version: 66.07
glider: 33
mission: 17
dive: 32
start: 5 21 110 11 53 32
data:
$ID,33
$MISSION,17
$DIVE,32
$D_SURF,4
$D_FLARE,3
$D_TGT,1440
$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,480
$T_MISSION,510
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,200
$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,-220644.81
$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,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,50
$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,100
$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
$GPS1,210510,114806,1832.725,-6558.392,10,1.3,26,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-47.7
$GPS2,210510,115238,1832.742,-6558.348,12,1.5,12,-12.7
$SPEED_LIMITS,0.100,0.300
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.062,0.293
$KALMAN_X,3772.3,110.8,-121.6,-2752.8,7434.7
$KALMAN_Y,-10292.7,-312.6,768.5,14934.9,-20190.4
$MHEAD_RNG_PITCHd_Wd,0.7,6694,-15.6,-10.000
$D_GRID,1440
$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,14,-1.54,-195.5,0.0,0.0,0,118,0.00,0.00,-101.90,0.000,2,0.000,0.000,11,1914,2071,0,0,0,0,0,0
$GC,121,-1.54,-195.5,4.1,-7.0,10,157,6.25,2.20,-24.35,0.000,4,0.199,0.079,1208,3288,2738,0,0,0,0,0,0
$GC,471,-1.54,-195.5,64.6,-17.2,41,475,0.00,2.15,0.00,0.000,6,0.000,0.070,1208,1892,2737,0,0,0,0,0,0
$GC,795,-1.54,-195.5,111.4,-13.1,71,798,0.00,2.20,0.00,0.000,4,0.000,0.084,1208,3289,2738,0,0,0,0,0,0
$GC,900,-1.54,-195.5,124.6,-11.2,80,907,0.00,2.17,0.00,0.000,6,0.000,0.072,1208,1897,2738,0,0,0,0,0,0
$GC,1221,-1.54,-195.5,163.0,-11.4,106,1225,0.00,2.22,0.00,0.000,4,0.000,0.084,1208,482,2739,0,0,0,0,0,0
$GC,1288,-1.54,-195.5,170.7,-12.3,109,1292,0.00,2.12,0.00,0.000,6,0.000,0.065,1208,1903,2740,0,0,0,0,0,0
$GC,1620,-1.54,-195.5,208.0,-11.2,125,1623,0.00,2.17,0.00,0.000,4,0.000,0.092,1208,3284,2740,0,0,0,0,0,0
$GC,1736,-1.54,-195.5,220.9,-11.1,130,1741,0.00,2.15,0.00,0.000,6,0.000,0.070,1208,1911,2740,0,0,0,0,0,0
$GC,2064,-1.54,-195.5,260.1,-12.8,146,2068,0.00,2.20,0.00,0.000,4,0.000,0.087,1208,3286,2741,0,0,0,0,0,0
$GC,2157,-1.54,-195.5,273.4,-13.5,150,2162,0.00,2.17,0.00,0.000,6,0.000,0.072,1208,1910,2741,0,0,0,0,0,0
$GC,2477,-1.54,-195.5,319.2,-14.2,164,2481,0.00,2.20,0.00,0.000,4,0.000,0.087,1208,3290,2741,0,0,0,0,0,0
$GC,2509,-1.54,-195.5,323.8,-13.2,165,2514,0.00,2.20,0.00,0.000,6,0.000,0.074,1208,1906,2741,0,0,0,0,0,0
$GC,2844,-1.54,-195.5,374.4,-14.9,176,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,1208,1906,2741,0,0,0,0,0,0
$GC,3151,-1.54,-195.5,420.5,-15.2,186,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,1208,1906,2741,0,0,0,0,0,0
$GC,3456,-1.54,-195.5,468.3,-15.7,196,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,1208,1906,2740,0,0,0,0,0,0
$GC,3764,-1.54,-195.5,518.3,-17.1,206,3768,0.00,2.25,0.00,0.000,4,0.000,0.097,1208,3282,2740,0,0,0,0,0,0
$GC,3818,-1.54,-195.5,527.2,-15.6,207,3825,0.00,2.22,0.00,0.000,6,0.000,0.082,1208,1914,2740,0,0,0,0,0,0
$GC,4131,-1.54,-195.5,580.1,-16.8,218,4135,0.00,2.33,0.00,0.000,4,0.000,0.104,1208,487,2741,0,0,0,0,0,0
$GC,4162,-1.54,-195.5,585.9,-17.4,219,4167,0.00,2.22,0.00,0.000,6,0.000,0.079,1208,1876,2740,0,0,0,0,0,0
$GC,4497,-1.54,-195.5,645.6,-18.3,230,4501,0.00,2.35,0.00,0.000,4,0.000,0.102,1208,3307,2740,0,0,0,0,0,0
$GC,4596,-1.54,-195.5,663.6,-18.1,233,4601,0.00,2.30,0.00,0.000,6,0.000,0.089,1208,1906,2739,0,0,1,0,0,0
$GC,4931,-1.54,-195.5,727.2,-19.5,244,4935,0.00,2.33,0.00,0.000,4,0.000,0.104,1208,3303,2740,0,0,0,0,0,0
$GC,4963,-1.54,-195.5,733.5,-19.8,245,4968,0.00,2.33,0.00,0.000,6,0.000,0.092,1208,1896,2740,0,0,1,0,0,0
$GC,5298,-1.54,-195.5,795.3,-18.2,256,5302,0.00,2.35,0.00,0.000,4,0.000,0.117,1208,493,2739,0,0,0,0,0,0
$GC,5326,-1.54,-195.5,800.2,-18.2,257,5331,0.00,2.25,0.00,0.000,6,0.000,0.092,1208,1893,2739,0,0,1,0,0,0
$GC,5662,-1.54,-195.5,860.4,-18.3,268,5666,0.00,2.38,0.00,0.000,4,0.000,0.112,1208,3309,2739,0,0,0,0,0,0
$GC,5756,-1.54,-195.5,877.4,-17.1,271,5760,0.00,2.33,0.00,0.000,6,0.000,0.102,1208,1900,2738,0,0,1,0,0,0
$GC,6090,-1.54,-195.5,939.4,-19.6,282,6099,0.00,2.42,0.00,0.000,4,0.000,0.122,1208,490,2737,0,0,0,0,0,0
$GC,6119,-1.54,-195.5,945.7,-21.0,282,6127,0.00,2.35,0.00,0.000,6,0.000,0.097,1208,1896,2737,0,0,1,0,0,0
$STATE,6218,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6218,begin apogee
$GC,6222,-0.42,0.0,965.3,20.4,286,6369,1.12,0.00,141.43,1.433,6,0.137,0.000,1455,1652,2074,0,0,0,0,0,0
$STATE,6370,end apogee,CONTROL_FINISHED_OK
$STATE,6370,begin climb
$GC,6371,1.54,195.5,971.8,0.0,291,6524,2.00,2.65,143.00,1.400,4,0.132,0.122,1875,3064,1410,0,0,0,0,0,0
$GC,7198,1.91,501.4,971.7,-0.4,316,7426,0.38,2.42,218.73,1.413,6,0.089,0.112,1973,1643,375,0,0,1,0,0,0
$GC,7743,1.91,501.4,908.8,16.5,334,7747,0.00,2.50,0.00,0.000,4,0.000,0.137,1973,243,374,0,0,0,0,0,0
$GC,7797,1.91,501.4,899.4,17.8,335,7805,0.00,2.42,0.00,0.000,6,0.000,0.102,1973,1659,373,0,0,1,0,0,0
$GC,8110,1.91,501.4,849.5,15.7,346,8114,0.00,2.42,0.00,0.000,4,0.000,0.124,1973,3051,373,0,0,0,0,0,0
$GC,8142,1.91,501.4,844.4,15.5,347,8147,0.00,2.42,0.00,0.000,6,0.000,0.109,1973,1658,373,0,0,1,0,0,0
$GC,8477,1.91,501.4,793.1,15.4,358,8481,0.00,2.50,0.00,0.000,4,0.000,0.134,1973,241,372,0,0,0,0,0,0
$GC,8606,1.91,501.4,771.8,16.4,362,8610,0.00,2.33,0.00,0.000,6,0.000,0.104,1973,1647,372,0,0,1,0,0,0
$GC,8939,1.91,501.4,720.5,15.8,373,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1653,371,0,0,0,0,0,0
$GC,9245,1.91,501.4,668.8,16.7,383,9249,0.00,2.45,0.00,0.000,4,0.000,0.127,1973,240,370,0,0,0,0,0,0
$GC,9282,1.91,501.4,661.8,18.6,384,9287,0.00,2.35,0.00,0.000,6,0.000,0.097,1973,1649,370,0,0,1,0,0,0
$GC,9612,1.91,501.4,605.8,16.5,395,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1654,370,0,0,0,0,0,0
$GC,9918,1.91,501.4,553.8,16.8,405,9922,0.00,2.42,0.00,0.000,4,0.000,0.122,1973,238,370,0,0,0,0,0,0
$GC,10001,1.91,501.4,538.7,17.6,407,10006,0.00,2.33,0.00,0.000,6,0.000,0.094,1974,1644,370,0,0,1,0,0,0
$GC,10319,1.91,501.4,484.3,17.8,418,10323,0.00,2.40,0.00,0.000,4,0.000,0.119,1973,238,370,0,0,1,0,0,0
$GC,10356,1.91,501.4,477.2,18.3,419,10361,0.00,2.33,0.00,0.000,6,0.000,0.089,1973,1654,370,0,0,1,0,0,0
$GC,10685,1.91,501.4,414.1,20.1,430,10689,0.00,2.40,0.00,0.000,4,0.000,0.112,1973,237,370,0,0,0,0,0,0
$GC,10717,1.91,501.4,406.8,22.2,431,10722,0.00,2.30,0.00,0.000,6,0.000,0.084,1973,1655,370,0,0,1,0,0,0
$GC,11052,1.91,501.4,338.0,20.9,442,11056,0.00,2.38,0.00,0.000,4,0.000,0.109,1973,236,370,0,0,0,0,0,0
$GC,11140,1.91,501.4,318.1,23.6,444,11147,0.00,2.28,0.00,0.000,6,0.000,0.079,1973,1660,370,0,0,1,0,0,0
$GC,11465,1.91,501.4,249.6,21.2,459,11469,0.00,2.25,0.00,0.000,4,0.000,0.097,1973,3045,370,0,0,0,0,0,0
$GC,11497,1.91,501.4,242.8,19.6,460,11504,0.00,2.30,0.00,0.000,6,0.000,0.087,1973,1637,370,0,0,1,0,0,0
$GC,11814,1.91,501.4,175.4,21.9,476,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1636,371,0,0,0,0,0,0
$GC,12128,1.91,501.4,105.9,22.1,500,12132,0.00,2.25,0.00,0.000,4,0.000,0.099,1973,242,372,0,0,0,0,0,0
$GC,12211,1.91,501.4,87.5,21.1,507,12215,0.00,2.17,0.00,0.000,6,0.000,0.070,1973,1655,372,0,0,0,0,0,0
$GC,12541,1.91,501.4,22.4,21.0,538,12542,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1664,373,0,0,0,0,0,0
$STATE,12635,end climb,SURFACE_DEPTH_REACHED
$STATE,12635,begin surface coast
$FINISH,-0.2,0.997640
$STATE,12658,end surface coast,CONTROL_FINISHED_OK
$STATE,12658,begin surface
$SM_CCo,12732,0.00,0.000,0,0,373,501.89
$SM_GC,0.34,7.72,0.00,0.00,0.067,0.000,0.000,13,1921,373,-6.97,0.59,501.89
$IRIDIUM_FIX,1823.67,-6557.63,141111,030357
$TT8_MAMPS,0.020972
$HUMID,1078249668
$INTERNAL_PRESSURE,8.00812
$TCM_TEMP,23.20
$XPDR_PINGS,6
$ALTIM_TOP_PING,18.2,17.1
$ALTIM_BOTTOM_PING,940.2,39.6
$24V_AH,24.4,5.023
$10V_AH,10.5,1.815
$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,17.475,111.625,503.150,0.000,0.000,31.351,35.786,129.524,12.750,0.000,13.787,1113.685,9463.817,601.340,1755.858,78.074,32.353,1438.597,0.000,1428.117,0.000,73.371,0.000
$DEVICE_MAMPS,198.640,136.565,1432.691,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.491,0.000,837.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328588
$DATA_FILE_SIZE,30211,549
$CAP_FILE_SIZE,113827,0
$CFSIZE,260280320,253403136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,210510,152655,1834.952,-6557.850,39,1.4,39,-12.8