version: 66.07
glider: 33
mission: 17
dive: 4
start: 5 18 110 19 16 14
data:
$ID,33
$MISSION,17
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,180
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,5761
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$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,-217753.12
$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,1850
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,63
$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,300
$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
$GPS1,180510,190759,1832.995,-6608.302,12,2.9,31,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-25.7
$GPS2,180510,191458,1833.021,-6608.295,12,99.0,31,-12.7
$SPEED_LIMITS,0.100,0.358
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.330,0.139
$KALMAN_X,540.0,266.5,224.0,1057.2,-178.3
$KALMAN_Y,436.1,261.3,218.8,399.5,-190.8
$MHEAD_RNG_PITCHd_Wd,79.9,15570,-12.4,-10.000
$D_GRID,481
$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,-1.40,-293.3,0.0,0.0,0,169,0.00,0.00,-151.60,0.000,2,0.000,0.000,10,1862,2486,0,0,0,0,0,0
$GC,171,-1.40,-293.3,3.3,-5.6,15,202,6.40,0.00,-22.58,0.000,6,0.204,0.000,1241,1863,3069,0,0,0,0,0,0
$GC,515,-1.40,-293.3,51.9,-14.2,48,519,0.00,2.22,0.00,0.000,4,0.000,0.082,1241,3286,3069,0,0,0,0,0,0
$GC,651,-1.40,-293.3,70.3,-13.6,60,655,0.00,2.10,0.00,0.000,6,0.000,0.072,1241,1909,3069,0,0,0,0,0,0
$GC,975,-1.40,-293.3,110.0,-11.9,90,979,0.00,2.15,0.00,0.000,4,0.000,0.082,1241,3277,3069,0,0,0,0,0,0
$GC,1058,-1.40,-293.3,119.1,-11.0,97,1062,0.00,2.10,0.00,0.000,6,0.000,0.072,1241,1897,3069,0,0,0,0,0,0
$GC,1397,-1.40,-293.3,155.0,-10.2,127,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,1241,1897,3069,0,0,0,0,0,0
$GC,1706,-1.40,-293.3,185.3,-10.4,142,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,1241,1897,3069,0,0,0,0,0,0
$GC,2016,-1.40,-293.3,219.8,-11.0,157,2020,0.00,2.17,0.00,0.000,4,0.000,0.087,1241,3276,3069,0,0,0,0,0,0
$GC,2086,-1.40,-293.3,227.6,-10.3,160,2091,0.00,2.15,0.00,0.000,6,0.000,0.074,1241,1912,3069,0,0,0,0,0,0
$GC,2409,-1.40,-293.3,265.3,-11.8,176,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,1241,1912,3069,0,0,0,0,0,0
$GC,2727,-1.40,-293.3,305.9,-13.0,191,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,1241,1912,3069,0,0,0,0,0,0
$GC,3033,-1.40,-293.3,346.3,-13.2,201,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,1241,1912,3069,0,0,0,0,0,0
$GC,3339,-1.40,-293.3,384.4,-12.5,211,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,1241,1911,3069,0,0,0,0,0,0
$GC,3647,-1.40,-293.3,425.1,-13.4,221,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,1241,1912,3069,0,0,0,0,0,0
$STATE,3829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3829,begin apogee
$GC,3833,-0.42,0.0,450.3,13.3,227,4041,0.95,0.00,200.05,1.055,6,0.124,0.000,1457,1850,2073,0,0,0,0,0,0
$STATE,4041,end apogee,CONTROL_FINISHED_OK
$STATE,4042,begin climb
$GC,4043,1.40,293.3,459.7,0.0,234,4256,1.70,2.42,199.48,1.033,4,0.099,0.102,1854,3218,1080,0,0,1,0,0,0
$GC,4323,1.40,293.3,446.4,10.6,243,4327,0.00,2.22,0.00,0.000,6,0.000,0.087,1854,1855,1080,0,0,1,0,0,0
$GC,4662,1.40,293.3,411.8,10.0,254,4667,0.00,2.33,0.00,0.000,4,0.000,0.107,1854,445,1079,0,0,0,0,0,0
$GC,4914,1.40,293.3,382.6,11.8,261,4919,0.00,2.20,0.00,0.000,6,0.000,0.082,1854,1819,1078,0,0,1,0,0,0
$GC,5232,1.40,293.3,348.6,10.6,272,5235,0.00,2.28,0.00,0.000,4,0.000,0.107,1854,446,1078,0,0,0,0,0,0
$GC,5359,1.40,293.3,335.2,10.7,275,5366,0.00,2.22,0.00,0.000,6,0.000,0.082,1854,1844,1075,0,0,1,0,0,0
$GC,5672,1.40,293.3,303.2,10.4,286,5676,0.00,2.30,0.00,0.000,4,0.000,0.104,1854,444,1075,0,0,0,0,0,0
$GC,5823,1.40,293.3,285.0,12.3,292,5827,0.00,2.17,0.00,0.000,6,0.000,0.082,1854,1853,1075,0,0,1,0,0,0
$GC,6154,1.40,293.3,248.0,11.0,308,6157,0.00,2.33,0.00,0.000,4,0.000,0.102,1854,452,1075,0,0,0,0,0,0
$GC,6321,1.40,293.3,228.5,11.7,315,6326,0.00,2.22,0.00,0.000,6,0.000,0.077,1854,1853,1072,0,0,1,0,0,0
$GC,6643,1.40,293.3,191.4,11.9,331,6647,0.00,2.30,0.00,0.000,4,0.000,0.102,1854,444,1072,0,0,0,0,0,0
$GC,6798,1.40,293.3,172.8,11.5,338,6803,0.00,2.22,0.00,0.000,6,0.000,0.077,1854,1853,1072,0,0,0,0,0,0
$GC,7118,1.40,293.3,137.5,10.3,359,7122,0.00,2.30,0.00,0.000,4,0.000,0.099,1854,441,1072,0,0,0,0,0,0
$GC,7217,1.40,293.3,125.6,12.3,367,7224,0.00,2.20,0.00,0.000,6,0.000,0.072,1854,1849,1072,0,0,0,0,0,0
$GC,7542,1.40,293.3,89.4,10.2,398,7546,0.00,2.30,0.00,0.000,4,0.000,0.094,1854,439,1072,0,0,0,0,0,0
$GC,7596,1.40,293.3,83.4,11.2,402,7603,0.00,2.20,0.00,0.000,6,0.000,0.070,1854,1859,1072,0,0,0,0,0,0
$GC,7921,1.43,324.5,50.7,9.3,433,7947,0.00,2.30,20.42,0.790,4,0.000,0.094,1854,443,973,0,0,0,0,0,0
$GC,8047,1.43,324.5,37.8,10.6,444,8051,0.00,2.15,0.00,0.000,6,0.000,0.067,1854,1857,973,0,0,0,0,0,0
$STATE,8354,end climb,SURFACE_DEPTH_REACHED
$STATE,8354,begin surface coast
$FINISH,-0.1,1.012304
$STATE,8388,end surface coast,CONTROL_FINISHED_OK
$STATE,8388,begin surface
$SM_CCo,8400,81.43,0.757,0,0,548,450.22
$SM_GC,0.60,0.00,0.00,81.43,0.000,0.000,0.757,18,1868,548,-7.05,-0.90,450.22
$IRIDIUM_FIX,1825.94,-6609.87,111111,131327
$TT8_MAMPS,0.020972
$HUMID,1078178700
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.4
$24V_AH,24.9,1.084
$10V_AH,10.7,0.345
$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,16.250,53.650,419.950,81.425,0.000,0.000,0.000,0.000,2.000,0.000,33.128,877.511,5877.641,639.252,1134.288,63.528,32.334,1228.395,0.000,1034.879,0.000,15.025,0.000
$DEVICE_MAMPS,203.606,168.844,1055.275,757.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.429,0.000,726.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328916
$DATA_FILE_SIZE,26879,476
$CAP_FILE_SIZE,107072,0
$CFSIZE,260280320,254603264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,180510,213837,1833.072,-6606.601,26,1.4,28,-12.7