version: 66.07
glider: 33
mission: 17
dive: 22
start: 5 20 110 15 20 57
data:
$ID,33
$MISSION,17
$DIVE,22
$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,564.17877
$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,-220027.27
$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,38
$R_STBD_OVSHOOT,68
$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
$GPS1,131111,074644,1819.127,-6558.560,0,10000.0,0,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,109.98
$_SM_ANGLEo,-2.4
$GPS2,131111,074644,1819.127,-6558.560,901,99.0,901,-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,0.060,-0.232
$KALMAN_X,-122227.6,-1884.7,-416.7,45933.4,-95004.8
$KALMAN_Y,192979.2,3432.2,1187.5,-45160.7,151930.8
$MHEAD_RNG_PITCHd_Wd,178.1,31351,-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,-146.6,0.0,0.0,0,22,0.00,0.00,-6.10,0.000,2,0.000,0.000,16,1894,985,0,0,0,0,0,0
$GC,24,-1.34,-146.6,109.9,-0.0,1,48,5.07,2.28,-12.38,0.000,4,0.094,0.087,1261,491,2581,0,0,0,0,0,0
$GC,249,-1.34,-146.6,120.0,-2.5,21,256,0.00,2.12,0.00,0.000,6,0.000,0.067,1261,1880,2581,0,0,0,0,0,0
$GC,574,-1.34,-146.6,120.0,0.0,52,578,0.00,2.22,0.00,0.000,4,0.000,0.084,1261,3297,2582,0,0,0,0,0,0
$GC,1253,-1.34,-146.6,120.0,-0.4,112,1260,0.00,2.17,0.00,0.000,6,0.000,0.067,1261,1892,2582,0,0,0,0,0,0
$GC,1578,-1.34,-146.6,120.2,-0.1,143,1582,0.00,2.20,0.00,0.000,4,0.000,0.082,1261,3294,2582,0,0,0,0,0,0
$GC,2258,-1.34,-146.6,120.2,0.4,203,2262,0.00,2.15,0.00,0.000,6,0.000,0.070,1261,1890,2581,0,0,0,0,0,0
$GC,2582,-1.34,-146.6,120.4,-0.0,233,2586,0.00,2.22,0.00,0.000,4,0.000,0.082,1261,3301,2581,0,0,0,0,0,0
$GC,3261,-1.34,-146.6,120.1,0.6,293,3265,0.00,2.12,0.00,0.000,6,0.000,0.070,1261,1902,2581,0,0,0,0,0,0
$GC,3585,-1.34,-146.6,120.1,-0.0,323,3589,0.00,2.20,0.00,0.000,4,0.000,0.079,1261,3301,2581,0,0,0,0,0,0
$GC,4264,-1.34,-146.6,120.1,0.3,383,4268,0.00,2.15,0.00,0.000,6,0.000,0.077,1261,1891,2581,0,0,0,0,0,0
$GC,4594,-1.34,-146.6,120.3,-3.1,414,4598,0.00,2.17,0.00,0.000,4,0.000,0.079,1261,3294,2581,0,0,0,0,0,0
$GC,5273,-1.34,-146.6,120.1,-0.3,474,5277,0.00,2.12,0.00,0.000,6,0.000,0.074,1261,1890,2581,0,0,0,0,0,0
$GC,5597,-1.34,-146.6,120.2,0.8,504,5601,0.00,2.17,0.00,0.000,4,0.000,0.079,1262,3294,2581,0,0,0,0,0,0
$GC,6276,-1.34,-146.6,120.2,0.0,564,6280,0.00,2.15,0.00,0.000,6,0.000,0.077,1261,1892,2581,0,0,0,0,0,0
$GC,6600,-1.34,-146.6,120.4,-0.0,594,6604,0.00,2.20,0.00,0.000,4,0.000,0.079,1261,3294,2581,0,0,0,0,0,0
$GC,7279,-1.34,-146.6,120.2,0.3,654,7283,0.00,2.12,0.00,0.000,6,0.000,0.072,1261,1902,2581,0,0,0,0,0,0
$GC,7603,-1.34,-146.6,120.3,-0.4,684,7607,0.00,2.17,0.00,0.000,4,0.000,0.079,1261,3293,2581,0,0,0,0,0,0
$GC,8283,-1.34,-146.6,120.3,0.8,744,8287,0.00,2.10,0.00,0.000,6,0.000,0.074,1261,1897,2582,0,0,0,0,0,0
$GC,8607,-1.34,-146.6,120.3,-0.5,774,8611,0.00,2.20,0.00,0.000,4,0.000,0.079,1261,3299,2581,0,0,0,0,0,0
$GC,9286,-1.34,-146.6,120.3,-0.1,834,9290,0.00,2.15,0.00,0.000,6,0.000,0.077,1261,1897,2581,0,0,0,0,0,0
$GC,9610,-1.34,-146.6,120.3,-0.0,864,9614,0.00,2.20,0.00,0.000,4,0.000,0.079,1261,3297,2581,0,0,0,0,0,0
$GC,10289,-1.34,-146.6,120.2,0.5,924,10293,0.00,2.12,0.00,0.000,6,0.000,0.074,1261,1901,2581,0,0,0,0,0,0
$GC,10613,-1.34,-146.6,120.2,0.2,954,10617,0.00,2.17,0.00,0.000,4,0.000,0.079,1261,3300,2581,0,0,0,0,0,0
$GC,11292,-1.34,-146.6,120.1,0.7,1014,11296,0.00,2.15,0.00,0.000,6,0.000,0.077,1261,1893,2581,0,0,0,0,0,0
$GC,11616,-1.34,-146.6,120.4,-0.4,1044,11620,0.00,2.17,0.00,0.000,4,0.000,0.079,1261,3294,2582,0,0,0,0,0,0
$GC,12295,-1.34,-146.6,120.3,0.0,1104,12299,0.00,2.12,0.00,0.000,6,0.000,0.077,1261,1902,2581,0,0,0,0,0,0
$GC,12619,-1.34,-146.6,120.2,-0.1,1134,12623,0.00,2.17,0.00,0.000,4,0.000,0.089,1261,3300,2581,0,0,0,0,0,0
$GC,13298,-1.34,-146.6,120.3,-0.3,1194,13302,0.00,2.15,0.00,0.000,6,0.000,0.070,1261,1892,2582,0,0,0,0,0,0
$GC,13622,-1.34,-146.6,120.2,-0.1,1224,13626,0.00,2.20,0.00,0.000,4,0.000,0.079,1261,3296,2581,0,0,0,0,0,0
$GC,14302,-1.34,-146.6,120.4,-0.5,1284,14306,0.00,2.12,0.00,0.000,6,0.000,0.072,1261,1900,2582,0,0,0,0,0,0
$GC,14626,-1.34,-146.6,120.3,0.2,1314,14630,0.00,2.20,0.00,0.000,4,0.000,0.089,1261,3297,2581,0,0,0,0,0,0
$GC,15306,-1.34,-146.6,120.0,1.1,1374,15310,0.00,2.15,0.00,0.000,6,0.000,0.077,1261,1891,2581,0,0,0,0,0,0
$GC,15630,-1.34,-146.6,120.3,4.9,1404,15634,0.00,2.17,0.00,0.000,4,0.000,0.079,1261,3293,2581,0,0,0,0,0,0
$GC,16309,-1.34,-146.6,120.1,-0.0,1464,16313,0.00,2.12,0.00,0.000,6,0.000,0.070,1261,1895,2581,0,0,0,0,0,0
$GC,16639,-1.34,-146.6,120.2,-0.0,1495,16643,0.00,2.20,0.00,0.000,4,0.000,0.079,1261,3293,2582,0,0,0,0,0,0
$GC,17318,-1.34,-146.6,120.1,0.5,1555,17322,0.00,2.12,0.00,0.000,6,0.000,0.070,1261,1895,2581,0,0,0,0,0,0
$GC,17648,-1.34,-146.6,120.4,-0.2,1586,17652,0.00,2.20,0.00,0.000,4,0.000,0.087,1261,3293,2581,0,0,0,0,0,0
$GC,18327,-1.34,-146.6,119.9,0.9,1646,18331,0.00,2.12,0.00,0.000,6,0.000,0.074,1261,1899,2582,0,0,0,0,0,0
$GC,18651,-1.34,-146.6,120.2,0.6,1676,18655,0.00,2.20,0.00,0.000,4,0.000,0.082,1261,3293,2581,0,0,0,0,0,0
$GC,19330,-1.34,-146.6,120.2,-0.3,1736,19334,0.00,2.12,0.00,0.000,6,0.000,0.072,1261,1898,2581,0,0,0,0,0,0
$GC,19654,-1.34,-146.6,120.4,-0.0,1766,19658,0.00,2.20,0.00,0.000,4,0.000,0.087,1261,3294,2581,0,0,0,0,0,0
$GC,20333,-1.34,-146.6,120.0,1.0,1826,20337,0.00,2.12,0.00,0.000,6,0.000,0.070,1261,1903,2581,0,0,0,0,0,0
$GC,20657,-1.34,-146.6,120.1,0.1,1856,20661,0.00,2.15,0.00,0.000,4,0.000,0.079,1261,3293,2582,0,0,0,0,0,0
$GC,21337,-1.34,-146.6,120.2,-0.7,1916,21341,0.00,2.12,0.00,0.000,6,0.000,0.070,1261,1894,2581,0,0,0,0,0,0
$GC,21666,-1.34,-146.6,120.1,-0.4,1947,21670,0.00,2.20,0.00,0.000,4,0.000,0.079,1261,3295,2581,0,0,0,0,0,0
$GC,22345,-1.34,-146.6,120.1,-0.5,2007,22349,0.00,2.12,0.00,0.000,6,0.000,0.077,1261,1902,2582,0,0,0,0,0,0
$GC,22674,-1.34,-146.6,119.9,0.8,2038,22678,0.00,2.17,0.00,0.000,4,0.000,0.079,1261,3299,2582,0,0,0,0,0,0
$GC,23354,-1.34,-146.6,120.1,0.6,2098,23358,0.00,2.15,0.00,0.000,6,0.000,0.070,1261,1895,2581,0,0,0,0,0,0
$GC,23678,-1.34,-146.6,120.0,0.2,2128,23682,0.00,2.20,0.00,0.000,4,0.000,0.087,1262,3295,2581,0,0,0,0,0,0
$GC,24357,-1.34,-146.6,120.2,-0.3,2188,24361,0.00,2.15,0.00,0.000,6,0.000,0.077,1261,1889,2582,0,0,0,0,0,0
$GC,24681,-1.34,-146.6,120.0,-0.2,2218,24685,0.00,2.20,0.00,0.000,4,0.000,0.079,1261,3293,2581,0,0,0,0,0,0
$STATE,24904,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,24904,begin apogee
$GC,24910,-0.42,0.0,120.1,-0.4,2237,25017,0.90,0.00,100.97,0.785,6,0.171,0.000,1449,1656,2073,0,0,0,0,0,0
$STATE,25018,end apogee,CONTROL_FINISHED_OK
$STATE,25018,begin climb
$GC,25019,1.34,146.6,119.7,0.0,2248,25126,1.77,2.28,98.35,0.765,4,0.129,0.082,1838,3042,1576,0,0,0,0,0,0
$GC,25800,1.41,206.1,78.7,5.5,2318,25846,0.00,2.17,39.90,0.725,6,0.000,0.079,1838,1652,1375,0,0,0,0,0,0
$GC,26164,1.41,206.1,53.0,8.1,2352,26168,0.00,2.25,0.00,0.000,4,0.000,0.092,1838,258,1375,0,0,0,0,0,0
$GC,26269,1.41,206.1,43.7,7.9,2361,26276,0.00,2.15,0.00,0.000,6,0.000,0.062,1838,1682,1375,0,0,0,0,0,0
$GC,26594,1.44,227.8,20.9,6.8,2392,26616,0.10,2.10,15.32,0.656,4,0.119,0.079,1876,3021,1301,0,0,0,0,0,0
$GC,26721,1.44,227.8,8.5,10.4,2403,26728,0.00,2.17,0.00,0.000,6,0.000,0.072,1876,1647,1301,0,0,0,0,0,0
$STATE,26769,end climb,SURFACE_DEPTH_REACHED
$STATE,26769,begin surface coast
$FINISH,0.7,1.023348
$STATE,26802,end surface coast,CONTROL_FINISHED_OK
$STATE,26802,begin surface
$SM_CCo,26816,211.80,0.683,0,0,163,564.18
$SM_GC,0.72,0.00,0.00,211.80,0.000,0.000,0.683,16,1911,163,-7.06,0.28,564.18
$IRIDIUM_FIX,1823.67,-6600.64,131111,070755
$TT8_MAMPS,0.020972
$HUMID,1077994184
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,25.30
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,25.2,3.511
$10V_AH,10.7,1.425
$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,15.150,126.475,254.550,211.800,0.000,164.709,141.355,0.000,8.500,0.000,901.910,4242.432,16214.180,509.600,7341.306,236.886,33.360,3152.671,0.000,5733.356,0.000,2.627,0.000
$DEVICE_MAMPS,171.327,91.871,784.628,682.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1616.400,0.000,3678.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328632
$DATA_FILE_SIZE,120134,2411
$CAP_FILE_SIZE,272768,0
$CFSIZE,260280320,253534208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200510,225257,1828.450,-6558.465,37,2.1,56,-12.7