version: 66.07
glider: 33
mission: 17
dive: 6
start: 5 19 110 1 16 3
data:
$ID,33
$MISSION,17
$DIVE,6
$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,500
$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,-218201.92
$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,28
$R_STBD_OVSHOOT,60
$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,400
$ALTIM_PING_DELTA,20
$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
$GPS1,190510,011137,1833.619,-6605.721,11,1.9,16,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-36.7
$GPS2,190510,011443,1833.636,-6605.741,15,1.9,20,-12.7
$SPEED_LIMITS,0.100,0.444
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.415,0.158
$KALMAN_X,526.4,105.8,-256.6,6203.8,56.7
$KALMAN_Y,-66.8,44.9,-407.9,2889.7,318.4
$MHEAD_RNG_PITCHd_Wd,81.9,10987,-9.1,-10.000
$D_GRID,650
$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,-1.36,-488.8,0.0,0.0,0,128,0.00,0.00,-111.47,0.000,2,0.000,0.000,19,1916,2312,0,0,0,0,0,0
$GC,130,-1.36,-488.8,3.6,-5.8,11,189,6.38,0.00,-46.97,0.000,6,0.199,0.000,1248,1917,3730,0,0,0,0,0,0
$GC,506,-1.36,-488.8,60.2,-14.9,47,510,0.00,2.17,0.00,0.000,4,0.000,0.092,1249,3279,3731,0,0,0,0,0,0
$GC,577,-1.36,-488.8,69.9,-13.0,53,584,0.00,2.17,0.00,0.000,6,0.000,0.070,1248,1893,3731,0,0,0,0,0,0
$GC,903,-1.36,-488.8,110.5,-12.2,84,907,0.00,2.20,0.00,0.000,4,0.000,0.097,1248,501,3731,0,0,0,0,0,0
$GC,941,-1.36,-488.8,115.2,-13.6,87,945,0.00,2.08,0.00,0.000,6,0.000,0.067,1248,1893,3731,0,0,0,0,0,0
$GC,1270,-1.36,-488.8,153.4,-11.9,117,1274,0.00,2.17,0.00,0.000,4,0.000,0.087,1249,3288,3731,0,0,0,0,0,0
$GC,1324,-1.36,-488.8,159.7,-10.7,119,1329,0.00,2.17,0.00,0.000,6,0.000,0.072,1248,1901,3731,0,0,0,0,0,0
$GC,1645,-1.36,-488.8,193.8,-10.4,135,1649,0.00,2.22,0.00,0.000,4,0.000,0.092,1248,493,3731,0,0,0,0,0,0
$GC,1712,-1.36,-488.8,201.1,-11.3,138,1716,0.00,2.12,0.00,0.000,6,0.000,0.070,1248,1904,3731,0,0,0,0,0,0
$GC,2045,-1.36,-488.8,239.2,-11.8,154,2049,0.00,2.17,0.00,0.000,4,0.000,0.089,1248,3290,3731,0,0,0,0,0,0
$GC,2087,-1.36,-488.8,244.8,-11.4,156,2093,0.00,2.20,0.00,0.000,6,0.000,0.074,1248,1900,3731,0,0,0,0,0,0
$GC,2416,-1.36,-488.8,284.8,-12.4,172,2420,0.00,2.28,0.00,0.000,4,0.000,0.097,1248,496,3731,0,0,0,0,0,0
$GC,2454,-1.36,-488.8,290.4,-14.5,174,2458,0.00,2.12,0.00,0.000,6,0.000,0.072,1248,1894,3731,0,0,0,0,0,0
$GC,2783,-1.36,-488.8,334.7,-13.3,186,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,1248,1897,3731,0,0,0,0,0,0
$GC,3089,-1.36,-488.8,375.3,-13.6,196,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,1248,1897,3730,0,0,0,0,0,0
$GC,3395,-1.36,-488.8,417.2,-13.5,206,3399,0.00,2.28,0.00,0.000,4,0.000,0.102,1248,506,3730,0,0,0,0,0,0
$GC,3428,-1.36,-488.8,421.8,-14.5,207,3433,0.00,2.15,0.00,0.000,6,0.000,0.077,1248,1893,3730,0,0,0,0,0,0
$GC,3768,-1.36,-488.8,471.9,-15.3,218,3772,0.00,2.30,0.00,0.000,4,0.000,0.099,1248,3307,3730,0,0,0,0,0,0
$GC,3817,-1.36,-488.8,479.2,-14.0,219,3822,0.00,2.28,0.00,0.000,6,0.000,0.084,1248,1910,3730,0,0,0,0,0,0
$GC,4135,-1.36,-488.8,525.7,-14.9,230,4139,0.00,2.33,0.00,0.000,4,0.000,0.109,1248,493,3729,0,0,0,0,0,0
$GC,4196,-1.36,-488.8,535.1,-15.7,232,4201,0.00,2.20,0.00,0.000,6,0.000,0.082,1248,1897,3729,0,0,1,0,0,0
$GC,4530,-1.36,-488.8,588.1,-16.2,243,4534,0.00,2.33,0.00,0.000,4,0.000,0.107,1248,3303,3729,0,0,0,0,0,0
$GC,4562,-1.36,-488.8,593.4,-16.8,244,4567,0.00,2.33,0.00,0.000,6,0.000,0.089,1248,1902,3727,0,0,0,0,0,0
$GC,4897,-1.36,-488.8,645.0,-15.6,255,4901,0.00,2.35,0.00,0.000,4,0.000,0.117,1248,490,3726,0,0,0,0,0,0
$STATE,4928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4928,begin apogee
$GC,4933,-0.42,0.0,650.3,16.1,256,5277,0.90,0.00,339.73,1.212,6,0.122,0.000,1457,1759,2074,0,0,0,0,0,0
$STATE,5278,end apogee,CONTROL_FINISHED_OK
$STATE,5278,begin climb
$GC,5279,1.36,488.8,675.8,0.0,267,5631,1.67,2.65,339.73,1.182,4,0.097,0.129,1843,348,418,0,0,1,0,0,0
$GC,5889,1.36,488.8,635.0,13.1,286,5894,0.00,2.35,0.00,0.000,6,0.000,0.094,1843,1744,416,0,0,1,0,0,0
$GC,6218,1.36,488.8,597.2,11.0,297,6222,0.00,2.45,0.00,0.000,4,0.000,0.124,1843,341,415,0,0,0,0,0,0
$GC,6312,1.36,488.8,586.3,11.7,299,6319,0.00,2.35,0.00,0.000,6,0.000,0.094,1843,1752,414,0,0,1,0,0,0
$GC,6625,1.36,488.8,551.7,11.0,310,6629,0.00,2.45,0.00,0.000,4,0.000,0.124,1843,337,413,0,0,0,0,0,0
$GC,6678,1.36,488.8,545.3,11.6,311,6685,0.00,2.33,0.00,0.000,6,0.000,0.092,1843,1744,413,0,0,1,0,0,0
$GC,6991,1.36,488.8,510.2,11.3,322,6995,0.00,2.40,0.00,0.000,4,0.000,0.122,1843,344,412,0,0,0,0,0,0
$GC,7147,1.36,488.8,491.9,10.8,326,7154,0.00,2.30,0.00,0.000,6,0.000,0.092,1843,1744,411,0,0,1,0,0,0
$GC,7459,1.36,488.8,457.4,11.2,337,7463,0.00,2.40,0.00,0.000,4,0.000,0.119,1843,339,410,0,0,0,0,0,0
$GC,7571,1.36,488.8,444.4,12.0,340,7575,0.00,2.25,0.00,0.000,6,0.000,0.089,1843,1750,410,0,0,1,0,0,0
$GC,7887,1.36,488.8,407.6,12.0,351,7891,0.00,2.40,0.00,0.000,4,0.000,0.114,1843,342,409,0,0,0,0,0,0
$GC,7975,1.36,488.8,396.3,12.3,353,7983,0.00,2.28,0.00,0.000,6,0.000,0.087,1843,1749,409,0,0,1,0,0,0
$GC,8288,1.36,488.8,357.7,12.6,364,8292,0.00,2.38,0.00,0.000,4,0.000,0.112,1843,342,409,0,0,0,0,0,0
$GC,8375,1.36,488.8,345.8,13.0,366,8382,0.00,2.25,0.00,0.000,6,0.000,0.082,1843,1747,409,0,0,1,0,0,0
$GC,8688,1.36,488.8,306.7,12.5,377,8692,0.00,2.38,0.00,0.000,4,0.000,0.109,1843,340,409,0,0,0,0,0,0
$GC,8832,1.36,488.8,285.8,16.2,382,8837,0.00,2.25,0.00,0.000,6,0.000,0.079,1843,1746,409,0,0,1,0,0,0
$GC,9153,1.36,488.8,239.3,15.0,398,9157,0.00,2.33,0.00,0.000,4,0.000,0.107,1843,341,409,0,0,0,0,0,0
$GC,9315,1.36,488.8,214.4,16.2,405,9319,0.00,2.22,0.00,0.000,6,0.000,0.077,1843,1747,409,0,0,1,0,0,0
$GC,9636,1.36,488.8,168.7,14.2,421,9640,0.00,2.35,0.00,0.000,4,0.000,0.102,1843,335,409,0,0,0,0,0,0
$GC,9719,1.36,488.8,156.8,14.8,425,9723,0.00,2.20,0.00,0.000,6,0.000,0.074,1843,1757,409,0,0,0,0,0,0
$GC,10048,1.36,488.8,109.4,13.9,453,10051,0.00,2.30,0.00,0.000,4,0.000,0.099,1843,344,409,0,0,0,0,0,0
$GC,10220,1.36,488.8,83.5,13.5,468,10227,0.00,2.20,0.00,0.000,6,0.000,0.067,1843,1756,409,0,0,0,0,0,0
$GC,10545,1.36,488.8,41.2,13.3,499,10549,0.00,2.30,0.00,0.000,4,0.000,0.094,1843,338,410,0,0,0,0,0,0
$GC,10633,1.36,488.8,28.6,13.8,506,10640,0.00,2.17,0.00,0.000,6,0.000,0.065,1843,1753,411,0,0,0,0,0,0
$STATE,10830,end climb,SURFACE_DEPTH_REACHED
$STATE,10830,begin surface coast
$FINISH,-0.2,0.997049
$STATE,10852,end surface coast,CONTROL_FINISHED_OK
$STATE,10852,begin surface
$SM_CCo,10926,0.00,0.000,0,0,411,490.96
$SM_GC,0.49,7.15,0.00,0.00,0.067,0.000,0.000,14,1911,411,-6.97,0.31,490.96
$IRIDIUM_FIX,1828.22,-6604.79,111111,191910
$TT8_MAMPS,0.020972
$HUMID,1078179990
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,24.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,21.4
$24V_AH,24.6,1.511
$10V_AH,10.5,0.479
$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,16.100,104.800,679.450,0.000,0.000,0.000,0.000,0.000,4.250,0.000,20.905,1022.326,7727.242,792.674,1410.581,71.746,33.343,1564.521,0.000,1297.732,0.000,30.227,0.000
$DEVICE_MAMPS,198.640,129.116,1211.704,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.626,0.000,803.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328972
$DATA_FILE_SIZE,30231,527
$CAP_FILE_SIZE,124081,0
$CFSIZE,260280320,254488576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,190510,041927,1833.827,-6603.689,26,2.1,45,-12.7