version: 66.07
glider: 33
mission: 17
dive: 33
start: 5 21 110 15 32 51
data:
$ID,33
$MISSION,17
$DIVE,33
$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,-220646.16
$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,25
$R_STBD_OVSHOOT,62
$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
$GPS1,210510,152655,1834.952,-6557.850,39,1.4,39,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-41.7
$GPS2,210510,153156,1834.960,-6557.857,12,1.9,12,-12.8
$SPEED_LIMITS,0.100,0.300
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.142,0.264
$KALMAN_X,6841.8,-515.5,-227.0,-4208.2,10364.7
$KALMAN_Y,-15920.5,2339.0,452.3,22278.7,-24331.8
$MHEAD_RNG_PITCHd_Wd,344.5,4225,-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,-195.5,0.0,0.0,0,139,0.00,0.00,-121.75,0.000,2,0.000,0.000,12,1922,2126,0,0,0,0,0,0
$GC,141,-1.54,-195.5,3.6,-4.9,12,175,6.18,2.20,-23.40,0.000,4,0.196,0.082,1206,3276,2737,0,0,0,0,0,0
$GC,417,-1.54,-195.5,48.6,-16.4,37,421,0.00,2.15,0.00,0.000,6,0.000,0.067,1206,1884,2738,0,0,0,0,0,0
$GC,746,-1.54,-195.5,98.7,-13.5,68,750,0.00,2.22,0.00,0.000,4,0.000,0.082,1206,3276,2738,0,0,0,0,0,0
$GC,824,-1.54,-195.5,108.6,-12.3,75,828,0.00,2.12,0.00,0.000,6,0.000,0.067,1206,1892,2738,0,0,0,0,0,0
$GC,1153,-1.54,-195.5,147.4,-11.5,106,1157,0.00,2.20,0.00,0.000,4,0.000,0.089,1206,498,2740,0,0,0,0,0,0
$GC,1253,-1.54,-195.5,158.4,-10.2,112,1258,0.00,2.12,0.00,0.000,6,0.000,0.062,1206,1888,2740,0,0,0,0,0,0
$GC,1574,-1.54,-195.5,192.9,-11.9,128,1578,0.00,2.20,0.00,0.000,4,0.000,0.084,1206,3283,2742,0,0,0,0,0,0
$GC,1731,-1.54,-195.5,211.5,-11.9,135,1735,0.00,2.15,0.00,0.000,6,0.000,0.079,1206,1896,2742,0,0,0,0,0,0
$GC,2057,-1.54,-195.5,251.3,-13.2,151,2060,0.00,2.22,0.00,0.000,4,0.000,0.087,1206,3276,2743,0,0,0,0,0,0
$GC,2170,-1.54,-195.5,266.3,-14.1,156,2174,0.00,2.15,0.00,0.000,6,0.000,0.077,1206,1902,2743,0,0,0,0,0,0
$GC,2496,-1.54,-195.5,311.2,-13.7,171,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,1206,1902,2743,0,0,0,0,0,0
$GC,2800,-1.54,-195.5,352.7,-13.8,181,2804,0.00,2.22,0.00,0.000,4,0.000,0.089,1206,3273,2743,0,0,0,0,0,0
$GC,2838,-1.54,-195.5,358.0,-13.1,182,2843,0.00,2.20,0.00,0.000,6,0.000,0.077,1206,1906,2743,0,0,0,0,0,0
$GC,3174,-1.54,-195.5,405.3,-14.3,193,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,1206,1906,2743,0,0,0,0,0,0
$GC,3479,-1.54,-195.5,450.3,-14.8,203,3483,0.00,2.22,0.00,0.000,4,0.000,0.094,1206,3274,2743,0,0,0,0,0,0
$GC,3551,-1.54,-195.5,461.2,-15.7,205,3556,0.00,2.22,0.00,0.000,6,0.000,0.079,1206,1903,2743,0,0,0,0,0,0
$GC,3885,-1.54,-195.5,514.3,-16.2,216,3889,0.00,2.25,0.00,0.000,4,0.000,0.097,1206,3279,2743,0,0,0,0,0,0
$GC,3924,-1.54,-195.5,520.5,-15.9,217,3928,0.00,2.22,0.00,0.000,6,0.000,0.084,1206,1888,2742,0,0,0,0,0,0
$GC,4252,-1.54,-195.5,578.4,-18.6,228,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,1206,1887,2742,0,0,0,0,0,0
$GC,4559,-1.54,-195.5,633.7,-17.7,238,4563,0.00,2.30,0.00,0.000,4,0.000,0.104,1205,3277,2742,0,0,0,0,0,0
$GC,4597,-1.54,-195.5,640.7,-18.5,239,4601,0.00,2.20,0.00,0.000,6,0.000,0.092,1206,1905,2742,0,0,1,0,0,0
$GC,4926,-1.54,-195.5,700.4,-18.0,250,4930,0.00,2.30,0.00,0.000,4,0.000,0.107,1206,3277,2742,0,0,0,0,0,0
$GC,4986,-1.54,-195.5,711.5,-18.1,251,4993,0.00,2.28,0.00,0.000,6,0.000,0.094,1206,1905,2742,0,0,1,0,0,0
$GC,5299,-1.54,-195.5,766.3,-17.9,262,5303,0.00,2.38,0.00,0.000,4,0.000,0.117,1206,491,2742,0,0,0,0,0,0
$GC,5326,-1.54,-195.5,771.6,-19.8,263,5330,0.00,2.22,0.00,0.000,6,0.000,0.092,1206,1871,2742,0,0,1,0,0,0
$GC,5667,-1.54,-195.5,834.4,-18.6,274,5671,0.00,2.42,0.00,0.000,4,0.000,0.114,1206,3312,2741,0,0,0,0,0,0
$GC,5732,-1.54,-195.5,847.3,-19.2,276,5737,0.00,2.38,0.00,0.000,6,0.000,0.099,1206,1903,2741,0,0,1,0,0,0
$GC,6066,-1.54,-195.5,908.9,-18.2,287,6070,0.00,2.42,0.00,0.000,4,0.000,0.117,1206,3313,2741,0,0,0,0,0,0
$GC,6115,-1.54,-195.5,918.4,-19.2,288,6120,0.00,2.40,0.00,0.000,6,0.000,0.102,1206,1900,2739,0,0,1,0,0,0
$GC,6433,-1.54,-195.5,977.1,-17.9,299,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,1206,1900,2739,0,0,0,0,0,0
$STATE,6646,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6646,begin apogee
$GC,6650,-0.42,0.0,1014.0,17.4,305,6797,1.15,0.00,143.62,1.477,6,0.137,0.000,1458,1648,2073,0,0,0,0,0,0
$STATE,6798,end apogee,CONTROL_FINISHED_OK
$STATE,6798,begin climb
$GC,6799,1.54,195.5,1020.0,0.0,307,6955,1.88,2.70,145.05,1.440,4,0.102,0.129,1877,3045,1411,0,0,1,0,0,0
$GC,6970,2.03,595.8,1025.9,-3.7,309,7244,0.40,2.58,264.15,1.428,6,0.062,0.112,2002,1654,163,0,0,1,0,0,0
$GC,7559,2.03,595.8,939.7,20.2,324,7563,0.00,2.50,0.00,0.000,4,0.000,0.127,2002,3052,161,0,0,1,0,0,0
$GC,7781,2.03,595.8,897.4,18.7,330,7788,0.00,2.50,0.00,0.000,6,0.000,0.117,2002,1654,161,0,0,1,0,0,0
$GC,8094,2.03,595.8,840.1,18.3,341,8098,0.00,2.55,0.00,0.000,4,0.000,0.137,2002,239,160,0,0,0,0,0,0
$GC,8137,2.03,595.8,831.6,19.4,342,8142,0.00,2.42,0.00,0.000,6,0.000,0.107,2002,1644,160,0,0,1,0,0,0
$GC,8466,2.03,595.8,771.9,18.2,353,8470,0.00,2.50,0.00,0.000,4,0.000,0.134,2001,238,159,0,0,0,0,0,0
$GC,8509,2.03,595.8,763.3,20.1,354,8514,0.00,2.42,0.00,0.000,6,0.000,0.104,2002,1653,159,0,0,1,0,0,0
$GC,8833,2.03,595.8,703.1,19.0,365,8837,0.00,2.55,0.00,0.000,4,0.000,0.132,2001,232,158,0,0,0,0,0,0
$GC,8894,2.03,595.8,690.3,20.8,367,8898,0.00,2.38,0.00,0.000,6,0.000,0.104,2001,1653,158,0,0,1,0,0,0
$GC,9233,2.03,595.8,625.8,18.9,378,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1660,157,0,0,0,0,0,0
$GC,9540,2.03,595.8,563.4,20.6,388,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1660,157,0,0,0,0,0,0
$GC,9846,2.03,595.8,499.0,20.9,398,9850,0.00,2.45,0.00,0.000,4,0.000,0.122,2002,236,157,0,0,0,0,0,0
$GC,9958,2.03,595.8,473.7,23.3,401,9962,0.00,2.33,0.00,0.000,6,0.000,0.094,2001,1653,157,0,0,1,0,0,0
$GC,10274,2.03,595.8,406.7,21.3,412,10278,0.00,2.45,0.00,0.000,4,0.000,0.117,2001,228,157,0,0,0,0,0,0
$GC,10313,2.03,595.8,397.6,24.5,413,10317,0.00,2.30,0.00,0.000,6,0.000,0.089,2001,1653,157,0,0,1,0,0,0
$GC,10636,2.03,595.8,325.9,22.1,424,10640,0.00,2.40,0.00,0.000,4,0.000,0.112,2001,232,157,0,0,0,0,0,0
$GC,10690,2.03,595.8,312.4,24.7,425,10697,0.00,2.30,0.00,0.000,6,0.000,0.082,2001,1655,157,0,0,1,0,0,0
$GC,11005,2.03,595.8,237.1,24.3,440,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1659,157,0,0,0,0,0,0
$GC,11314,2.03,595.8,158.2,26.3,455,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1659,158,0,0,0,0,0,0
$GC,11632,2.03,595.8,77.3,24.0,483,11636,0.00,2.33,0.00,0.000,4,0.000,0.097,2001,225,159,0,0,0,0,0,0
$GC,11663,2.03,595.8,68.3,27.3,485,11670,0.00,2.25,0.00,0.000,6,0.000,0.067,2001,1660,159,0,0,0,0,0,0
$STATE,11944,end climb,SURFACE_DEPTH_REACHED
$STATE,11944,begin surface coast
$FINISH,-0.3,0.997941
$STATE,11967,end surface coast,CONTROL_FINISHED_OK
$STATE,11967,begin surface
$SM_CCo,12041,0.00,0.000,0,0,160,565.36
$SM_GC,0.25,7.78,0.00,0.00,0.062,0.000,0.000,18,1918,160,-6.95,0.51,565.36
$IRIDIUM_FIX,1825.94,-6514.92,141111,060608
$TT8_MAMPS,0.020972
$HUMID,1078239345
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,22.80
$XPDR_PINGS,8
$ALTIM_TOP_PING,18.2,17.7
$ALTIM_BOTTOM_PING,982.1,47.8
$24V_AH,24.0,5.261
$10V_AH,10.4,1.871
$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,17.375,103.100,552.825,0.000,0.000,22.985,28.856,159.804,13.750,0.000,13.788,1041.979,8985.590,637.045,1607.079,76.917,33.340,1402.422,0.000,1262.623,0.000,76.516,0.000
$DEVICE_MAMPS,196.157,136.565,1477.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.523,0.000,783.294,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328516
$DATA_FILE_SIZE,30211,514
$CAP_FILE_SIZE,106204,0
$CFSIZE,260280320,253353984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,210510,185459,1836.849,-6558.261,34,99.0,53,-12.8