version: 66.07
glider: 33
mission: 17
dive: 47
start: 5 26 110 1 14 16
data:
$ID,33
$MISSION,17
$DIVE,47
$D_SURF,4
$D_FLARE,3
$D_TGT,2400
$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,1000
$T_MISSION,1030
$T_ABORT,2160
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,2
$HD_A,0.0044716001
$HD_B,0.016021
$HD_C,9.4708003e-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,350
$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,-221303.03
$T_RSLEEP,12
$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,12.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$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,28
$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,1735
$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,2000
$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
$GPS1,260510,010807,1837.502,-6607.672,41,1.4,41,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-50.8
$GPS2,260510,011355,1837.528,-6607.662,14,1.9,31,-12.7
$SPEED_LIMITS,0.080,0.196
$TGT_NAME,SAN_JUAN_OP
$TGT_LATLONG,1836.000,-6606.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.022,-0.208
$KALMAN_X,38105.8,644.3,-2514.1,-54502.5,11924.2
$KALMAN_Y,-11897.8,-486.3,1316.8,24128.3,5964.9
$MHEAD_RNG_PITCHd_Wd,146.8,4064,-42.7,-8.000
$D_GRID,2400
$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,-3.46,-30.1,0.0,0.0,0,107,0.00,0.00,-88.55,0.000,6,0.000,0.000,16,1923,1837,0,0,0,0,0,0
$GC,109,-3.48,-47.5,3.2,-4.9,9,121,4.10,2.25,-2.65,0.000,4,0.204,0.074,786,3291,1897,0,0,0,0,0,0
$GC,795,-3.53,-85.8,98.9,-1.2,70,801,0.00,2.17,-1.10,0.000,6,0.000,0.062,787,1874,2034,0,0,0,0,0,0
$GC,1119,-3.54,-97.6,131.1,-5.9,100,1124,0.00,2.25,-0.28,0.000,4,0.000,0.079,786,3293,2077,0,0,0,0,0,0
$GC,1797,-3.54,-97.6,173.3,-10.5,141,1802,0.00,2.15,0.00,0.000,6,0.000,0.065,786,1908,2078,0,0,0,0,0,0
$GC,2119,-3.54,-97.6,204.1,-8.7,157,2123,0.00,2.20,0.00,0.000,4,0.000,0.079,786,497,2078,0,0,0,0,0,0
$GC,2798,-3.51,-97.6,288.6,-16.5,187,2803,0.00,2.15,0.00,0.000,6,0.000,0.067,786,1887,2078,0,0,0,0,0,0
$GC,3116,-3.51,-97.6,345.4,-18.8,199,3120,0.00,2.17,0.00,0.000,4,0.000,0.084,786,509,2078,0,0,0,0,0,0
$GC,3150,-3.48,-97.6,352.3,-20.1,200,3154,0.00,2.15,0.00,0.000,6,0.000,0.070,786,1903,2078,0,0,0,0,0,0
$GC,3483,-3.48,-97.6,419.2,-20.6,211,3487,0.00,2.20,0.00,0.000,4,0.000,0.084,786,3294,2078,0,0,0,0,0,0
$GC,3808,-3.48,-97.6,490.7,-22.9,220,3814,0.00,2.17,0.00,0.000,6,0.000,0.074,786,1911,2078,0,0,0,0,0,0
$GC,4119,-3.48,-97.6,566.8,-25.6,231,4123,0.00,2.25,0.00,0.000,4,0.000,0.089,786,3298,2078,0,0,0,0,0,0
$GC,4798,-3.45,-97.6,759.5,-30.4,251,4803,0.00,2.25,0.00,0.000,6,0.000,0.084,786,1914,2078,0,0,1,0,0,0
$GC,5127,-3.45,-97.6,864.0,-32.0,262,5131,0.00,2.30,0.00,0.000,4,0.000,0.099,787,3290,2078,0,0,0,0,0,0
$GC,5666,-3.43,-97.6,1046.3,-35.9,277,5670,0.00,2.28,0.00,0.000,6,0.000,0.097,786,1905,2077,0,0,1,0,0,0
$GC,6024,-3.52,-97.6,1151.0,-29.0,283,6028,0.00,2.38,0.00,0.000,4,0.000,0.114,787,3291,2077,0,0,0,0,0,0
$GC,6703,-4.02,-135.2,1151.4,-1.3,293,6709,0.43,2.35,0.00,0.000,6,0.067,0.102,655,1908,2075,0,0,1,0,0,0
$STATE,7061,end dive,NO_VERTICAL_VELOCITY
$STATE,7061,begin apogee
$GC,7065,-0.40,0.0,1151.4,0.0,299,7146,3.70,0.00,74.55,1.569,6,0.139,0.000,1462,1652,1735,0,0,0,0,0,0
$STATE,7146,end apogee,CONTROL_FINISHED_OK
$STATE,7146,begin climb
$GC,7148,3.59,135.2,1151.0,0.0,300,7264,3.67,2.67,102.80,1.539,4,0.077,0.127,2337,3031,1277,0,0,1,0,0,0
$GC,7937,3.88,182.6,1150.6,-0.4,311,7979,0.20,2.45,35.35,1.527,6,0.074,0.114,2397,1647,1116,0,0,1,0,0,0
$GC,8304,3.91,208.2,1140.9,3.4,318,8330,0.00,2.60,20.38,1.482,4,0.000,0.137,2397,235,1028,0,0,0,0,0,0
$GC,8716,3.86,208.2,1100.6,11.6,324,8721,0.00,2.42,0.00,0.000,6,0.000,0.104,2397,1630,1028,0,0,1,0,0,0
$GC,9070,3.86,208.2,1057.2,11.7,330,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1636,1028,0,0,0,0,0,0
$GC,9373,3.86,208.2,1027.4,9.7,335,9377,0.00,2.45,0.00,0.000,4,0.000,0.129,2397,239,1027,0,0,0,0,0,0
$GC,9435,3.82,208.2,1021.0,11.1,336,9439,0.00,2.38,0.00,0.000,6,0.000,0.104,2397,1653,1027,0,0,1,0,0,0
$GC,9769,3.82,208.2,990.8,9.1,343,9773,0.00,2.50,0.00,0.000,4,0.000,0.127,2397,241,1026,0,0,0,0,0,0
$GC,9824,3.77,208.2,985.7,9.1,344,9831,0.10,2.40,0.00,0.000,6,0.176,0.104,2376,1658,1026,0,0,1,0,0,0
$GC,10137,3.78,211.6,961.7,7.4,355,10146,0.00,2.53,3.55,0.842,4,0.000,0.129,2376,244,1018,0,0,1,0,0,0
$GC,10308,3.75,211.6,948.4,8.8,360,10313,0.00,2.38,0.00,0.000,6,0.000,0.104,2376,1653,1018,0,0,1,0,0,0
$GC,10643,3.75,214.4,922.8,7.5,371,10652,0.00,2.45,3.88,0.899,4,0.000,0.122,2375,3048,1008,0,0,1,0,0,0
$GC,10814,3.75,214.4,907.7,9.3,376,10819,0.00,2.42,0.00,0.000,6,0.000,0.109,2375,1652,1008,0,0,1,0,0,0
$GC,11149,3.75,214.4,876.1,8.9,387,11153,0.00,2.47,0.00,0.000,4,0.000,0.129,2376,232,1008,0,0,0,0,0,0
$GC,11529,3.72,214.4,839.4,8.9,398,11534,0.00,2.38,0.00,0.000,6,0.000,0.104,2376,1655,1007,0,0,1,0,0,0
$GC,11853,3.72,219.0,814.0,7.2,409,11863,0.00,2.40,4.82,1.001,4,0.000,0.119,2376,3056,991,0,0,1,0,0,0
$GC,12048,3.72,219.0,798.2,8.2,415,12052,0.00,2.40,0.00,0.000,6,0.000,0.107,2376,1648,991,0,0,1,0,0,0
$GC,12381,3.72,219.0,767.9,9.1,426,12385,0.00,2.42,0.00,0.000,4,0.000,0.114,2376,3059,991,0,0,0,0,0,0
$GC,12689,3.73,222.0,743.0,7.5,435,12699,0.00,2.42,3.85,0.839,6,0.000,0.104,2376,1650,982,0,0,1,0,0,0
$GC,13017,3.73,222.0,710.1,10.8,446,13021,0.00,2.45,0.00,0.000,4,0.000,0.124,2375,241,983,0,0,0,0,0,0
$GC,13048,3.70,222.0,706.7,10.2,447,13053,0.08,2.38,0.00,0.000,6,0.179,0.097,2359,1653,982,0,0,1,0,0,0
$GC,13383,3.72,222.0,673.4,10.2,458,13388,0.00,2.45,0.00,0.000,4,0.000,0.122,2359,237,982,0,0,0,0,0,0
$GC,13483,3.70,222.0,661.9,11.1,461,13488,0.00,2.35,0.00,0.000,6,0.000,0.097,2359,1643,982,0,0,1,0,0,0
$GC,13818,3.73,222.0,619.7,13.7,472,13819,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1648,982,0,0,0,0,0,0
$GC,14124,3.76,222.0,575.9,14.5,482,14128,0.00,2.38,0.00,0.000,4,0.000,0.107,2359,3054,982,0,0,0,0,0,0
$GC,14280,3.76,222.0,552.3,14.2,486,14284,0.00,2.38,0.00,0.000,6,0.000,0.097,2359,1652,982,0,0,1,0,0,0
$GC,14598,3.78,222.0,504.0,16.1,497,14599,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1652,982,0,0,0,0,0,0
$GC,14904,3.80,222.0,450.6,18.3,507,14908,0.00,2.35,0.00,0.000,4,0.000,0.102,2359,3062,982,0,0,0,0,0,0
$GC,15116,3.80,222.0,412.7,17.5,513,15121,0.00,2.35,0.00,0.000,6,0.000,0.092,2359,1653,982,0,0,1,0,0,0
$GC,15440,3.80,222.0,349.7,20.3,524,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1653,982,0,0,0,0,0,0
$GC,15748,3.80,222.0,280.5,23.2,535,15752,0.00,2.35,0.00,0.000,4,0.000,0.102,2359,234,982,0,0,0,0,0,0
$GC,15887,3.76,222.0,244.5,26.8,541,15891,0.00,2.25,0.00,0.000,6,0.000,0.079,2359,1657,982,0,0,1,0,0,0
$GC,16209,3.76,222.0,165.2,25.5,557,16213,0.00,2.35,0.00,0.000,4,0.000,0.097,2359,235,982,0,0,0,0,0,0
$GC,16375,3.73,222.0,126.3,22.2,568,16382,0.00,2.22,0.00,0.000,6,0.000,0.072,2359,1657,983,0,0,1,0,0,0
$GC,16700,3.73,222.0,76.7,13.7,599,16701,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1657,985,0,0,0,0,0,0
$GC,17019,3.73,222.0,27.9,16.8,629,17023,0.00,2.17,0.00,0.000,4,0.000,0.079,2359,3051,987,0,0,0,0,0,0
$GC,17119,3.73,222.0,11.0,15.2,637,17126,0.00,2.22,0.00,0.000,6,0.000,0.070,2359,1641,987,0,0,0,0,0,0
$STATE,17166,end climb,SURFACE_DEPTH_REACHED
$STATE,17166,begin surface coast
$FINISH,0.2,1.023034
$STATE,17189,end surface coast,CONTROL_FINISHED_OK
$STATE,17189,begin surface
$SM_CCo,17205,87.53,0.762,0,0,549,350.14
$SM_GC,0.59,0.00,0.00,87.53,0.000,0.000,0.762,15,1922,549,-7.06,0.62,350.14
$IRIDIUM_FIX,1832.77,-6611.95,181111,131309
$TT8_MAMPS,0.021721
$HUMID,1078030313
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,23.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,18.4
$24V_AH,24.2,9.362
$10V_AH,10.6,3.293
$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,21.850,113.300,249.175,87.525,0.000,29.791,28.856,180.133,0.500,0.000,32.228,1544.754,12495.430,465.531,3015.300,116.437,0.000,1760.368,0.000,2614.857,0.000,2.627,0.000
$DEVICE_MAMPS,203.606,136.565,1569.256,762.281,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.817,0.000,982.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326716
$DATA_FILE_SIZE,36808,644
$CAP_FILE_SIZE,156234,0
$CFSIZE,260280320,252112896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,260510,060337,1836.471,-6606.908,34,1.8,34,-12.7