version: 66.07
glider: 33
mission: 22
dive: 15
start: 7 31 110 2 37 35
data:
$ID,33
$MISSION,22
$DIVE,15
$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,180
$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,-229835.72
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,27
$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
$GPS1,310710,023201,1835.799,-6603.734,37,1.3,37,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-53.4
$GPS2,310710,023714,1835.815,-6603.816,14,1.4,14,-12.7
$SPEED_LIMITS,0.080,0.230
$TGT_NAME,SAN_JUAN_OP
$TGT_LATLONG,1836.000,-6606.000
$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,287.8,3849,-27.1,-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,-1.76,-53.8,0.0,0.0,0,110,0.00,0.00,-92.80,0.000,2,0.000,0.000,17,2308,2122,0,0,0,0,0,0
$GC,112,-1.79,-81.4,3.2,-5.3,9,136,7.62,2.35,-9.90,0.000,4,0.194,0.082,1454,3711,2358,0,0,0,0,0,0
$GC,350,-1.79,-81.4,39.9,-14.3,30,354,0.00,2.17,0.00,0.000,6,0.000,0.060,1454,2276,2359,0,0,0,0,0,0
$GC,674,-1.83,-81.4,76.4,-8.2,60,678,0.00,2.33,0.00,0.000,4,0.000,0.092,1454,3714,2361,0,0,0,0,0,0
$GC,1353,-1.86,-107.3,123.9,-5.4,120,1359,0.00,2.15,-0.68,0.000,6,0.000,0.062,1455,2288,2457,0,0,0,0,0,0
$GC,1678,-1.91,-118.2,146.2,-6.9,150,1683,0.00,2.30,-0.25,0.000,4,0.000,0.092,1454,3713,2498,0,0,0,0,0,0
$GC,2356,-1.91,-118.2,208.9,-11.1,182,2361,0.00,2.15,0.00,0.000,6,0.000,0.062,1455,2310,2499,0,0,0,0,0,0
$GC,2679,-1.94,-118.2,241.6,-10.0,198,2684,0.12,2.22,0.00,0.000,4,0.107,0.079,1412,905,2499,0,0,0,0,0,0
$GC,2756,-1.92,-118.2,251.3,-13.6,201,2764,0.00,2.20,0.00,0.000,6,0.000,0.070,1412,2301,2499,0,0,0,0,0,0
$GC,3074,-1.92,-118.2,291.4,-13.5,217,3078,0.00,2.25,0.00,0.000,4,0.000,0.089,1412,3704,2499,0,0,0,0,0,0
$GC,3409,-1.88,-118.2,343.4,-17.4,228,3414,0.08,2.17,0.00,0.000,6,0.151,0.067,1437,2309,2498,0,0,0,0,0,0
$GC,3745,-1.88,-118.2,393.7,-15.8,239,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,2306,2498,0,0,0,0,0,0
$GC,4052,-1.88,-118.2,440.8,-15.7,249,4056,0.00,2.28,0.00,0.000,4,0.000,0.092,1437,3699,2498,0,0,0,0,0,0
$GC,4186,-1.88,-118.2,464.3,-16.6,253,4190,0.00,2.22,0.00,0.000,6,0.000,0.082,1437,2306,2498,0,0,0,0,0,0
$GC,4522,-1.88,-118.2,520.3,-17.0,264,4526,0.00,2.33,0.00,0.000,4,0.000,0.094,1437,3698,2496,0,0,0,0,0,0
$GC,4655,-1.88,-118.2,544.5,-17.5,268,4659,0.00,2.25,0.00,0.000,6,0.000,0.082,1437,2302,2496,0,0,0,0,0,0
$GC,4991,-1.88,-118.2,605.9,-18.2,279,4994,0.00,2.35,0.00,0.000,4,0.000,0.099,1437,3696,2494,0,0,0,0,0,0
$GC,5107,-1.88,-118.2,629.7,-21.1,282,5115,0.00,2.28,0.00,0.000,6,0.000,0.077,1437,2301,2493,0,0,0,0,0,0
$GC,5435,-1.88,-118.2,692.9,-19.7,293,5439,0.00,2.40,0.00,0.000,4,0.000,0.104,1437,3702,2492,0,0,1,0,0,0
$GC,5553,-1.86,-118.2,717.6,-22.8,296,5557,0.00,2.28,0.00,0.000,6,0.000,0.087,1437,2302,2491,0,0,0,0,0,0
$GC,5867,-1.86,-118.2,781.2,-20.9,306,5871,0.00,2.40,0.00,0.000,4,0.000,0.107,1437,3695,2490,0,0,0,0,0,0
$GC,5973,-1.84,-118.2,804.1,-21.5,309,5977,0.00,2.30,0.00,0.000,6,0.000,0.092,1437,2298,2489,0,0,0,0,0,0
$GC,6303,-1.84,-118.2,874.5,-21.7,320,6307,0.00,2.42,0.00,0.000,4,0.000,0.112,1437,3701,2487,0,0,0,0,0,0
$GC,6441,-1.84,-118.2,906.4,-22.3,324,6446,0.00,2.35,0.00,0.000,6,0.000,0.084,1437,2303,2486,0,0,0,0,0,0
$GC,6772,-1.84,-118.2,977.7,-22.2,335,6776,0.00,2.42,0.00,0.000,4,0.000,0.114,1437,3693,2484,0,0,0,0,0,0
$GC,6932,-1.84,-118.2,1015.4,-22.1,339,6937,0.00,2.35,0.00,0.000,6,0.000,0.089,1437,2303,2483,0,0,0,0,0,0
$GC,7274,-1.94,-118.2,1075.6,-17.6,345,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,1438,2303,2482,0,0,0,0,0,0
$GC,7574,-2.45,-146.6,1075.7,0.0,350,7577,0.50,0.00,0.00,0.000,6,0.082,0.000,1314,2303,2480,0,0,0,0,0,0
$STATE,7633,end dive,NO_VERTICAL_VELOCITY
$STATE,7633,begin apogee
$GC,7637,-0.31,0.0,1075.7,0.0,351,7730,2.00,0.00,88.57,1.542,6,0.089,0.000,1786,1944,2081,0,0,0,0,0,0
$STATE,7731,end apogee,CONTROL_FINISHED_OK
$STATE,7731,begin climb
$GC,7732,1.87,146.6,1075.6,0.0,352,7850,2.00,0.00,111.68,1.527,6,0.074,0.000,2269,1944,1585,0,0,0,0,0,0
$GC,8153,2.27,226.6,1075.4,0.1,358,8218,0.30,0.00,62.33,1.505,6,0.077,0.000,2355,1944,1314,0,0,0,0,0,0
$GC,8516,2.30,253.6,1060.9,5.3,364,8545,0.00,2.62,21.55,1.438,4,0.000,0.127,2355,537,1221,0,0,0,0,0,0
$GC,8808,2.26,253.6,1035.1,8.8,368,8813,0.00,2.45,0.00,0.000,6,0.000,0.104,2355,1928,1220,0,0,1,0,0,0
$GC,9152,2.26,253.6,1005.2,8.7,374,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1931,1218,0,0,0,0,0,0
$GC,9457,2.26,253.7,981.2,8.0,382,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1930,1217,0,0,0,0,0,0
$GC,9763,2.28,266.3,958.8,6.7,392,9775,0.00,0.00,9.93,1.296,6,0.000,0.000,2355,1931,1179,0,0,0,0,0,0
$GC,10070,2.28,270.7,935.9,7.6,402,10080,0.00,2.47,4.97,1.038,4,0.000,0.124,2355,537,1164,0,0,1,0,0,0
$GC,10198,2.24,270.7,924.8,9.2,406,10203,0.00,2.42,0.00,0.000,6,0.000,0.104,2355,1953,1164,0,0,1,0,0,0
$GC,10533,2.24,270.7,895.5,8.5,417,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1956,1163,0,0,0,0,0,0
$GC,10839,2.24,270.7,870.3,8.3,427,10843,0.00,2.50,0.00,0.000,4,0.000,0.122,2355,531,1163,0,0,0,0,0,0
$GC,11272,2.20,270.7,835.1,8.9,440,11277,0.12,2.40,0.00,0.000,6,0.169,0.104,2331,1952,1162,0,0,1,0,0,0
$GC,11606,2.21,277.3,811.1,7.3,451,11619,0.00,2.50,6.47,1.115,4,0.000,0.124,2331,3362,1142,0,0,0,0,0,0
$GC,11990,2.21,277.3,778.5,10.5,462,11995,0.00,2.45,0.00,0.000,6,0.000,0.102,2331,1944,1141,0,0,1,0,0,0
$GC,12314,2.21,277.3,750.5,8.8,473,12319,0.00,2.45,0.00,0.000,4,0.000,0.117,2331,537,1141,0,0,0,0,0,0
$GC,12486,2.21,277.3,733.5,9.2,478,12491,0.00,2.40,0.00,0.000,6,0.000,0.099,2331,1943,1141,0,0,1,0,0,0
$GC,12817,2.21,277.3,703.8,8.9,489,12818,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1945,1141,0,0,0,0,0,0
$GC,13123,2.21,277.3,676.0,9.9,499,13127,0.00,2.47,0.00,0.000,4,0.000,0.119,2331,3362,1140,0,0,0,0,0,0
$GC,13193,2.21,277.3,668.5,10.3,501,13198,0.00,2.40,0.00,0.000,6,0.000,0.097,2331,1957,1140,0,0,1,0,0,0
$GC,13524,2.21,277.3,636.0,9.4,512,13528,0.00,2.42,0.00,0.000,4,0.000,0.114,2331,537,1140,0,0,0,0,0,0
$GC,13707,2.19,277.3,615.9,12.8,517,13711,0.00,2.40,0.00,0.000,6,0.000,0.094,2331,1952,1140,0,0,1,0,0,0
$GC,14026,2.19,277.3,581.5,10.7,528,14030,0.00,2.45,0.00,0.000,4,0.000,0.112,2331,540,1140,0,0,0,0,0,0
$GC,14087,2.16,277.3,574.3,11.0,530,14092,0.00,2.35,0.00,0.000,6,0.000,0.094,2331,1952,1140,0,0,1,0,0,0
$GC,14422,2.16,277.3,534.4,12.5,541,14423,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1955,1139,0,0,0,0,0,0
$GC,14728,2.16,277.3,496.1,13.2,551,14732,0.00,2.40,0.00,0.000,4,0.000,0.107,2331,546,1140,0,0,0,0,0,0
$GC,14855,2.13,277.3,477.6,14.7,554,14863,0.00,2.35,0.00,0.000,6,0.000,0.089,2331,1949,1140,0,0,1,0,0,0
$GC,15168,2.13,277.3,431.1,15.5,565,15172,0.00,2.40,0.00,0.000,4,0.000,0.104,2331,3356,1140,0,0,0,0,0,0
$GC,15222,2.10,277.3,422.1,16.2,566,15231,0.08,2.33,0.00,0.000,6,0.156,0.084,2313,1951,1140,0,0,1,0,0,0
$GC,15535,2.10,277.3,376.6,14.3,577,15539,0.00,2.35,0.00,0.000,4,0.000,0.099,2313,536,1140,0,0,0,0,0,0
$GC,15741,2.10,277.3,344.9,14.6,583,15746,0.00,2.30,0.00,0.000,6,0.000,0.082,2314,1959,1140,0,0,1,0,0,0
$GC,16055,2.10,277.3,295.2,16.8,594,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1961,1140,0,0,0,0,0,0
$GC,16364,2.10,277.3,240.5,18.7,609,16368,0.00,2.35,0.00,0.000,4,0.000,0.092,2314,540,1140,0,0,0,0,0,0
$GC,16583,2.08,277.3,198.2,20.5,619,16587,0.00,2.25,0.00,0.000,6,0.000,0.077,2314,1954,1140,0,0,1,0,0,0
$GC,16899,2.08,277.3,141.8,18.0,636,16900,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1955,1140,0,0,0,0,0,0
$GC,17218,2.08,277.3,87.7,17.1,666,17222,0.00,2.30,0.00,0.000,4,0.000,0.097,2314,3355,1141,0,0,0,0,0,0
$GC,17272,2.08,277.3,78.3,16.4,670,17280,0.00,2.28,0.00,0.000,6,0.000,0.074,2313,1939,1141,0,0,0,0,0,0
$GC,17598,2.10,277.3,41.4,9.1,701,17602,0.00,2.22,0.00,0.000,4,0.000,0.084,2314,541,1142,0,0,0,0,0,0
$GC,18007,2.10,277.3,6.1,10.5,737,18011,0.00,2.17,0.00,0.000,6,0.000,0.065,2314,1962,1145,0,0,0,0,0,0
$STATE,18032,end climb,SURFACE_DEPTH_REACHED
$STATE,18033,begin surface coast
$FINISH,-0.2,0.997764
$STATE,18066,end surface coast,CONTROL_FINISHED_OK
$STATE,18066,begin surface
$SM_CCo,18082,16.92,0.742,0,0,1065,300.25
$SM_GC,3.21,0.00,0.00,16.92,0.000,0.000,0.742,21,2300,1065,-8.41,0.00,300.25
$IRIDIUM_FIX,1825.94,-6547.48,230112,151537
$TT8_MAMPS,0.021721
$HUMID,1078529668
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,23.70
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.3,18.6
$24V_AH,24.0,24.998
$10V_AH,10.4,8.849
$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,21.925,122.925,305.500,16.925,0.000,31.016,26.333,160.607,27.500,0.000,15.743,2201.740,12903.678,483.655,2687.473,131.481,0.000,1648.712,0.000,2269.774,0.000,157.721,0.000
$DEVICE_MAMPS,193.674,126.633,1541.943,742.417,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.622,0.000,1131.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326652
$DATA_FILE_SIZE,40265,742
$CAP_FILE_SIZE,163149,0
$CFSIZE,260280320,252178432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,310710,074037,1836.803,-6605.893,48,1.1,48,-12.7