version: 66.07
glider: 33
mission: 17
dive: 17
start: 5 20 110 8 37 19
data:
$ID,33
$MISSION,17
$DIVE,17
$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,-218215.86
$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,66
$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
$GPS1,200510,082034,1829.503,-6559.286,9,2.3,28,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-37.9
$GPS2,200510,083626,1829.597,-6559.436,14,1.9,14,-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,0.131,-0.200
$KALMAN_X,-14629.4,827.5,-1897.8,33327.5,-73952.9
$KALMAN_Y,21176.3,-1621.6,2259.8,-26800.2,123206.4
$MHEAD_RNG_PITCHd_Wd,159.5,11900,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.34,-146.6,0.0,0.0,0,119,0.00,0.00,-101.85,0.000,2,0.000,0.000,13,1903,2187,0,0,0,0,0,0
$GC,121,-1.34,-146.6,3.3,-5.0,10,148,6.53,2.22,-14.73,0.000,4,0.204,0.082,1252,494,2571,0,0,0,0,0,0
$GC,260,-1.34,-146.6,21.5,-13.0,22,264,0.00,2.08,0.00,0.000,6,0.000,0.065,1252,1896,2571,0,0,0,0,0,0
$GC,589,-1.34,-146.6,60.8,-12.1,53,590,0.00,0.00,0.00,0.000,6,0.000,0.000,1252,1904,2571,0,0,0,0,0,0
$GC,908,-1.34,-146.6,96.9,-8.4,83,911,0.00,2.17,0.00,0.000,4,0.000,0.082,1253,3273,2571,0,0,0,0,0,0
$GC,1587,-1.34,-146.6,97.3,-0.6,143,1593,0.00,2.15,0.00,0.000,6,0.000,0.070,1253,1900,2572,0,0,0,0,0,0
$STATE,1836,end dive,NO_VERTICAL_VELOCITY
$STATE,1837,begin apogee
$GC,1840,-0.42,0.0,96.9,0.0,167,1943,0.82,0.00,99.03,0.757,6,0.070,0.000,1477,1647,2074,0,0,0,0,0,0
$STATE,1944,end apogee,CONTROL_FINISHED_OK
$STATE,1944,begin climb
$GC,1945,1.34,146.6,97.2,0.0,177,2052,1.48,2.33,98.57,0.737,4,0.072,0.092,1857,257,1576,0,0,0,0,0,0
$GC,2191,1.34,146.6,85.0,8.8,199,2198,0.00,2.15,0.00,0.000,6,0.000,0.062,1857,1666,1576,0,0,0,0,0,0
$GC,2516,1.47,253.5,62.5,3.8,230,2588,0.00,0.00,70.60,0.708,6,0.000,0.000,1857,1666,1215,0,0,0,0,0,0
$GC,2905,1.47,253.5,25.5,11.5,267,2909,0.00,2.28,0.00,0.000,4,0.000,0.089,1856,250,1214,0,0,0,0,0,0
$STATE,3110,end climb,SURFACE_DEPTH_REACHED
$STATE,3110,begin surface coast
$FINISH,-0.1,1.009555
$STATE,3156,end surface coast,CONTROL_FINISHED_OK
$STATE,3157,begin surface
$SM_CCo,3172,126.62,0.683,0,0,549,450.22
$SM_GC,0.85,0.00,0.00,126.62,0.000,0.000,0.683,9,1901,549,-7.09,0.03,450.22
$IRIDIUM_FIX,1823.67,-6557.63,131111,020240
$TT8_MAMPS,0.020972
$HUMID,1077989023
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,25.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,25.1,3.005
$10V_AH,10.7,1.053
$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,16.000,18.275,268.200,126.625,0.000,147.091,194.522,279.644,0.500,0.000,15.672,498.269,1967.855,468.795,1288.036,41.173,33.349,808.798,0.000,599.169,0.000,2.631,0.000
$DEVICE_MAMPS,203.606,91.871,757.315,682.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,189.434,0.000,441.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328524
$DATA_FILE_SIZE,13601,289
$CAP_FILE_SIZE,51297,0
$CFSIZE,260280320,254038016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200510,093336,1829.429,-6559.225,39,1.9,45,-12.7