version: 66.07
glider: 33
mission: 24
dive: 6
start: 9 4 110 22 13 42
data:
$ID,33
$MISSION,24
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,6099
$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,440
$T_MISSION,470
$T_ABORT,2880
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,180
$T_LOITER,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,6084
$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,500
$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,-237147.67
$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,1835
$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,1900
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,340
$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,-19.047844
$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,5
$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
$GPS1,040910,220536,1832.682,-6605.687,36,1.8,36,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-50.4
$GPS2,040910,221256,1832.666,-6605.698,12,1.8,12,-12.7
$SPEED_LIMITS,0.075,0.224
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$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,71.0,11755,-15.4,-7.500
$D_GRID,487
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.14,-146.6,0.0,0.0,0,125,0.00,0.00,-109.12,0.000,2,0.000,0.000,18,1928,2049,0,0,0,0,0,0
$GC,128,-1.14,-146.6,3.4,-5.3,10,163,8.23,2.70,-21.12,0.000,4,0.194,0.079,1583,487,2579,0,0,0,0,0,0
$GC,223,-1.14,-146.6,14.9,-12.1,18,231,0.00,2.53,0.00,0.000,6,0.000,0.062,1583,1900,2579,0,0,0,0,0,0
$GC,550,-1.14,-146.6,49.4,-10.8,49,555,0.00,2.55,0.00,0.000,4,0.000,0.079,1583,486,2580,0,0,0,0,0,0
$GC,571,-1.14,-146.6,52.4,-12.3,50,579,0.00,2.53,0.00,0.000,6,0.000,0.062,1583,1906,2580,0,0,0,0,0,0
$GC,897,-1.14,-146.6,78.7,-5.3,81,901,0.00,2.53,0.00,0.000,4,0.000,0.079,1583,3301,2581,0,0,0,0,0,0
$GC,1153,-1.14,-146.6,95.3,-6.6,103,1161,0.00,2.53,0.00,0.000,6,0.000,0.070,1583,1898,2582,0,0,0,0,0,0
$GC,1479,-1.14,-146.6,114.7,-5.6,134,1483,0.00,2.58,0.00,0.000,4,0.000,0.082,1583,3299,2582,0,0,0,0,0,0
$GC,1791,-1.14,-146.6,135.2,-5.8,161,1799,0.00,2.55,0.00,0.000,6,0.000,0.070,1583,1900,2582,0,0,0,0,0,0
$GC,2116,-1.14,-146.6,155.0,-7.1,189,2120,0.00,2.58,0.00,0.000,4,0.000,0.084,1583,486,2582,0,0,0,0,0,0
$GC,2323,-1.14,-146.6,169.3,-7.3,198,2327,0.00,2.50,0.00,0.000,6,0.000,0.067,1583,1898,2582,0,0,0,0,0,0
$GC,2638,-1.14,-146.6,188.1,-6.3,213,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,1900,2582,0,0,0,0,0,0
$GC,2947,-1.14,-146.6,207.5,-6.1,228,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,1900,2581,0,0,0,0,0,0
$GC,3258,-1.14,-146.6,226.3,-6.4,243,3262,0.00,2.62,0.00,0.000,4,0.000,0.089,1583,3303,2581,0,0,0,0,0,0
$GC,3368,-1.14,-146.6,233.8,-6.7,248,3373,0.00,2.58,0.00,0.000,6,0.000,0.074,1583,1903,2580,0,0,0,0,0,0
$GC,3697,-1.14,-146.6,257.2,-8.3,264,3702,0.00,2.60,0.00,0.000,4,0.000,0.089,1583,490,2579,0,0,0,0,0,0
$GC,3813,-1.14,-146.6,266.5,-7.3,269,3818,0.00,2.58,0.00,0.000,6,0.000,0.072,1583,1902,2579,0,0,0,0,0,0
$GC,4136,-1.14,-146.6,288.9,-7.0,285,4140,0.00,2.65,0.00,0.000,4,0.000,0.094,1583,3311,2578,0,0,0,0,0,0
$GC,4257,-1.14,-146.6,298.3,-8.1,290,4265,0.00,2.62,0.00,0.000,6,0.000,0.077,1583,1906,2579,0,0,0,0,0,0
$GC,4591,-1.14,-146.6,324.9,-8.2,302,4595,0.00,2.67,0.00,0.000,4,0.000,0.094,1583,3309,2577,0,0,0,0,0,0
$GC,4667,-1.14,-146.6,332.1,-9.1,304,4672,0.00,2.65,0.00,0.000,6,0.000,0.079,1583,1898,2577,0,0,0,0,0,0
$GC,4997,-1.14,-146.6,358.9,-8.2,315,5001,0.00,2.65,0.00,0.000,4,0.000,0.092,1583,489,2575,0,0,0,0,0,0
$GC,5039,-1.14,-146.6,363.0,-9.5,316,5045,0.00,2.62,0.00,0.000,6,0.000,0.077,1583,1897,2575,0,0,0,0,0,0
$GC,5364,-1.14,-146.6,389.8,-8.3,327,5369,0.00,2.70,0.00,0.000,4,0.000,0.099,1583,3309,2574,0,0,0,0,0,0
$GC,5501,-1.14,-146.6,402.0,-8.5,331,5507,0.00,2.67,0.00,0.000,6,0.000,0.082,1583,1903,2574,0,0,0,0,0,0
$GC,5839,-1.14,-146.6,432.0,-9.0,342,5843,0.00,2.72,0.00,0.000,4,0.000,0.099,1583,3309,2572,0,0,0,0,0,0
$GC,5899,-1.14,-146.6,437.6,-8.6,344,5903,0.00,2.67,0.00,0.000,6,0.000,0.084,1583,1893,2572,0,0,0,0,0,0
$GC,6234,-1.14,-146.6,466.8,-8.8,355,6239,0.00,2.67,0.00,0.000,4,0.000,0.097,1583,490,2571,0,0,0,0,0,0
$GC,6265,-1.14,-146.6,470.0,-9.1,356,6272,0.00,2.67,0.00,0.000,6,0.000,0.082,1583,1899,2571,0,0,0,0,0,0
$STATE,6477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6477,begin apogee
$GC,6481,-0.31,0.0,488.8,8.7,363,6585,0.77,0.00,99.40,1.105,6,0.114,0.000,1763,1746,2081,0,0,0,0,0,0
$STATE,6586,end apogee,CONTROL_FINISHED_OK
$STATE,6586,begin climb
$GC,6587,1.14,146.6,492.5,0.0,366,6699,1.35,2.85,102.15,1.080,4,0.092,0.104,2083,344,1585,0,0,0,0,0,0
$GC,7376,1.38,338.1,485.8,0.9,390,7521,0.22,2.62,137.70,1.080,6,0.087,0.084,2147,1768,936,0,0,1,0,0,0
$GC,7833,1.38,338.1,444.3,11.1,405,7838,0.00,2.75,0.00,0.000,4,0.000,0.102,2147,344,934,0,0,0,0,0,0
$GC,7909,1.38,338.1,434.8,12.2,407,7915,0.00,2.65,0.00,0.000,6,0.000,0.084,2147,1733,934,0,0,0,0,0,0
$GC,8234,1.38,338.1,397.0,12.2,418,8238,0.00,2.67,0.00,0.000,4,0.000,0.102,2147,342,934,0,0,0,0,0,0
$GC,8276,1.38,338.1,391.2,13.2,419,8281,0.00,2.67,0.00,0.000,6,0.000,0.082,2147,1750,932,0,0,0,0,0,0
$GC,8601,1.38,338.1,352.1,12.1,430,8605,0.00,2.70,0.00,0.000,4,0.000,0.099,2148,341,932,0,0,0,0,0,0
$GC,8671,1.38,338.1,341.9,13.7,432,8676,0.00,2.65,0.00,0.000,6,0.000,0.082,2147,1745,932,0,0,0,0,0,0
$GC,9001,1.38,338.1,298.5,13.2,443,9006,0.00,2.70,0.00,0.000,4,0.000,0.097,2147,342,932,0,0,0,0,0,0
$GC,9072,1.38,338.1,288.3,14.4,446,9077,0.00,2.65,0.00,0.000,6,0.000,0.079,2147,1754,931,0,0,0,0,0,0
$GC,9396,1.38,338.1,244.4,13.4,462,9400,0.00,2.70,0.00,0.000,4,0.000,0.094,2147,335,931,0,0,0,0,0,0
$GC,9528,1.38,338.1,224.6,15.8,468,9533,0.00,2.62,0.00,0.000,6,0.000,0.074,2147,1745,932,0,0,0,0,0,0
$GC,9856,1.38,338.1,182.0,12.7,484,9860,0.00,2.70,0.00,0.000,4,0.000,0.094,2147,334,931,0,0,0,0,0,0
$GC,9920,1.38,338.1,172.5,14.7,487,9926,0.00,2.62,0.00,0.000,6,0.000,0.072,2147,1751,931,0,0,0,0,0,0
$GC,10242,1.38,338.1,129.7,12.8,509,10246,0.00,2.70,0.00,0.000,4,0.000,0.092,2147,334,931,0,0,0,0,0,0
$GC,10292,1.38,338.1,123.4,12.5,513,10296,0.00,2.58,0.00,0.000,6,0.000,0.072,2147,1755,931,0,0,0,0,0,0
$GC,10616,1.38,338.1,82.5,13.1,543,10620,0.00,2.67,0.00,0.000,4,0.000,0.087,2147,335,932,0,0,0,0,0,0
$GC,10626,1.38,338.1,81.4,11.9,543,10633,0.00,2.55,0.00,0.000,6,0.000,0.070,2147,1758,931,0,0,0,0,0,0
$GC,10951,1.40,354.2,51.2,6.9,574,10973,0.00,2.62,12.48,0.732,4,0.000,0.084,2147,3150,881,0,0,0,0,0,0
$GC,11276,1.40,354.2,21.5,10.3,603,11281,0.00,2.55,0.00,0.000,6,0.000,0.070,2147,1741,881,0,0,0,0,0,0
$STATE,11472,end climb,SURFACE_DEPTH_REACHED
$STATE,11473,begin surface coast
$FINISH,0.2,1.022177
$STATE,11505,end surface coast,CONTROL_FINISHED_OK
$STATE,11505,begin surface
$SM_CCo,11520,105.72,0.747,0,0,387,500.11
$SM_GC,0.95,0.00,0.00,105.72,0.000,0.000,0.747,18,1934,387,-8.36,0.99,500.11
$IRIDIUM_FIX,1823.67,-6605.71,040910,191933
$TT8_MAMPS,0.021721
$HUMID,53.07
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.2
$24V_AH,24.8,42.517
$10V_AH,10.5,15.097
$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,19.000,121.775,351.725,105.725,0.000,66.777,108.951,121.608,14.750,0.000,13.336,1713.982,7648.453,570.491,2065.292,96.259,0.000,1475.968,0.000,1610.884,0.000,99.674,0.000
$DEVICE_MAMPS,193.674,104.286,1104.935,747.383,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.369,0.000,950.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327880
$DATA_FILE_SIZE,33588,624
$CAP_FILE_SIZE,119354,0
$CFSIZE,260280320,250155008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050910,012835,1832.784,-6603.712,13,2.8,32,-12.7