version: 66.07
glider: 33
mission: 22
dive: 35
start: 8 9 110 11 20 44
data:
$ID,33
$MISSION,22
$DIVE,35
$D_SURF,4
$D_FLARE,3
$D_TGT,1200
$D_ABORT,5999
$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,400
$T_MISSION,2430
$T_ABORT,2460
$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,1
$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,-230322.89
$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,28
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,360
$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,4000
$ALTIM_PING_DELTA,20
$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
$GPS1,090810,111555,1925.138,-6556.168,9,1.0,9,-12.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-45.3
$GPS2,090810,111950,1925.149,-6556.164,12,1.9,12,-12.9
$SPEED_LIMITS,0.100,0.247
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.089,-0.230
$KALMAN_X,9831.8,-742.4,754.7,-16993.8,-2363.1
$KALMAN_Y,59247.4,1043.8,457.4,-52206.6,2299.8
$MHEAD_RNG_PITCHd_Wd,171.9,91272,-19.6,-10.000
$D_GRID,1200
$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,-1.41,-146.6,0.0,0.0,0,129,0.00,0.00,-111.03,0.000,2,0.000,0.000,12,2310,2014,0,0,0,0,0,0
$GC,131,-1.41,-146.6,3.0,-4.9,11,166,7.95,2.25,-22.12,0.000,4,0.194,0.077,1537,889,2579,0,0,0,0,0,0
$GC,239,-1.37,-146.6,19.0,-17.6,20,245,0.00,2.20,0.00,0.000,6,0.000,0.065,1537,2307,2579,0,0,0,0,0,0
$GC,564,-1.37,-146.6,59.6,-9.0,51,568,0.00,2.25,0.00,0.000,4,0.000,0.092,1537,3690,2579,0,0,0,0,0,0
$GC,883,-1.40,-146.6,87.3,-7.3,79,888,0.00,2.15,0.00,0.000,6,0.000,0.060,1537,2267,2579,0,0,0,0,0,0
$GC,1208,-1.42,-146.6,109.7,-6.7,110,1212,0.00,2.30,0.00,0.000,4,0.000,0.089,1537,3695,2578,0,0,0,0,0,0
$GC,1830,-1.45,-146.6,154.4,-6.5,163,1836,0.00,2.12,0.00,0.000,6,0.000,0.062,1537,2301,2577,0,0,0,0,0,0
$GC,2146,-1.47,-146.6,176.6,-7.6,179,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,2302,2576,0,0,0,0,0,0
$GC,2455,-1.50,-146.6,199.6,-7.1,194,2459,0.00,2.28,0.00,0.000,4,0.000,0.102,1537,3689,2576,0,0,0,0,0,0
$GC,2515,-1.50,-146.6,204.5,-7.9,196,2521,0.00,2.12,0.00,0.000,6,0.000,0.062,1537,2305,2576,0,0,0,0,0,0
$GC,2831,-1.53,-146.6,228.0,-7.6,212,2835,0.00,2.28,0.00,0.000,4,0.000,0.092,1537,3692,2575,0,0,0,0,0,0
$GC,2966,-1.53,-146.6,239.2,-8.7,218,2970,0.00,2.12,0.00,0.000,6,0.000,0.065,1537,2299,2575,0,0,0,0,0,0
$GC,3297,-1.55,-146.6,268.1,-9.1,234,3302,0.10,2.30,0.00,0.000,4,0.117,0.094,1499,3699,2574,0,0,1,0,0,0
$GC,3380,-1.52,-146.6,278.0,-12.3,237,3386,0.00,2.15,0.00,0.000,6,0.000,0.065,1499,2306,2573,0,0,0,0,0,0
$GC,3715,-1.50,-146.6,315.3,-11.4,252,3719,0.12,2.30,0.00,0.000,4,0.156,0.094,1524,3698,2571,0,0,1,0,0,0
$GC,3825,-1.50,-146.6,327.8,-11.8,255,3830,0.00,2.17,0.00,0.000,6,0.000,0.065,1524,2308,2570,0,0,0,0,0,0
$GC,4155,-1.50,-146.6,363.6,-11.1,266,4159,0.00,2.28,0.00,0.000,4,0.000,0.094,1524,3696,2568,0,0,0,0,0,0
$GC,4226,-1.50,-146.6,372.2,-11.0,268,4231,0.00,2.17,0.00,0.000,6,0.000,0.065,1524,2307,2568,0,0,0,0,0,0
$GC,4560,-1.50,-146.6,407.9,-10.3,279,4564,0.00,2.30,0.00,0.000,4,0.000,0.104,1524,3687,2567,0,0,0,0,0,0
$GC,4648,-1.50,-146.6,417.9,-11.7,281,4653,0.00,2.17,0.00,0.000,6,0.000,0.065,1524,2299,2566,0,0,0,0,0,0
$GC,4966,-1.50,-146.6,451.5,-10.7,292,4970,0.00,2.33,0.00,0.000,4,0.000,0.107,1524,3688,2565,0,0,0,0,0,0
$GC,5021,-1.50,-146.6,457.8,-11.7,293,5026,0.00,2.17,0.00,0.000,6,0.000,0.067,1524,2305,2564,0,0,0,0,0,0
$GC,5340,-1.50,-146.6,494.6,-12.0,304,5344,0.00,2.33,0.00,0.000,4,0.000,0.107,1524,3688,2563,0,0,0,0,0,0
$GC,5483,-1.50,-146.6,513.1,-13.0,308,5489,0.00,2.22,0.00,0.000,6,0.000,0.079,1524,2297,2562,0,0,0,0,0,0
$GC,5814,-1.50,-146.6,554.6,-12.8,319,5818,0.00,2.35,0.00,0.000,4,0.000,0.109,1524,3688,2561,0,0,0,0,0,0
$GC,5925,-1.50,-146.6,569.7,-14.8,322,5930,0.00,2.22,0.00,0.000,6,0.000,0.082,1524,2303,2560,0,0,0,0,0,0
$GC,6256,-1.50,-146.6,615.2,-14.2,333,6260,0.00,2.35,0.00,0.000,4,0.000,0.112,1524,3685,2558,0,0,0,0,0,0
$GC,6366,-1.48,-146.6,631.5,-14.5,336,6371,0.00,2.22,0.00,0.000,6,0.000,0.072,1524,2304,2557,0,0,0,0,0,0
$GC,6696,-1.48,-146.6,678.4,-14.5,347,6700,0.00,2.35,0.00,0.000,4,0.000,0.104,1524,3687,2556,0,0,0,0,0,0
$GC,6755,-1.48,-146.6,688.1,-16.3,348,6762,0.00,2.25,0.00,0.000,6,0.000,0.074,1524,2301,2555,0,0,0,0,0,0
$GC,7068,-1.48,-146.6,733.9,-14.6,359,7072,0.00,2.38,0.00,0.000,4,0.000,0.107,1524,3687,2553,0,0,1,0,0,0
$GC,7144,-1.48,-146.6,746.1,-16.5,361,7149,0.00,2.25,0.00,0.000,6,0.000,0.077,1524,2303,2553,0,0,0,0,0,0
$GC,7474,-1.48,-146.6,795.7,-15.2,372,7478,0.00,2.40,0.00,0.000,4,0.000,0.109,1524,3691,2551,0,0,0,0,0,0
$GC,7551,-1.45,-146.6,807.9,-16.2,374,7556,0.00,2.28,0.00,0.000,6,0.000,0.079,1524,2304,2550,0,0,0,0,0,0
$GC,7882,-1.43,-146.6,859.7,-16.0,385,7886,0.00,2.38,0.00,0.000,4,0.000,0.112,1524,3685,2549,0,0,0,0,0,0
$GC,8021,-1.41,-146.6,882.9,-16.6,389,8026,0.00,2.22,0.00,0.000,6,0.000,0.082,1524,2302,2548,0,0,0,0,0,0
$GC,8357,-1.41,-146.6,936.7,-16.4,400,8361,0.00,2.42,0.00,0.000,4,0.000,0.114,1524,3685,2546,0,0,0,0,0,0
$GC,8485,-1.39,-146.6,958.0,-16.9,403,8491,0.10,2.28,0.00,0.000,6,0.166,0.084,1544,2300,2544,0,0,0,0,0,0
$GC,8796,-1.39,-146.6,1002.7,-14.0,414,8800,0.00,2.42,0.00,0.000,4,0.000,0.117,1544,3685,2543,0,0,1,0,0,0
$GC,8817,-1.39,-146.6,1005.8,-14.3,414,8823,0.00,2.30,0.00,0.000,6,0.000,0.082,1544,2303,2542,0,0,0,0,0,0
$GC,9166,-1.39,-146.6,1052.9,-13.5,420,9170,0.00,2.45,0.00,0.000,4,0.000,0.119,1544,3687,2540,0,0,0,0,0,0
$GC,9253,-1.39,-146.6,1065.1,-14.6,421,9258,0.00,2.33,0.00,0.000,6,0.000,0.084,1544,2296,2540,0,0,0,0,0,0
$GC,9602,-1.39,-146.6,1112.2,-13.6,427,9606,0.00,2.47,0.00,0.000,4,0.000,0.122,1544,3687,2539,0,0,0,0,0,0
$GC,9696,-1.39,-146.6,1125.8,-14.5,428,9701,0.00,2.33,0.00,0.000,6,0.000,0.087,1544,2306,2538,0,0,0,0,0,0
$GC,10039,-1.39,-146.6,1173.5,-14.0,434,10043,0.00,2.45,0.00,0.000,4,0.000,0.122,1544,3688,2537,0,0,0,0,0,0
$GC,10071,-1.39,-146.6,1178.4,-16.2,434,10075,0.00,2.35,0.00,0.000,6,0.000,0.087,1544,2295,2536,0,0,0,0,0,0
$STATE,10225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10225,begin apogee
$GC,10230,-0.31,0.0,1200.2,14.3,437,10335,1.08,0.00,102.32,1.659,6,0.124,0.000,1780,1948,2082,0,0,0,0,0,0
$STATE,10336,end apogee,CONTROL_FINISHED_OK
$STATE,10336,begin climb
$GC,10338,1.41,146.6,1203.4,0.0,438,10462,1.60,2.78,112.50,1.619,4,0.084,0.139,2156,546,1585,0,0,0,0,0,0
$GC,10501,1.90,506.5,1216.5,-6.4,440,10804,0.45,2.40,293.62,1.607,6,0.070,0.094,2272,1929,366,0,0,1,0,0,0
$GC,11136,1.83,506.5,1130.4,20.0,451,11141,0.10,2.50,0.00,0.000,4,0.166,0.129,2251,546,363,0,0,1,0,0,0
$GC,11203,1.78,506.5,1117.4,18.6,452,11207,0.00,2.38,0.00,0.000,6,0.000,0.099,2251,1952,361,0,0,1,0,0,0
$GC,11568,1.74,506.5,1050.9,18.1,458,11570,0.10,0.00,0.00,0.000,6,0.171,0.000,2231,1952,361,0,0,0,0,0,0
$GC,11871,1.74,506.5,999.5,16.9,463,11875,0.00,2.55,0.00,0.000,4,0.000,0.132,2231,546,361,0,0,0,0,0,0
$GC,11973,1.71,506.5,981.7,17.3,466,11977,0.00,2.38,0.00,0.000,6,0.000,0.102,2231,1950,360,0,0,1,0,0,0
$GC,12312,1.71,506.5,923.4,17.1,477,12316,0.00,2.53,0.00,0.000,4,0.000,0.129,2231,546,359,0,0,0,0,0,0
$GC,12372,1.68,506.5,912.6,16.3,478,12378,0.00,2.40,0.00,0.000,6,0.000,0.099,2231,1955,359,0,0,1,0,0,0
$GC,12684,1.68,506.5,858.0,17.7,489,12685,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1954,359,0,0,0,0,0,0
$GC,12992,1.68,506.5,802.9,18.0,499,12996,0.00,2.53,0.00,0.000,4,0.000,0.129,2231,546,359,0,0,0,0,0,0
$GC,13081,1.66,506.5,785.8,19.1,501,13086,0.00,2.38,0.00,0.000,6,0.000,0.097,2231,1943,359,0,0,1,0,0,0
$GC,13399,1.66,506.5,728.5,18.1,512,13403,0.00,2.50,0.00,0.000,4,0.000,0.127,2231,546,359,0,0,0,0,0,0
$GC,13475,1.63,506.5,714.0,18.8,514,13481,0.10,2.38,0.00,0.000,6,0.132,0.094,2195,1952,359,0,0,1,0,0,0
$GC,13806,1.65,506.5,662.0,15.7,525,13810,0.00,2.50,0.00,0.000,4,0.000,0.122,2195,541,359,0,0,0,0,0,0
$GC,13873,1.65,506.5,650.6,15.9,527,13878,0.00,2.33,0.00,0.000,6,0.000,0.094,2195,1952,359,0,0,1,0,0,0
$GC,14213,1.65,506.5,598.0,15.2,538,14214,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,1952,359,0,0,0,0,0,0
$GC,14520,1.65,506.5,548.3,16.5,548,14524,0.00,2.47,0.00,0.000,4,0.000,0.117,2195,545,359,0,0,0,0,0,0
$GC,14613,1.65,506.5,531.5,17.5,550,14620,0.00,2.33,0.00,0.000,6,0.000,0.087,2195,1950,359,0,0,1,0,0,0
$GC,14926,1.65,506.5,475.4,18.5,561,14927,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,1950,359,0,0,0,0,0,0
$GC,15233,1.65,506.5,415.9,19.5,571,15237,0.00,2.45,0.00,0.000,4,0.000,0.112,2195,543,359,0,0,0,0,0,0
$GC,15377,1.63,506.5,386.1,20.7,575,15382,0.00,2.30,0.00,0.000,6,0.000,0.082,2195,1949,359,0,0,1,0,0,0
$GC,15708,1.60,506.5,319.3,21.0,586,15712,0.00,2.40,0.00,0.000,4,0.000,0.107,2195,544,359,0,0,0,0,0,0
$GC,15786,1.56,506.5,301.8,22.0,588,15790,0.00,2.25,0.00,0.000,6,0.000,0.077,2195,1958,359,0,0,0,0,0,0
$GC,16118,1.52,506.5,229.0,22.1,604,16122,0.00,2.40,0.00,0.000,4,0.000,0.102,2195,544,359,0,0,0,0,0,0
$GC,16254,1.46,506.5,198.8,22.2,610,16259,0.12,2.25,0.00,0.000,6,0.156,0.074,2170,1956,359,0,0,0,0,0,0
$GC,16577,1.46,506.5,130.9,20.2,629,16578,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1956,359,0,0,0,0,0,0
$GC,16895,1.46,506.5,65.1,21.3,659,16896,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1956,359,0,0,0,0,0,0
$GC,17214,1.50,506.5,17.3,14.1,689,17218,0.00,2.35,0.00,0.000,4,0.000,0.099,2170,542,359,0,0,0,0,0,0
$GC,17252,1.50,506.5,11.7,13.9,692,17259,0.00,2.20,0.00,0.000,6,0.000,0.062,2170,1958,359,0,0,0,0,0,0
$STATE,17310,end climb,SURFACE_DEPTH_REACHED
$STATE,17310,begin surface coast
$FINISH,0.4,NaN
$STATE,17332,end surface coast,CONTROL_FINISHED_OK
$STATE,17333,begin surface
$SM_CCo,17408,0.00,0.000,0,0,359,508.68
$SM_GC,0.84,8.52,0.00,0.00,0.062,0.000,0.000,15,2307,359,-8.34,0.20,508.68
$IRIDIUM_FIX,1918.37,-6554.36,020212,050518
$TT8_MAMPS,0.021721
$HUMID,1078685797
$INTERNAL_PRESSURE,7.7542
$TCM_TEMP,23.50
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.1,17.5
$24V_AH,23.5,33.503
$10V_AH,10.5,11.595
$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,20.350,159.425,508.450,0.000,0.000,0.000,0.000,0.000,2.750,0.000,13.158,1403.652,12800.805,622.398,2505.400,141.280,33.366,1753.080,0.000,1970.859,0.000,2.650,0.000
$DEVICE_MAMPS,193.674,139.048,1658.644,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1477.677,0.000,1087.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326392
$DATA_FILE_SIZE,36861,700
$CAP_FILE_SIZE,316652,0
$CFSIZE,260280320,249729024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,090810,161207,1923.075,-6555.106,42,1.2,43,-12.9