version: 66.07
glider: 33
mission: 17
dive: 5
start: 5 18 110 22 16 19
data:
$ID,33
$MISSION,17
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-10
$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,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-217995.52
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,1900
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,2074
$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,-20.171059
$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,300
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,180510,220922,1833.135,-6606.713,11,2.3,30,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-37.6
$GPS2,180510,221504,1833.142,-6606.740,10,2.2,29,-12.7
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.226,0.136
$KALMAN_X,642.8,253.1,-94.6,4021.9,-178.5
$KALMAN_Y,64.8,160.2,-242.6,1569.0,-416.5
$MHEAD_RNG_PITCHd_Wd,71.8,12960,-18.1,-10.000
$D_GRID,487
$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,-1.69,-146.6,0.0,0.0,0,128,0.00,0.00,-111.43,0.000,2,0.000,0.000,18,1868,2277,0,0,0,0,0,0
$GC,130,-1.69,-146.6,3.3,-5.3,11,155,6.07,2.30,-12.18,0.000,4,0.206,0.079,1175,3295,2572,0,0,0,0,0,0
$GC,323,-1.69,-146.6,31.1,-15.0,28,329,0.00,2.17,0.00,0.000,6,0.000,0.070,1175,1876,2572,0,0,0,0,0,0
$GC,647,-1.69,-146.6,76.1,-11.8,59,649,0.00,0.00,0.00,0.000,6,0.000,0.000,1175,1876,2572,0,0,0,0,0,0
$GC,966,-1.69,-146.6,114.3,-10.7,89,970,0.00,2.25,0.00,0.000,4,0.000,0.089,1175,3295,2572,0,0,0,0,0,0
$GC,1320,-1.69,-146.6,152.2,-9.4,119,1323,0.00,2.12,0.00,0.000,6,0.000,0.070,1175,1897,2572,0,0,0,0,0,0
$GC,1651,-1.69,-146.6,182.5,-10.1,135,1654,0.00,2.22,0.00,0.000,4,0.000,0.092,1175,3296,2572,0,0,0,0,0,0
$GC,1958,-1.69,-146.6,214.8,-10.8,148,1965,0.00,2.17,0.00,0.000,6,0.000,0.072,1175,1907,2572,0,0,0,0,0,0
$GC,2273,-1.69,-146.6,250.1,-11.5,164,2277,0.00,2.22,0.00,0.000,4,0.000,0.092,1175,500,2572,0,0,0,0,0,0
$GC,2318,-1.69,-146.6,255.6,-11.7,166,2322,0.00,2.10,0.00,0.000,6,0.000,0.072,1175,1894,2571,0,0,0,0,0,0
$GC,2649,-1.69,-146.6,295.9,-12.7,182,2653,0.00,2.22,0.00,0.000,4,0.000,0.089,1175,3296,2571,0,0,0,0,0,0
$GC,2754,-1.69,-146.6,310.3,-14.5,186,2759,0.00,2.20,0.00,0.000,6,0.000,0.074,1175,1907,2572,0,0,0,0,0,0
$GC,3089,-1.69,-146.6,354.9,-13.4,197,3093,0.00,2.25,0.00,0.000,4,0.000,0.092,1175,3301,2572,0,0,0,0,0,0
$GC,3205,-1.69,-146.6,371.5,-15.1,200,3210,0.00,2.22,0.00,0.000,6,0.000,0.077,1175,1906,2571,0,0,0,0,0,0
$GC,3523,-1.69,-146.6,417.3,-14.9,211,3527,0.00,2.22,0.00,0.000,4,0.000,0.092,1175,3294,2571,0,0,0,0,0,0
$GC,3566,-1.69,-146.6,424.0,-15.4,212,3571,0.00,2.22,0.00,0.000,6,0.000,0.079,1175,1908,2571,0,0,0,0,0,0
$GC,3890,-1.69,-146.6,473.4,-16.0,223,3894,0.00,2.30,0.00,0.000,4,0.000,0.102,1175,503,2571,0,0,0,0,0,0
$GC,3917,-1.69,-146.6,477.9,-16.9,223,3924,0.00,2.20,0.00,0.000,6,0.000,0.077,1175,1882,2571,0,0,0,0,0,0
$STATE,3983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3983,begin apogee
$GC,3987,-0.42,0.0,488.6,16.0,226,4092,1.27,0.00,101.43,1.090,6,0.134,0.000,1459,1751,2074,0,0,0,0,0,0
$STATE,4093,end apogee,CONTROL_FINISHED_OK
$STATE,4093,begin climb
$GC,4094,1.69,146.6,493.4,0.0,229,4205,1.95,2.53,101.80,1.055,4,0.097,0.114,1926,352,1577,0,0,0,0,0,0
$GC,4356,1.83,260.5,488.5,4.8,237,4443,0.00,2.28,78.38,1.045,6,0.000,0.082,1926,1762,1191,0,0,1,0,0,0
$GC,4748,1.83,260.5,448.0,11.4,250,4750,0.10,0.00,0.00,0.000,6,0.119,0.000,1958,1762,1191,0,0,0,0,0,0
$GC,5054,1.83,260.5,412.6,11.5,260,5059,0.00,2.38,0.00,0.000,4,0.000,0.109,1959,344,1189,0,0,0,0,0,0
$GC,5205,1.83,260.5,393.0,13.3,264,5210,0.00,2.25,0.00,0.000,6,0.000,0.084,1958,1742,1189,0,0,1,0,0,0
$GC,5522,1.83,260.5,353.7,12.7,275,5527,0.00,2.33,0.00,0.000,4,0.000,0.109,1958,348,1188,0,0,0,0,0,0
$GC,5701,1.83,260.5,329.9,13.4,280,5706,0.00,2.25,0.00,0.000,6,0.000,0.082,1958,1753,1187,0,0,1,0,0,0
$GC,6025,1.83,260.5,290.7,12.0,292,6029,0.00,2.28,0.00,0.000,4,0.000,0.097,1958,3152,1186,0,0,0,0,0,0
$GC,6051,1.83,260.5,287.0,12.3,293,6056,0.00,2.28,0.00,0.000,6,0.000,0.087,1958,1755,1186,0,0,1,0,0,0
$GC,6378,1.83,260.5,243.6,14.3,309,6382,0.00,2.33,0.00,0.000,4,0.000,0.107,1958,343,1186,0,0,0,0,0,0
$GC,6489,1.83,260.5,226.2,16.9,314,6494,0.00,2.22,0.00,0.000,6,0.000,0.077,1958,1751,1186,0,0,1,0,0,0
$GC,6816,1.83,260.5,178.7,14.6,330,6820,0.00,2.30,0.00,0.000,4,0.000,0.102,1958,342,1186,0,0,0,0,0,0
$GC,6909,1.83,260.5,165.3,13.9,334,6914,0.00,2.22,0.00,0.000,6,0.000,0.074,1958,1750,1185,0,0,0,0,0,0
$GC,7237,1.83,260.5,120.3,13.8,360,7241,0.00,2.20,0.00,0.000,4,0.000,0.089,1958,3149,1185,0,0,0,0,0,0
$GC,7251,1.83,260.5,118.1,14.8,361,7258,0.00,2.25,0.00,0.000,6,0.000,0.077,1958,1748,1185,0,0,0,0,0,0
$GC,7576,1.87,294.6,79.5,8.4,392,7601,0.00,0.00,22.40,0.804,6,0.000,0.000,1958,1748,1076,0,0,0,0,0,0
$GC,7915,1.87,294.6,38.2,12.7,424,7919,0.00,2.28,0.00,0.000,4,0.000,0.094,1958,344,1076,0,0,0,0,0,0
$GC,8050,1.87,294.6,21.7,13.2,436,8055,0.00,2.17,0.00,0.000,6,0.000,0.067,1958,1769,1076,0,0,0,0,0,0
$STATE,8203,end climb,SURFACE_DEPTH_REACHED
$STATE,8203,begin surface coast
$FINISH,-0.2,0.997742
$STATE,8236,end surface coast,CONTROL_FINISHED_OK
$STATE,8236,begin surface
$SM_CCo,8250,102.03,0.760,0,0,548,450.22
$SM_GC,0.44,0.00,0.00,102.03,0.000,0.000,0.760,19,1912,548,-7.04,0.34,450.22
$IRIDIUM_FIX,1825.94,-6604.79,111111,161642
$TT8_MAMPS,0.020972
$HUMID,1078154184
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,24.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.4
$24V_AH,24.9,1.240
$10V_AH,10.7,0.408
$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,16.950,72.300,304.000,102.025,0.000,0.000,0.000,0.000,2.750,0.000,31.809,893.690,5775.421,524.418,1208.559,57.722,33.336,1144.563,0.000,1108.662,0.000,16.794,0.000
$DEVICE_MAMPS,206.089,114.218,1090.037,759.798,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.238,0.000,690.489,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328948
$DATA_FILE_SIZE,23630,453
$CAP_FILE_SIZE,111526,0
$CFSIZE,260280320,254554112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,190510,003649,1833.446,-6605.504,31,1.4,43,-12.7