version: 66.07
glider: 33
mission: 22
dive: 18
start: 7 31 110 19 20 11
data:
$ID,33
$MISSION,22
$DIVE,18
$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,-229839.47
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,310710,191406,1835.765,-6601.275,40,1.2,45,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-58.0
$GPS2,310710,191950,1835.802,-6601.375,14,1.4,14,-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,0.245,-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,94.1,2442,-39.9,-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,-2.52,-25.1,0.0,0.0,0,100,0.00,0.00,-82.85,0.000,2,0.000,0.000,13,2299,2125,0,0,0,0,0,0
$GC,102,-2.53,-30.9,3.8,-6.8,8,117,6.80,2.33,-2.45,0.000,4,0.194,0.079,1294,3702,2189,0,0,0,0,0,0
$GC,565,-2.61,-35.6,70.5,-7.0,49,574,0.00,2.20,-0.15,0.000,6,0.000,0.060,1294,2259,2209,0,0,0,0,0,0
$GC,891,-2.73,-47.0,89.4,-5.6,80,897,0.15,2.10,-0.30,0.000,4,0.099,0.074,1247,911,2247,0,0,0,0,0,0
$GC,946,-2.79,-59.8,92.3,-5.3,84,954,0.00,2.20,-0.35,0.000,6,0.000,0.070,1247,2305,2294,0,0,0,0,0,0
$GC,1272,-2.86,-59.8,115.0,-9.3,115,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,1247,2306,2295,0,0,0,0,0,0
$GC,1591,-2.95,-73.3,127.8,-5.1,145,1597,0.17,2.25,-0.28,0.000,4,0.094,0.084,1191,3703,2337,0,0,0,0,0,0
$GC,2269,-2.95,-73.3,185.5,-8.2,185,2274,0.00,2.17,0.00,0.000,6,0.000,0.070,1192,2307,2338,0,0,0,0,0,0
$GC,2591,-2.95,-73.3,216.6,-11.6,201,2595,0.00,2.22,0.00,0.000,4,0.000,0.084,1192,3701,2338,0,0,0,0,0,0
$GC,3268,-2.92,-73.3,316.8,-18.1,230,3273,0.05,2.20,0.00,0.000,6,0.181,0.072,1204,2312,2338,0,0,0,0,0,0
$GC,3599,-2.92,-73.3,374.2,-18.0,241,3603,0.00,2.25,0.00,0.000,4,0.000,0.087,1204,3699,2337,0,0,0,0,0,0
$GC,4278,-2.92,-73.3,522.0,-24.7,261,4283,0.00,2.22,0.00,0.000,6,0.000,0.070,1203,2305,2337,0,0,0,0,0,0
$GC,4609,-2.92,-73.3,601.6,-25.2,272,4613,0.00,2.30,0.00,0.000,4,0.000,0.094,1203,3701,2335,0,0,0,0,0,0
$GC,5280,-2.92,-73.3,789.9,-30.3,292,5288,0.00,2.30,0.00,0.000,6,0.000,0.087,1203,2309,2333,0,0,0,0,0,0
$GC,5617,-2.92,-73.3,887.6,-29.4,303,5621,0.00,2.38,0.00,0.000,4,0.000,0.104,1204,3695,2331,0,0,0,0,0,0
$GC,6037,-2.92,-73.3,1022.7,-32.2,315,6042,0.00,2.35,0.00,0.000,6,0.000,0.087,1203,2303,2328,0,0,0,0,0,0
$STATE,6266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6266,begin apogee
$GC,6270,-0.31,0.0,1093.6,31.3,319,6330,2.88,0.00,54.72,1.515,6,0.161,0.000,1779,1950,2082,0,0,0,0,0,0
$STATE,6331,end apogee,CONTROL_FINISHED_OK
$STATE,6331,begin climb
$GC,6332,2.58,73.3,1098.6,0.0,320,6399,2.75,2.62,56.30,1.492,4,0.099,0.124,2414,3336,1833,0,0,1,0,0,0
$GC,7072,3.32,113.8,1098.5,-0.6,331,7108,0.52,2.40,29.95,1.497,6,0.062,0.104,2576,1958,1696,0,0,1,0,0,0
$GC,7436,3.98,151.4,1098.3,0.0,337,7470,0.00,2.55,29.05,1.495,4,0.000,0.129,2576,3339,1569,0,0,1,0,0,0
$GC,8144,4.54,183.8,1098.1,1.1,347,8175,0.00,2.42,24.55,1.500,6,0.000,0.107,2576,1924,1458,0,0,1,0,0,0
$GC,8543,5.02,220.3,1097.8,0.2,354,8577,0.00,2.60,29.00,1.520,4,0.000,0.129,2576,3338,1335,0,0,1,0,0,0
$GC,9251,5.06,256.8,1098.1,0.2,364,9287,0.00,2.42,28.70,1.527,6,0.000,0.107,2575,1951,1212,0,0,1,0,0,0
$GC,9648,5.11,293.9,1097.7,0.1,371,9683,0.00,2.60,30.15,1.527,4,0.000,0.129,2576,3342,1086,0,0,0,0,0,0
$GC,10239,5.13,293.9,1060.8,16.9,379,10247,0.00,2.45,0.00,0.000,6,0.000,0.109,2576,1951,1082,0,0,1,0,0,0
$GC,10549,5.17,293.9,1008.3,16.9,385,10553,0.00,2.50,0.00,0.000,4,0.000,0.124,2575,537,1082,0,0,0,0,0,0
$GC,10968,5.17,293.9,937.6,15.6,396,10973,0.00,2.42,0.00,0.000,6,0.000,0.104,2575,1930,1080,0,0,1,0,0,0
$GC,11287,5.20,293.9,887.4,15.9,407,11292,0.00,2.47,0.00,0.000,4,0.000,0.122,2576,538,1079,0,0,0,0,0,0
$GC,11303,5.23,293.9,884.4,17.5,407,11307,0.00,2.42,0.00,0.000,6,0.000,0.102,2576,1949,1080,0,0,1,0,0,0
$GC,11622,5.27,293.9,834.0,15.7,418,11626,0.00,2.47,0.00,0.000,4,0.000,0.119,2575,3363,1079,0,0,0,0,0,0
$GC,11793,5.27,293.9,804.9,16.3,423,11798,0.00,2.45,0.00,0.000,6,0.000,0.104,2576,1950,1079,0,0,1,0,0,0
$GC,12124,5.30,293.9,748.7,16.9,434,12128,0.00,2.47,0.00,0.000,4,0.000,0.119,2576,536,1078,0,0,0,0,0,0
$GC,12256,5.30,293.9,724.2,16.7,438,12261,0.00,2.42,0.00,0.000,6,0.000,0.099,2576,1949,1079,0,0,1,0,0,0
$GC,12592,5.34,293.9,667.2,17.3,449,12597,0.00,2.45,0.00,0.000,4,0.000,0.117,2575,3360,1078,0,0,0,0,0,0
$GC,12688,5.34,293.9,650.2,18.1,452,12692,0.00,2.38,0.00,0.000,6,0.000,0.102,2575,1947,1077,0,0,1,0,0,0
$GC,13022,5.34,293.9,591.9,17.7,463,13026,0.00,2.42,0.00,0.000,4,0.000,0.114,2575,539,1078,0,0,0,0,0,0
$GC,13434,5.34,293.9,512.6,19.2,475,13439,0.00,2.38,0.00,0.000,6,0.000,0.092,2576,1951,1077,0,0,1,0,0,0
$GC,13759,5.34,293.9,446.0,21.2,486,13763,0.00,2.42,0.00,0.000,4,0.000,0.107,2575,538,1077,0,0,0,0,0,0
$GC,13824,5.34,293.9,430.6,23.4,488,13829,0.00,2.35,0.00,0.000,6,0.000,0.087,2576,1951,1078,0,0,1,0,0,0
$GC,14160,5.34,293.9,351.0,24.2,499,14164,0.00,2.40,0.00,0.000,4,0.000,0.102,2576,537,1077,0,0,0,0,0,0
$GC,14309,5.34,293.9,312.0,26.2,503,14314,0.00,2.33,0.00,0.000,6,0.000,0.084,2576,1948,1077,0,0,1,0,0,0
$GC,14632,5.34,293.9,226.7,27.9,518,14636,0.00,2.38,0.00,0.000,4,0.000,0.097,2576,535,1078,0,0,0,0,0,0
$GC,14819,5.34,293.9,171.4,28.6,526,14828,0.00,2.30,0.00,0.000,6,0.000,0.079,2576,1955,1077,0,0,1,0,0,0
$GC,15143,5.34,293.9,90.3,23.3,553,15147,0.00,2.30,0.00,0.000,4,0.000,0.089,2575,3360,1077,0,0,0,0,0,0
$GC,15165,5.34,293.9,85.3,21.2,554,15172,0.00,2.28,0.00,0.000,6,0.000,0.074,2576,1935,1078,0,0,0,0,0,0
$GC,15489,5.34,293.9,28.9,11.1,585,15491,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1935,1078,0,0,0,0,0,0
$STATE,15733,end climb,SURFACE_DEPTH_REACHED
$STATE,15733,begin surface coast
$FINISH,-0.2,0.997678
$STATE,15766,end surface coast,CONTROL_FINISHED_OK
$STATE,15766,begin surface
$SM_CCo,15783,3.83,0.521,0,0,1065,300.25
$SM_GC,2.06,0.00,0.00,3.83,0.000,0.000,0.521,19,2317,1065,-8.42,0.45,300.25
$IRIDIUM_FIX,1830.49,-6603.87,240112,070711
$TT8_MAMPS,0.021721
$HUMID,1078755474
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,23.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.8,19.1
$24V_AH,24.2,25.572
$10V_AH,10.4,9.121
$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,23.550,100.775,282.425,3.825,0.000,27.491,30.472,192.399,25.250,0.000,15.440,2000.161,10492.819,400.128,3116.433,117.143,0.000,1714.885,0.000,2676.415,0.000,156.151,0.000
$DEVICE_MAMPS,193.674,129.116,1527.045,521.430,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.787,0.000,930.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327756
$DATA_FILE_SIZE,33497,611
$CAP_FILE_SIZE,160692,0
$CFSIZE,260280320,251940864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,310710,234524,1835.460,-6600.554,74,1.9,93,-12.7