version: 66.07
glider: 33
mission: 22
dive: 10
start: 7 30 110 2 18 52
data:
$ID,33
$MISSION,22
$DIVE,10
$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,2
$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,-229829.38
$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,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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,52
$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,3
$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
$GPS1,300710,021449,1836.585,-6606.947,13,1.6,31,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-54.0
$GPS2,300710,021832,1836.593,-6606.990,16,1.7,16,-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,107.8,12318,-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,-146.6,0.0,0.0,0,109,0.00,0.00,-92.35,0.000,2,0.000,0.000,21,2220,2540,0,0,0,0,0,0
$GC,111,-1.41,-146.6,3.9,-5.6,9,126,8.00,2.28,-1.50,0.000,4,0.199,0.072,1537,791,2581,0,0,0,0,0,0
$GC,170,-1.41,-146.6,13.9,-12.6,14,178,0.00,2.17,0.00,0.000,6,0.000,0.062,1537,2195,2582,0,0,0,0,0,0
$GC,496,-1.41,-146.6,46.1,-9.3,45,500,0.00,2.20,0.00,0.000,4,0.000,0.084,1537,3592,2583,0,0,0,0,0,0
$GC,681,-1.41,-146.6,63.9,-10.2,61,685,0.00,2.15,0.00,0.000,6,0.000,0.062,1537,2167,2584,0,0,0,0,0,0
$GC,1006,-1.41,-146.6,88.1,-5.9,91,1009,0.00,2.10,0.00,0.000,4,0.000,0.087,1536,811,2584,0,0,0,0,0,0
$GC,1054,-1.41,-146.6,91.7,-8.0,95,1062,0.00,2.12,0.00,0.000,6,0.000,0.065,1537,2190,2584,0,0,0,0,0,0
$GC,1380,-1.41,-146.6,114.9,-7.9,126,1384,0.00,2.25,0.00,0.000,4,0.000,0.092,1537,3603,2585,0,0,0,0,0,0
$GC,1727,-1.41,-146.6,137.9,-5.6,156,1734,0.00,2.15,0.00,0.000,6,0.000,0.065,1536,2200,2586,0,0,0,0,0,0
$GC,2049,-1.41,-146.6,156.6,-6.0,182,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,2200,2585,0,0,0,0,0,0
$GC,2358,-1.41,-146.6,173.9,-5.6,197,2362,0.00,2.25,0.00,0.000,4,0.000,0.087,1536,3604,2585,0,0,0,0,0,0
$GC,2547,-1.41,-146.6,186.8,-7.0,205,2552,0.00,2.15,0.00,0.000,6,0.000,0.065,1537,2210,2586,0,0,0,0,0,0
$GC,2870,-1.41,-146.6,211.1,-7.7,221,2874,0.00,2.22,0.00,0.000,4,0.000,0.082,1536,796,2585,0,0,0,0,0,0
$GC,3015,-1.41,-146.6,223.2,-9.2,227,3023,0.00,2.20,0.00,0.000,6,0.000,0.079,1536,2211,2585,0,0,0,0,0,0
$GC,3331,-1.41,-146.6,248.4,-7.1,243,3335,0.00,2.22,0.00,0.000,4,0.000,0.089,1537,3606,2585,0,0,0,0,0,0
$GC,3425,-1.41,-146.6,256.4,-8.4,247,3430,0.00,2.20,0.00,0.000,6,0.000,0.067,1537,2201,2585,0,0,0,0,0,0
$GC,3748,-1.41,-146.6,283.1,-8.8,263,3752,0.00,2.30,0.00,0.000,4,0.000,0.089,1537,3607,2585,0,0,1,0,0,0
$GC,3983,-1.41,-146.6,305.6,-10.1,273,3987,0.00,2.17,0.00,0.000,6,0.000,0.070,1537,2194,2584,0,0,0,0,0,0
$GC,4312,-1.41,-146.6,337.5,-9.9,284,4316,0.00,2.33,0.00,0.000,4,0.000,0.089,1537,3601,2583,0,0,0,0,0,0
$GC,4393,-1.41,-146.6,346.2,-11.1,286,4398,0.00,2.22,0.00,0.000,6,0.000,0.070,1536,2206,2583,0,0,0,0,0,0
$GC,4712,-1.41,-146.6,379.5,-10.6,297,4717,0.00,2.28,0.00,0.000,4,0.000,0.102,1537,3598,2582,0,0,0,0,0,0
$GC,4948,-1.41,-146.6,405.8,-11.5,304,4952,0.00,2.20,0.00,0.000,6,0.000,0.072,1536,2192,2580,0,0,0,0,0,0
$GC,5288,-1.41,-146.6,444.3,-11.3,315,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2192,2578,0,0,0,0,0,0
$GC,5595,-1.41,-146.6,481.3,-12.5,325,5598,0.00,2.33,0.00,0.000,4,0.000,0.094,1537,3592,2577,0,0,0,0,0,0
$GC,5688,-1.41,-146.6,493.9,-13.2,327,5696,0.00,2.22,0.00,0.000,6,0.000,0.072,1537,2210,2578,0,0,0,0,0,0
$GC,6002,-1.41,-146.6,533.5,-12.9,338,6006,0.00,2.08,0.00,0.000,3,0.000,0.097,1536,3458,2576,0,0,0,0,0,0
$STATE,6007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6007,begin apogee
$GC,6013,-0.31,0.0,534.3,12.7,338,6118,1.08,0.00,101.47,1.132,6,0.129,0.000,1775,2045,2082,0,0,0,0,0,0
$STATE,6119,end apogee,CONTROL_FINISHED_OK
$STATE,6119,begin climb
$GC,6120,1.41,146.6,538.6,0.0,341,6233,1.60,2.50,102.40,1.122,4,0.089,0.104,2153,644,1585,0,0,0,0,0,0
$GC,6481,1.51,231.3,524.0,6.1,352,6548,0.10,2.28,60.25,1.095,6,0.117,0.082,2189,2047,1297,0,0,1,0,0,0
$GC,6882,1.51,231.3,483.4,10.8,365,6887,0.00,2.35,0.00,0.000,4,0.000,0.099,2189,644,1295,0,0,0,0,0,0
$GC,7080,1.51,231.3,461.3,12.5,371,7084,0.00,2.28,0.00,0.000,6,0.000,0.082,2189,2055,1293,0,0,1,0,0,0
$GC,7413,1.51,231.3,422.1,11.5,382,7418,0.00,2.33,0.00,0.000,4,0.000,0.099,2189,651,1292,0,0,0,0,0,0
$GC,7577,1.51,231.3,402.8,13.1,387,7581,0.00,2.22,0.00,0.000,6,0.000,0.082,2189,2050,1292,0,0,1,0,0,0
$GC,7917,1.51,231.3,363.9,11.8,398,7921,0.00,2.33,0.00,0.000,4,0.000,0.097,2189,641,1291,0,0,0,0,0,0
$GC,7995,1.51,231.3,354.2,12.6,400,7999,0.00,2.25,0.00,0.000,6,0.000,0.079,2189,2052,1291,0,0,0,0,0,0
$GC,8314,1.51,231.3,317.2,11.8,411,8318,0.00,2.33,0.00,0.000,4,0.000,0.097,2189,650,1290,0,0,0,0,0,0
$GC,8435,1.51,231.3,301.5,12.9,414,8443,0.00,2.25,0.00,0.000,6,0.000,0.077,2189,2048,1290,0,0,1,0,0,0
$GC,8761,1.51,231.3,262.2,12.6,430,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2048,1290,0,0,0,0,0,0
$GC,9071,1.51,231.3,224.3,12.8,445,9075,0.00,2.30,0.00,0.000,4,0.000,0.092,2189,648,1290,0,0,0,0,0,0
$GC,9109,1.51,231.3,219.4,13.5,447,9114,0.00,2.22,0.00,0.000,6,0.000,0.074,2189,2061,1290,0,0,0,0,0,0
$GC,9436,1.51,231.3,174.9,14.3,463,9440,0.00,2.33,0.00,0.000,4,0.000,0.092,2189,643,1290,0,0,0,0,0,0
$GC,9636,1.51,231.3,145.0,13.4,473,9644,0.00,2.25,0.00,0.000,6,0.000,0.072,2189,2052,1290,0,0,0,0,0,0
$GC,9961,1.51,231.3,102.0,13.1,504,9965,0.00,2.28,0.00,0.000,4,0.000,0.087,2189,637,1290,0,0,0,0,0,0
$GC,10049,1.51,231.3,90.8,13.3,511,10057,0.00,2.22,0.00,0.000,6,0.000,0.070,2190,2049,1290,0,0,0,0,0,0
$GC,10375,1.51,233.4,55.5,9.9,542,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2049,1289,0,0,0,0,0,0
$GC,10694,1.52,234.8,22.3,9.9,572,10698,0.00,2.25,0.00,0.000,4,0.000,0.087,2189,642,1290,0,0,0,0,0,0
$STATE,10867,end climb,SURFACE_DEPTH_REACHED
$STATE,10867,begin surface coast
$FINISH,0.4,1.022684
$STATE,10902,end surface coast,CONTROL_FINISHED_OK
$STATE,10902,begin surface
$SM_CCo,10919,45.38,0.760,0,0,1065,300.25
$SM_GC,0.84,0.00,0.00,45.38,0.000,0.000,0.760,11,2204,1065,-8.46,0.11,300.25
$IRIDIUM_FIX,1828.22,-6607.79,220112,202054
$TT8_MAMPS,0.021721
$HUMID,1078706442
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,24.30
$XPDR_PINGS,9
$ALTIM_TOP_PING,20.0,19.3
$24V_AH,24.7,24.092
$10V_AH,10.6,8.406
$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,19.375,94.500,264.125,45.375,0.000,0.000,0.000,0.000,13.500,0.000,17.704,1615.259,7288.706,435.507,1628.223,68.994,0.000,1237.278,0.000,1499.444,0.000,71.878,0.000
$DEVICE_MAMPS,198.640,104.286,1132.248,759.798,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.336,0.000,898.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326684
$DATA_FILE_SIZE,30230,590
$CAP_FILE_SIZE,122945,0
$CFSIZE,260280320,252583936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,300710,052257,1836.274,-6606.005,27,99.0,46,-12.7