,1203.295,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326628
$DATA_FILE_SIZE,43541,790
$CAP_FILE_SIZE,165871,0
$CFSIZE,260280320,252321792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,300710,205337,1835.164,-6600.532,32,1.1,33,-12.7