version: 66.07
glider: 33
mission: 22
dive: 8
start: 7 29 110 19 26 50
data:
$ID,33
$MISSION,22
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,200
$T_ABORT,720
$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,0.0048177
$HD_B,0.011392
$HD_C,1.0709e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-66
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,-229716.41
$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,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,2082
$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,-20.341413
$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,10
$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
$GPS1,290710,192220,1836.960,-6607.448,10,1.2,10,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-50.1
$GPS2,290710,192601,1836.989,-6607.474,10,1.9,15,-12.7
$SPEED_LIMITS,0.100,0.247
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.245,-0.034
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,110.6,13245,-19.6,-10.000
$D_GRID,540
$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,-1.41,-146.6,0.0,0.0,0,118,0.00,0.00,-96.85,0.000,6,0.000,0.000,14,2051,2578,0,0,0,0,0,0
$GC,120,-1.41,-146.6,3.3,-4.6,10,130,8.07,0.00,0.00,0.000,6,0.201,0.000,1536,2051,2579,0,0,0,0,0,0
$GC,448,-1.41,-146.6,35.8,-7.2,41,452,0.00,2.17,0.00,0.000,4,0.000,0.082,1536,3447,2580,0,0,0,0,0,0
$GC,761,-1.41,-146.6,62.6,-9.5,68,769,0.00,2.17,0.00,0.000,6,0.000,0.072,1536,2026,2580,0,0,0,0,0,0
$GC,1087,-1.41,-146.6,86.7,-6.2,99,1091,0.00,2.10,0.00,0.000,4,0.000,0.079,1536,653,2580,0,0,0,0,0,0
$GC,1182,-1.41,-146.6,92.8,-7.4,107,1186,0.00,2.10,0.00,0.000,6,0.000,0.065,1536,2056,2580,0,0,0,0,0,0
$GC,1507,-1.41,-146.6,110.5,-6.4,137,1511,0.00,2.17,0.00,0.000,4,0.000,0.084,1536,3444,2580,0,0,0,0,0,0
$GC,1723,-1.41,-146.6,123.4,-6.7,156,1731,0.00,2.15,0.00,0.000,6,0.000,0.074,1536,2056,2580,0,0,0,0,0,0
$GC,2048,-1.41,-146.6,139.1,-4.6,187,2052,0.00,2.20,0.00,0.000,4,0.000,0.084,1537,3441,2579,0,0,0,0,0,0
$GC,2559,-1.41,-146.6,171.1,-5.7,218,2563,0.00,2.12,0.00,0.000,6,0.000,0.067,1536,2041,2578,0,0,0,0,0,0
$GC,2891,-1.41,-146.6,189.1,-5.4,234,2894,0.00,2.17,0.00,0.000,4,0.000,0.082,1536,651,2577,0,0,0,0,0,0
$GC,2967,-1.41,-146.6,194.1,-6.4,237,2975,0.00,2.15,0.00,0.000,6,0.000,0.067,1537,2046,2577,0,0,0,0,0,0
$GC,3284,-1.41,-146.6,212.2,-6.0,253,3288,0.00,2.22,0.00,0.000,4,0.000,0.087,1537,3444,2576,0,0,0,0,0,0
$GC,3686,-1.41,-146.6,241.4,-7.5,271,3691,0.00,2.17,0.00,0.000,6,0.000,0.067,1537,2051,2575,0,0,0,0,0,0
$GC,4014,-1.41,-146.6,266.2,-7.8,287,4018,0.00,2.25,0.00,0.000,4,0.000,0.087,1536,3451,2574,0,0,0,0,0,0
$GC,4171,-1.41,-146.6,279.3,-8.1,294,4178,0.00,2.17,0.00,0.000,6,0.000,0.070,1536,2049,2573,0,0,0,0,0,0
$GC,4515,-1.41,-146.6,309.7,-9.1,309,4520,0.00,2.28,0.00,0.000,4,0.000,0.089,1536,3448,2571,0,0,0,0,0,0
$GC,4633,-1.41,-146.6,320.9,-10.0,312,4637,0.00,2.17,0.00,0.000,6,0.000,0.072,1536,2054,2570,0,0,0,0,0,0
$GC,4950,-1.41,-146.6,349.5,-9.0,323,4954,0.00,2.28,0.00,0.000,4,0.000,0.089,1537,3451,2570,0,0,0,0,0,0
$GC,5046,-1.41,-146.6,359.6,-10.7,326,5050,0.00,2.17,0.00,0.000,6,0.000,0.072,1536,2051,2569,0,0,0,0,0,0
$GC,5385,-1.41,-146.6,395.5,-10.7,337,5389,0.00,2.28,0.00,0.000,4,0.000,0.089,1536,3443,2567,0,0,0,0,0,0
$STATE,5599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5599,begin apogee
$GC,5604,-0.31,0.0,420.4,12.1,343,5705,1.08,0.00,97.15,1.043,6,0.122,0.000,1780,2045,2082,0,0,0,0,0,0
$STATE,5706,end apogee,CONTROL_FINISHED_OK
$STATE,5706,begin climb
$GC,5707,1.41,146.6,424.5,0.0,346,5816,1.60,2.42,99.88,1.048,4,0.089,0.099,2158,625,1584,0,0,0,0,0,0
$GC,6002,1.41,146.6,405.8,10.6,355,6006,0.00,2.25,0.00,0.000,6,0.000,0.077,2159,2041,1583,0,0,1,0,0,0
$GC,6336,1.44,170.0,375.1,8.9,366,6359,0.00,2.40,16.48,0.946,4,0.000,0.097,2159,3458,1504,0,0,0,0,0,0
$GC,6468,1.44,174.3,362.5,9.8,370,6477,0.00,2.30,4.38,0.665,6,0.000,0.077,2159,2029,1491,0,0,0,0,0,0
$GC,6806,1.44,174.3,329.4,10.0,381,6810,0.00,2.25,0.00,0.000,4,0.000,0.097,2158,642,1490,0,0,0,0,0,0
$GC,7215,1.44,174.3,285.3,10.4,395,7220,0.00,2.22,0.00,0.000,6,0.000,0.074,2159,2051,1489,0,0,1,0,0,0
$GC,7544,1.44,174.3,252.0,10.4,411,7548,0.00,2.30,0.00,0.000,4,0.000,0.092,2159,646,1487,0,0,0,0,0,0
$GC,7665,1.44,174.3,238.0,11.6,416,7673,0.00,2.22,0.00,0.000,6,0.000,0.072,2159,2046,1487,0,0,0,0,0,0
$GC,7981,1.44,174.3,205.7,10.0,432,7985,0.00,2.25,0.00,0.000,4,0.000,0.092,2159,3451,1486,0,0,0,0,0,0
$GC,8042,1.44,174.3,198.8,10.9,435,8046,0.00,2.22,0.00,0.000,6,0.000,0.074,2159,2045,1486,0,0,0,0,0,0
$GC,8368,1.46,192.4,166.9,9.2,451,8390,0.00,2.33,12.68,0.814,4,0.000,0.092,2159,644,1430,0,0,0,0,0,0
$GC,8559,1.46,192.4,146.2,12.3,461,8563,0.00,2.17,0.00,0.000,6,0.000,0.072,2159,2052,1429,0,0,0,0,0,0
$GC,8883,1.46,192.4,109.1,11.7,491,8887,0.00,2.28,0.00,0.000,4,0.000,0.087,2159,641,1429,0,0,0,0,0,0
$GC,8951,1.46,192.4,100.6,12.7,497,8955,0.00,2.20,0.00,0.000,6,0.000,0.070,2158,2055,1429,0,0,0,0,0,0
$GC,9275,1.56,269.6,68.8,6.5,527,9334,0.12,2.33,53.30,0.804,4,0.104,0.089,2202,643,1167,0,0,1,0,0,0
$GC,9486,1.56,269.6,43.9,14.9,546,9490,0.00,2.20,0.00,0.000,6,0.000,0.067,2202,2054,1167,0,0,0,0,0,0
$GC,9810,1.56,271.8,8.4,9.9,576,9814,0.00,2.25,0.00,0.000,4,0.000,0.082,2202,642,1166,0,0,0,0,0,0
$STATE,9852,end climb,SURFACE_DEPTH_REACHED
$STATE,9852,begin surface coast
$FINISH,0.1,1.022569
$STATE,9876,end surface coast,CONTROL_FINISHED_OK
$STATE,9876,begin surface
$SM_CCo,9893,19.50,0.747,0,0,1064,300.25
$SM_GC,3.03,0.00,0.00,19.50,0.000,0.000,0.747,12,2062,1064,-8.45,0.34,300.25
$IRIDIUM_FIX,1830.49,-6529.22,220112,131338
$TT8_MAMPS,0.021721
$HUMID,1078829023
$INTERNAL_PRESSURE,7.97882
$TCM_TEMP,24.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.8
$ALTIM_BOTTOM_PING,420.4,5.3
$24V_AH,25.0,23.837
$10V_AH,10.5,8.268
$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,19.525,84.575,283.850,19.500,0.000,0.000,0.000,0.000,9.750,0.000,16.430,1580.188,6240.264,414.041,1685.760,61.648,29.239,1232.553,0.000,1557.140,0.000,60.248,0.000
$DEVICE_MAMPS,201.123,99.320,1047.826,747.383,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.516,0.000,885.303,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326688
$DATA_FILE_SIZE,30176,581
$CAP_FILE_SIZE,117832,0
$CFSIZE,260280320,252702720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290710,221355,1836.737,-6606.840,79,1.6,79,-12.7