version: 66.07
glider: 33
mission: 17
dive: 15
start: 5 20 110 4 31 45
data:
$ID,33
$MISSION,17
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,1800
$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,800
$T_MISSION,830
$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,150
$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,-218213.36
$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,35
$R_STBD_OVSHOOT,48
$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,200
$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
$GPS1,200510,042307,1830.188,-6559.191,29,1.4,30,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-42.8
$GPS2,200510,043051,1830.216,-6559.236,15,99.0,34,-12.7
$SPEED_LIMITS,0.075,0.240
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.149,-0.187
$KALMAN_X,-4703.1,-73.4,152.8,22627.4,-12512.9
$KALMAN_Y,11498.0,-72.0,31.0,-15321.4,51500.8
$MHEAD_RNG_PITCHd_Wd,154.2,10795,-13.9,-7.500
$D_GRID,1800
$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,-1.34,-146.6,0.0,0.0,0,118,0.00,0.00,-101.82,0.000,2,0.000,0.000,10,1911,2098,0,0,0,0,0,0
$GC,120,-1.34,-146.6,3.7,-6.9,10,152,6.53,2.28,-18.52,0.000,4,0.204,0.084,1249,494,2571,0,0,0,0,0,0
$GC,246,-1.34,-146.6,21.7,-12.1,21,253,0.00,2.17,0.00,0.000,6,0.000,0.062,1249,1913,2572,0,0,0,0,0,0
$GC,571,-1.34,-146.6,61.4,-13.2,52,575,0.00,2.15,0.00,0.000,4,0.000,0.087,1249,3288,2572,0,0,0,0,0,0
$GC,679,-1.34,-146.6,73.9,-11.1,61,683,0.00,2.17,0.00,0.000,6,0.000,0.070,1249,1884,2572,0,0,0,0,0,0
$GC,1002,-1.34,-146.6,107.9,-9.5,91,1006,0.00,2.22,0.00,0.000,4,0.000,0.082,1249,3289,2572,0,0,0,0,0,0
$GC,1299,-1.34,-146.6,135.5,-10.1,117,1303,0.00,2.12,0.00,0.000,6,0.000,0.070,1249,1893,2572,0,0,0,0,0,0
$GC,1635,-1.34,-146.6,163.4,-7.4,141,1639,0.00,2.15,0.00,0.000,4,0.000,0.087,1249,504,2573,0,0,0,0,0,0
$GC,1689,-1.34,-146.6,168.5,-9.1,143,1696,0.00,2.12,0.00,0.000,6,0.000,0.065,1249,1894,2574,0,0,0,0,0,0
$GC,2005,-1.34,-146.6,194.5,-8.0,159,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,1249,1895,2574,0,0,0,0,0,0
$GC,2314,-1.34,-146.6,223.7,-9.7,174,2317,0.00,2.17,0.00,0.000,4,0.000,0.084,1249,3286,2575,0,0,0,0,0,0
$GC,2413,-1.34,-146.6,234.3,-10.2,178,2418,0.00,2.17,0.00,0.000,6,0.000,0.072,1249,1906,2574,0,0,0,0,0,0
$GC,2734,-1.34,-146.6,266.5,-10.0,194,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,1249,1906,2574,0,0,0,0,0,0
$GC,3044,-1.34,-146.6,266.2,0.3,209,3048,0.00,2.25,0.00,0.000,4,0.000,0.094,1249,499,2574,0,0,0,0,0,0
$GC,3722,-1.34,-146.6,266.3,-0.5,239,3727,0.00,2.17,0.00,0.000,6,0.000,0.072,1249,1886,2574,0,0,0,0,0,0
$STATE,3856,end dive,NO_VERTICAL_VELOCITY
$STATE,3856,begin apogee
$GC,3860,-0.42,0.0,266.3,0.0,246,3965,0.85,0.00,101.20,0.904,6,0.084,0.000,1465,1654,2074,0,0,0,0,0,0
$STATE,3966,end apogee,CONTROL_FINISHED_OK
$STATE,3966,begin climb
$GC,3967,1.34,146.6,266.2,0.0,251,4078,1.55,2.40,100.93,0.881,4,0.079,0.089,1848,3048,1577,0,0,1,0,0,0
$GC,4314,1.41,204.7,250.6,5.5,267,4359,0.00,2.22,39.90,0.867,6,0.000,0.079,1848,1649,1381,0,0,1,0,0,0
$GC,4679,1.41,204.7,221.3,8.8,285,4682,0.00,2.30,0.00,0.000,4,0.000,0.099,1848,249,1380,0,0,0,0,0,0
$GC,4813,1.41,204.7,207.7,8.8,291,4817,0.00,2.20,0.00,0.000,6,0.000,0.072,1848,1661,1380,0,0,0,0,0,0
$GC,5145,1.41,204.7,177.6,8.7,307,5149,0.00,2.35,0.00,0.000,4,0.000,0.097,1848,238,1380,0,0,0,0,0,0
$GC,5340,1.41,204.7,161.4,8.9,316,5344,0.00,2.17,0.00,0.000,6,0.000,0.072,1848,1651,1380,0,0,0,0,0,0
$GC,5667,1.43,222.5,137.1,6.9,340,5682,0.00,0.00,12.98,0.770,6,0.000,0.000,1848,1658,1320,0,0,0,0,0,0
$GC,5995,1.47,250.7,113.0,6.5,371,6020,0.00,2.22,19.83,0.782,4,0.000,0.087,1848,3042,1223,0,0,0,0,0,0
$GC,6111,1.48,255.9,104.4,7.3,381,6123,0.10,2.22,4.95,0.586,6,0.117,0.074,1883,1645,1207,0,0,0,0,0,0
$GC,6440,1.48,255.9,76.3,7.9,412,6444,0.00,2.22,0.00,0.000,4,0.000,0.079,1884,3043,1207,0,0,0,0,0,0
$GC,6597,1.48,255.9,62.1,8.7,426,6601,0.00,2.17,0.00,0.000,6,0.000,0.074,1883,1645,1207,0,0,0,0,0,0
$GC,6920,1.48,255.9,36.0,8.1,456,6924,0.00,2.22,0.00,0.000,4,0.000,0.092,1884,251,1207,0,0,0,0,0,0
$GC,6946,1.48,255.9,33.4,9.9,458,6954,0.00,2.15,0.00,0.000,6,0.000,0.065,1884,1672,1207,0,0,0,0,0,0
$GC,7271,1.48,255.9,5.4,8.3,489,7275,0.00,2.28,0.00,0.000,4,0.000,0.087,1884,244,1207,0,0,0,0,0,0
$STATE,7292,end climb,SURFACE_DEPTH_REACHED
$STATE,7292,begin surface coast
$FINISH,0.1,1.023404
$STATE,7338,end surface coast,CONTROL_FINISHED_OK
$STATE,7338,begin surface
$SM_CCo,7354,127.07,0.713,0,0,549,450.22
$SM_GC,0.76,0.00,0.00,127.07,0.000,0.000,0.713,10,1911,549,-7.08,0.31,450.22
$IRIDIUM_FIX,1821.40,-6600.64,121111,222204
$TT8_MAMPS,0.020972
$HUMID,1078027732
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,24.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.2,18.3
$ALTIM_BOTTOM_PING,201.6,89.7
$24V_AH,24.9,2.783
$10V_AH,10.6,0.977
$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,16.350,58.250,279.775,127.075,0.000,56.494,109.461,140.490,1.750,0.000,35.914,926.224,4887.537,509.356,1576.845,55.502,33.366,1131.542,0.000,1154.244,0.000,7.299,0.000
$DEVICE_MAMPS,203.606,99.320,903.812,712.621,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.247,0.000,755.861,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328608
$DATA_FILE_SIZE,26895,495
$CAP_FILE_SIZE,79065,0
$CFSIZE,260280320,254074880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200510,063734,1829.786,-6559.314,13,99.0,33,-12.7