version: 66.07
glider: 33
mission: 17
dive: 7
start: 5 19 110 4 25 10
data:
$ID,33
$MISSION,17
$DIVE,7
$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,-218203.17
$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,22
$R_STBD_OVSHOOT,51
$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
$GPS1,190510,041927,1833.827,-6603.689,26,2.1,45,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-36.0
$GPS2,190510,042349,1833.828,-6603.706,16,2.0,16,-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,0.357,0.264
$KALMAN_X,-843.5,-402.9,-198.2,11604.6,-860.4
$KALMAN_Y,-1708.7,-373.7,-36.8,4944.3,-1166.9
$MHEAD_RNG_PITCHd_Wd,66.2,7648,-9.1,-10.000
$D_GRID,728
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.36,-488.8,0.0,0.0,0,137,0.00,0.00,-121.15,0.000,2,0.000,0.000,13,1912,2168,0,0,0,0,0,0
$GC,139,-1.36,-488.8,3.2,-4.4,12,208,6.47,2.22,-54.00,0.000,4,0.201,0.079,1251,3280,3732,0,0,0,0,0,0
$GC,246,-1.36,-488.8,18.5,-12.6,22,253,0.00,2.22,0.00,0.000,6,0.000,0.067,1251,1878,3732,0,0,0,0,0,0
$GC,571,-1.36,-488.8,67.6,-15.1,53,575,0.00,2.22,0.00,0.000,4,0.000,0.082,1251,3288,3732,0,0,0,0,0,0
$GC,632,-1.36,-488.8,76.1,-13.9,58,636,0.00,2.15,0.00,0.000,6,0.000,0.072,1251,1899,3732,0,0,0,0,0,0
$GC,962,-1.36,-488.8,116.2,-11.4,89,966,0.00,2.22,0.00,0.000,4,0.000,0.094,1251,496,3732,0,0,0,0,0,0
$GC,994,-1.36,-488.8,119.9,-12.2,91,1001,0.00,2.12,0.00,0.000,6,0.000,0.065,1251,1894,3732,0,0,0,0,0,0
$GC,1319,-1.36,-488.8,152.6,-10.4,121,1323,0.00,2.20,0.00,0.000,4,0.000,0.089,1251,503,3732,0,0,0,0,0,0
$GC,1344,-1.36,-488.8,155.6,-10.4,122,1350,0.00,2.12,0.00,0.000,6,0.000,0.065,1251,1893,3732,0,0,0,0,0,0
$GC,1667,-1.36,-488.8,192.5,-11.2,138,1671,0.00,2.17,0.00,0.000,4,0.000,0.087,1251,3289,3733,0,0,0,0,0,0
$GC,1715,-1.36,-488.8,197.7,-10.2,140,1720,0.00,2.17,0.00,0.000,6,0.000,0.070,1251,1903,3733,0,0,0,0,0,0
$GC,2038,-1.36,-488.8,235.4,-12.3,156,2042,0.00,2.22,0.00,0.000,4,0.000,0.092,1251,493,3734,0,0,0,0,0,0
$GC,2063,-1.36,-488.8,238.7,-12.0,157,2069,0.00,2.17,0.00,0.000,6,0.000,0.067,1251,1895,3733,0,0,0,0,0,0
$GC,2384,-1.36,-488.8,276.9,-12.4,173,2388,0.00,2.22,0.00,0.000,4,0.000,0.089,1251,3295,3734,0,0,0,0,0,0
$GC,2423,-1.36,-488.8,281.7,-12.3,175,2427,0.00,2.20,0.00,0.000,6,0.000,0.077,1251,1893,3733,0,0,0,0,0,0
$GC,2742,-1.36,-488.8,320.5,-12.0,188,2746,0.00,2.22,0.00,0.000,4,0.000,0.097,1251,501,3734,0,0,0,0,0,0
$GC,2786,-1.36,-488.8,326.2,-12.1,189,2791,0.00,2.17,0.00,0.000,6,0.000,0.072,1251,1890,3734,0,0,0,0,0,0
$GC,3115,-1.36,-488.8,367.0,-12.7,200,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,1251,1892,3734,0,0,0,0,0,0
$GC,3422,-1.36,-488.8,408.6,-14.6,210,3426,0.00,2.25,0.00,0.000,4,0.000,0.099,1251,503,3733,0,0,0,0,0,0
$GC,3450,-1.36,-488.8,412.4,-14.9,211,3454,0.00,2.20,0.00,0.000,6,0.000,0.077,1251,1894,3733,0,0,0,0,0,0
$GC,3789,-1.36,-488.8,459.9,-14.1,222,3794,0.00,2.28,0.00,0.000,4,0.000,0.099,1251,3302,3733,0,0,0,0,0,0
$GC,3842,-1.36,-488.8,467.2,-13.3,223,3848,0.00,2.25,0.00,0.000,6,0.000,0.082,1251,1916,3733,0,0,0,0,0,0
$GC,4161,-1.36,-488.8,513.1,-15.3,234,4165,0.00,2.33,0.00,0.000,4,0.000,0.107,1251,493,3733,0,0,0,0,0,0
$GC,4210,-1.36,-488.8,520.9,-15.7,235,4214,0.00,2.20,0.00,0.000,6,0.000,0.082,1251,1902,3733,0,0,1,0,0,0
$GC,4523,-1.36,-488.8,567.5,-14.8,245,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,1251,1905,3733,0,0,0,0,0,0
$GC,4828,-1.36,-488.8,613.2,-14.6,255,4832,0.00,2.35,0.00,0.000,4,0.000,0.112,1251,496,3733,0,0,0,0,0,0
$GC,4878,-1.36,-488.8,620.9,-15.0,256,4882,0.00,2.22,0.00,0.000,6,0.000,0.087,1251,1901,3733,0,0,1,0,0,0
$GC,5190,-1.36,-488.8,666.4,-14.9,266,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,1251,1904,3732,0,0,0,0,0,0
$GC,5495,-1.36,-488.8,712.5,-15.2,276,5499,0.00,2.42,0.00,0.000,4,0.000,0.119,1251,493,3732,0,0,0,0,0,0
$GC,5538,-1.36,-488.8,719.8,-17.4,277,5547,0.00,2.30,0.00,0.000,6,0.000,0.094,1251,1889,3732,0,0,1,0,0,0
$STATE,5618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5618,begin apogee
$GC,5622,-0.42,0.0,732.3,16.2,280,5973,0.90,0.00,347.30,1.269,6,0.122,0.000,1456,1754,2074,0,0,0,0,0,0
$STATE,5974,end apogee,CONTROL_FINISHED_OK
$STATE,5974,begin climb
$GC,5975,1.36,488.8,764.7,0.0,291,6333,1.70,2.67,346.23,1.246,4,0.099,0.134,1845,342,418,0,0,0,0,0,0
$GC,6478,1.36,488.8,749.8,11.5,306,6483,0.00,2.45,0.00,0.000,6,0.000,0.099,1845,1748,417,0,0,1,0,0,0
$GC,6807,1.40,525.1,716.9,9.5,317,6839,0.00,2.60,23.00,1.172,4,0.000,0.134,1845,351,295,0,0,1,0,0,0
$GC,6922,1.40,525.1,704.8,11.2,320,6926,0.00,2.42,0.00,0.000,6,0.000,0.099,1845,1752,294,0,0,1,0,0,0
$GC,7245,1.40,525.1,672.9,10.2,331,7249,0.00,2.53,0.00,0.000,4,0.000,0.129,1845,339,293,0,0,0,0,0,0
$GC,7350,1.40,525.1,660.4,12.7,334,7355,0.00,2.40,0.00,0.000,6,0.000,0.099,1845,1752,293,0,0,1,0,0,0
$GC,7679,1.40,525.1,626.2,10.2,345,7684,0.00,2.50,0.00,0.000,4,0.000,0.129,1845,344,292,0,0,0,0,0,0
$GC,7774,1.40,525.1,615.9,12.0,348,7778,0.00,2.35,0.00,0.000,6,0.000,0.099,1845,1755,291,0,0,1,0,0,0
$GC,8114,1.40,525.1,582.3,10.0,359,8118,0.00,2.45,0.00,0.000,4,0.000,0.124,1845,346,291,0,0,0,0,0,0
$GC,8242,1.40,525.1,567.6,12.1,363,8246,0.00,2.33,0.00,0.000,6,0.000,0.097,1845,1750,291,0,0,1,0,0,0
$GC,8581,1.40,525.1,531.0,10.6,374,8585,0.00,2.45,0.00,0.000,4,0.000,0.122,1845,345,290,0,0,0,0,0,0
$GC,8658,1.40,525.1,521.6,12.2,376,8663,0.00,2.33,0.00,0.000,6,0.000,0.094,1845,1747,290,0,0,1,0,0,0
$GC,8982,1.40,525.1,486.0,10.8,387,8986,0.00,2.40,0.00,0.000,4,0.000,0.119,1845,344,290,0,0,0,0,0,0
$GC,9058,1.40,525.1,476.9,12.5,389,9063,0.00,2.30,0.00,0.000,6,0.000,0.092,1845,1744,290,0,0,1,0,0,0
$GC,9382,1.40,525.1,438.2,12.6,400,9386,0.00,2.40,0.00,0.000,4,0.000,0.117,1845,344,289,0,0,0,0,0,0
$GC,9515,1.40,525.1,419.2,14.6,404,9520,0.00,2.28,0.00,0.000,6,0.000,0.089,1845,1755,290,0,0,1,0,0,0
$GC,9855,1.40,525.1,376.4,12.0,415,9859,0.00,2.40,0.00,0.000,4,0.000,0.112,1845,344,289,0,0,0,0,0,0
$GC,9960,1.40,525.1,361.9,14.6,418,9965,0.00,2.28,0.00,0.000,6,0.000,0.084,1845,1750,289,0,0,1,0,0,0
$GC,10289,1.40,525.1,314.4,14.9,429,10294,0.00,2.35,0.00,0.000,4,0.000,0.109,1845,342,290,0,0,0,0,0,0
$GC,10428,1.40,525.1,293.1,15.7,433,10433,0.00,2.25,0.00,0.000,6,0.000,0.079,1845,1745,290,0,0,1,0,0,0
$GC,10749,1.40,525.1,245.4,16.1,449,10753,0.00,2.35,0.00,0.000,4,0.000,0.107,1845,342,290,0,0,0,0,0,0
$GC,10882,1.40,525.1,224.3,15.1,455,10887,0.00,2.22,0.00,0.000,6,0.000,0.077,1845,1746,290,0,0,1,0,0,0
$GC,11210,1.40,525.1,178.7,14.9,471,11215,0.00,2.33,0.00,0.000,4,0.000,0.102,1845,334,290,0,0,0,0,0,0
$GC,11281,1.40,525.1,166.6,18.1,474,11287,0.00,2.22,0.00,0.000,6,0.000,0.072,1845,1744,290,0,0,0,0,0,0
$GC,11609,1.40,525.1,116.4,17.0,500,11613,0.00,2.30,0.00,0.000,4,0.000,0.099,1845,335,291,0,0,0,0,0,0
$GC,11737,1.40,525.1,95.1,15.4,511,11741,0.00,2.20,0.00,0.000,6,0.000,0.070,1845,1758,291,0,0,0,0,0,0
$GC,12066,1.40,525.1,46.0,15.1,542,12070,0.00,2.30,0.00,0.000,4,0.000,0.094,1845,333,293,0,0,0,0,0,0
$GC,12160,1.40,525.1,32.0,14.1,550,12167,0.00,2.20,0.00,0.000,6,0.000,0.065,1845,1757,293,0,0,0,0,0,0
$STATE,12378,end climb,SURFACE_DEPTH_REACHED
$STATE,12378,begin surface coast
$FINISH,-0.2,1.023162
$STATE,12411,end surface coast,CONTROL_FINISHED_OK
$STATE,12411,begin surface
$SM_CCo,12485,0.00,0.000,0,0,294,525.50
$SM_GC,0.12,7.15,0.00,0.00,0.065,0.000,0.000,10,1924,294,-6.96,0.68,525.50
$IRIDIUM_FIX,1830.49,-6604.79,111111,191904
$TT8_MAMPS,0.020972
$HUMID,1078154184
$INTERNAL_PRESSURE,8.03742
$TCM_TEMP,23.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,24.4,1.775
$10V_AH,10.6,0.541
$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,16.225,124.550,716.525,0.000,0.000,28.668,32.069,120.945,5.250,0.000,16.990,1134.153,8983.568,840.475,1728.832,91.887,33.339,1698.643,0.000,1421.157,0.000,37.259,0.000
$DEVICE_MAMPS,201.123,134.082,1268.813,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.340,0.000,875.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328940
$DATA_FILE_SIZE,30210,574
$CAP_FILE_SIZE,115842,0
$CFSIZE,260280320,254439424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,190510,075416,1834.888,-6601.265,9,99.0,28,-12.7