version: 66.07
glider: 34
mission: 9
dive: 16
start: 1 30 111 3 42 26
data:
$ID,34
$MISSION,9
$DIVE,16
$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,480
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$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,45
$KALMAN_USE,14
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,5.7096e-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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12443.649
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,366
$PITCH_MAX,2908
$C_PITCH,2460
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,247
$ROLL_MAX,3968
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,151
$VBD_MAX,3963
$C_VBD,2057
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,3
$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,-16.883896
$PRESSURE_SLOPE,0.00094911997
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,101
$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,0.0043511861
$SEABIRD_T_H,0.0006267078
$SEABIRD_T_I,2.3336246e-05
$SEABIRD_T_J,2.4288879e-06
$SEABIRD_C_G,-10.094185
$SEABIRD_C_H,1.1592568
$SEABIRD_C_I,-0.0011433914
$SEABIRD_C_J,0.00016895766
$GPS1,300111,033254,1832.160,-6559.918,39,1.2,40,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.1
$GPS2,300111,034202,1832.201,-6559.888,15,1.2,33,-12.7
$SPEED_LIMITS,0.075,0.213
$TGT_NAME,SAN_JUAN_VM
$TGT_LATLONG,1836.000,-6600.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.099,-0.189
$KALMAN_X,-4904.8,0.0,0.0,18074.9,-279.1
$KALMAN_Y,1246.0,0.0,0.0,-5961.2,1376.3
$MHEAD_RNG_PITCHd_Wd,11.1,7038,-15.9,-7.500
$D_GRID,990
$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,-1.12,-146.6,0.0,0.0,0,110,0.00,0.00,-92.97,0.000,2,0.000,0.000,343,2618,2129,0,0,0,0,0,0
$GC,112,-1.12,-146.6,3.8,-3.9,9,147,10.62,2.22,-16.88,0.000,4,0.179,0.097,2211,3966,2554,0,0,0,0,0,0
$GC,219,-1.03,-146.6,18.9,-13.4,18,227,0.08,2.17,0.00,0.000,6,0.151,0.070,2229,2580,2554,0,0,0,0,0,0
$GC,545,-0.99,-146.6,52.1,-10.4,49,548,0.00,2.15,0.00,0.000,4,0.000,0.084,2229,1199,2554,0,0,0,0,0,0
$GC,649,-0.99,-146.6,62.0,-10.0,58,657,0.00,2.22,0.00,0.000,6,0.000,0.074,2229,2604,2555,0,0,0,0,0,0
$GC,977,-0.99,-146.6,92.5,-9.2,89,981,0.00,2.20,0.00,0.000,4,0.000,0.082,2229,1194,2556,0,0,0,0,0,0
$GC,1083,-0.99,-146.6,101.7,-7.9,98,1087,0.00,2.17,0.00,0.000,6,0.000,0.077,2229,2603,2556,0,0,0,0,0,0
$GC,1412,-0.99,-146.6,124.8,-7.4,129,1416,0.00,2.17,0.00,0.000,4,0.000,0.099,2229,3959,2557,0,0,0,0,0,0
$GC,1519,-0.99,-146.6,131.5,-5.7,138,1523,0.00,2.05,0.00,0.000,6,0.000,0.070,2229,2575,2557,0,0,0,0,0,0
$GC,1844,-1.02,-146.6,148.2,-4.5,168,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2575,2558,0,0,0,0,0,0
$GC,2155,-1.04,-146.6,162.9,-5.0,185,2159,0.00,2.22,0.00,0.000,4,0.000,0.097,2229,3955,2559,0,0,0,0,0,0
$GC,2356,-1.04,-146.6,176.6,-6.7,193,2360,0.00,2.03,0.00,0.000,6,0.000,0.070,2229,2602,2559,0,0,0,0,0,0
$GC,2683,-1.04,-146.6,192.6,-5.0,209,2687,0.00,2.20,0.00,0.000,4,0.000,0.097,2229,3955,2559,0,0,0,0,0,0
$GC,2834,-1.04,-146.6,201.6,-6.4,216,2838,0.00,2.05,0.00,0.000,6,0.000,0.070,2229,2596,2559,0,0,0,0,0,0
$GC,3161,-1.04,-146.6,223.1,-6.8,232,3164,0.00,2.15,0.00,0.000,4,0.000,0.084,2229,1213,2559,0,0,0,0,0,0
$GC,3271,-1.04,-146.6,230.5,-6.7,237,3275,0.00,2.17,0.00,0.000,6,0.000,0.077,2229,2594,2559,0,0,0,0,0,0
$GC,3598,-1.04,-146.6,249.3,-6.0,253,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2594,2559,0,0,0,0,0,0
$GC,3908,-1.04,-146.6,268.5,-6.2,268,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2594,2559,0,0,0,0,0,0
$GC,4219,-1.06,-146.6,288.6,-6.7,283,4223,0.00,2.20,0.00,0.000,4,0.000,0.097,2229,3966,2558,0,0,0,0,0,0
$GC,4348,-1.06,-146.6,298.8,-8.0,289,4352,0.00,2.05,0.00,0.000,6,0.000,0.070,2229,2603,2558,0,0,0,0,0,0
$GC,4662,-1.08,-146.6,320.8,-6.8,300,4666,0.00,2.17,0.00,0.000,4,0.000,0.087,2229,1212,2557,0,0,0,0,0,0
$GC,4790,-1.11,-146.6,328.3,-6.6,303,4795,0.00,2.20,0.00,0.000,6,0.000,0.077,2229,2603,2557,0,0,0,0,0,0
$GC,5126,-1.14,-146.6,353.8,-6.4,314,5130,0.00,2.20,0.00,0.000,4,0.000,0.099,2229,3957,2556,0,0,0,0,0,0
$GC,5246,-1.16,-146.6,362.3,-7.7,317,5250,0.00,2.05,0.00,0.000,6,0.000,0.072,2229,2602,2556,0,0,0,0,0,0
$GC,5588,-1.19,-146.6,388.2,-7.5,328,5590,0.15,0.00,0.00,0.000,6,0.109,0.000,2195,2595,2556,0,0,0,0,0,0
$GC,5877,-1.19,-146.6,411.3,-7.8,338,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2595,2555,0,0,0,0,0,0
$GC,6182,-1.19,-146.6,437.8,-8.9,348,6186,0.00,2.22,0.00,0.000,4,0.000,0.104,2194,3962,2554,0,0,0,0,0,0
$GC,6272,-1.17,-146.6,443.9,-9.2,350,6276,0.00,2.08,0.00,0.000,6,0.000,0.074,2194,2626,2553,0,0,0,0,0,0
$GC,6598,-1.15,-146.6,478.3,-10.4,361,6602,0.00,2.30,0.00,0.000,4,0.000,0.104,2194,1188,2552,0,0,0,0,0,0
$GC,6678,-1.13,-146.6,485.4,-10.6,363,6682,0.00,2.28,0.00,0.000,6,0.000,0.092,2194,2594,2551,0,0,0,0,0,0
$GC,7014,-1.10,-146.6,522.1,-10.0,374,7016,0.12,0.00,0.00,0.000,6,0.169,0.000,2215,2602,2549,0,0,0,0,0,0
$GC,7319,-1.10,-146.6,550.0,-8.8,384,7323,0.00,2.28,0.00,0.000,4,0.000,0.099,2214,1188,2548,0,0,0,0,0,0
$GC,7400,-1.10,-146.6,555.2,-8.7,386,7405,0.00,2.30,0.00,0.000,6,0.000,0.087,2215,2602,2548,0,0,0,0,0,0
$GC,7721,-1.10,-146.6,581.8,-7.9,397,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2602,2547,0,0,0,0,0,0
$GC,8025,-1.10,-146.6,605.9,-8.0,407,8029,0.00,2.28,0.00,0.000,4,0.000,0.099,2215,1182,2545,0,0,0,0,0,0
$GC,8089,-1.10,-146.6,610.9,-8.3,409,8094,0.00,2.30,0.00,0.000,6,0.000,0.089,2215,2590,2544,0,0,0,0,0,0
$GC,8426,-1.10,-146.6,640.2,-8.8,420,8430,0.00,2.25,0.00,0.000,4,0.000,0.097,2215,1189,2543,0,0,0,0,0,0
$GC,8479,-1.10,-146.6,642.5,-8.8,421,8487,0.00,2.30,0.00,0.000,6,0.000,0.089,2215,2589,2543,0,0,0,0,0,0
$GC,8793,-1.10,-146.6,674.7,-9.5,432,8797,0.00,2.28,0.00,0.000,4,0.000,0.112,2215,3965,2542,0,0,0,0,0,0
$GC,8835,-1.10,-146.6,677.2,-9.2,433,8840,0.00,2.20,0.00,0.000,6,0.000,0.077,2215,2596,2541,0,0,0,0,0,0
$GC,9178,-1.27,-146.6,686.5,0.1,444,9179,0.15,0.00,0.00,0.000,6,0.124,0.000,2186,2588,2540,0,0,0,0,0,0
$STATE,9343,end dive,NO_VERTICAL_VELOCITY
$STATE,9343,begin apogee
$GC,9347,-0.29,0.0,686.5,0.0,450,9459,1.08,0.00,104.78,1.227,6,0.149,0.000,2387,2480,2057,0,0,0,0,0,0
$STATE,9459,end apogee,CONTROL_FINISHED_OK
$STATE,9460,begin climb
$GC,9461,1.12,146.6,686.3,0.0,453,9581,1.80,2.50,110.62,1.204,4,0.166,0.122,2696,1101,1562,0,0,0,0,0,0
$GC,9861,1.46,356.9,686.1,-0.1,464,10035,0.35,2.42,164.65,1.207,6,0.097,0.109,2787,2496,847,0,0,0,0,0,0
$GC,10355,1.30,356.9,624.8,17.1,480,10360,0.22,2.28,0.00,0.000,4,0.149,0.084,2747,1091,841,0,0,0,0,0,0
$GC,10641,1.18,356.9,580.9,16.7,487,10649,0.15,2.30,0.00,0.000,6,0.166,0.077,2721,2514,839,0,0,0,0,0,0
$GC,10970,1.08,356.9,527.6,14.9,498,10974,0.12,2.33,0.00,0.000,4,0.194,0.102,2700,3914,839,0,0,0,0,0,0
$GC,11002,0.98,356.9,520.9,14.8,499,11007,0.10,2.28,0.00,0.000,6,0.196,0.072,2678,2486,838,0,0,0,0,0,0
$GC,11337,0.93,356.9,476.2,12.9,510,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2486,838,0,0,0,0,0,0
$GC,11643,0.86,356.9,433.1,15.0,520,11648,0.15,2.40,0.00,0.000,4,0.214,0.109,2653,3907,838,0,0,0,0,0,0
$GC,11746,0.80,356.9,424.0,14.7,522,11753,0.00,2.20,0.00,0.000,6,0.000,0.077,2653,2521,837,0,0,0,0,0,0
$GC,12058,0.76,356.9,374.5,13.6,533,12063,0.15,2.30,0.00,0.000,4,0.201,0.102,2631,3908,837,0,0,0,0,0,0
$GC,12079,1.45,943.8,374.5,-13.6,533,12274,0.62,2.25,171.18,1.003,6,0.087,0.072,2789,2495,149,0,0,0,0,0,0
$GC,12564,1.24,943.8,235.4,31.2,552,12569,0.30,2.38,0.00,0.000,4,0.144,0.097,2734,3905,146,0,0,0,0,0,0
$GC,12613,1.05,943.8,223.5,30.8,554,12619,0.20,2.28,0.00,0.000,6,0.151,0.072,2697,2477,145,0,0,0,0,0,0
$GC,12936,0.94,943.8,138.6,25.7,572,12941,0.17,2.45,0.00,0.000,4,0.189,0.112,2669,3914,145,0,0,0,0,0,0
$GC,13002,0.85,943.8,124.1,22.2,577,13010,0.10,2.25,0.00,0.000,6,0.174,0.079,2651,2526,145,0,0,0,0,0,0
$GC,13327,0.80,943.8,62.1,18.1,608,13332,0.00,2.38,0.00,0.000,4,0.000,0.102,2650,1090,145,0,0,0,0,0,0
$GC,13359,0.75,943.8,57.0,18.6,610,13368,0.10,2.33,0.00,0.000,6,0.166,0.092,2632,2491,144,0,0,0,0,0,0
$STATE,13652,end climb,SURFACE_DEPTH_REACHED
$STATE,13652,begin surface coast
$FINISH,1.3,1.023542
$STATE,13674,end surface coast,CONTROL_FINISHED_OK
$STATE,13674,begin surface
$SM_CCo,13752,0.00,0.000,0,0,143,564.72
$SM_GC,1.67,10.55,0.00,0.00,0.077,0.000,0.000,353,2610,143,-9.58,0.28,564.72
$IRIDIUM_FIX,1825.94,-6609.87,300111,030327
$TT8_MAMPS,0.02247
$HUMID,58.54
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,18.1
$24V_AH,24.3,9.738
$10V_AH,10.5,2.973
$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,27.300,107.775,551.225,0.000,0.000,56.604,90.133,219.522,12.500,0.000,35.717,1723.019,8911.229,578.072,2974.910,120.257,0.000,1541.007,0.000,1554.039,0.000,85.011,0.000
$DEVICE_MAMPS,213.538,131.599,1226.602,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.820,0.000,0.000,1849.857,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,326264
$DATA_FILE_SIZE,33461,640
$CAP_FILE_SIZE,156368,0
$CFSIZE,260165632,252493824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300111,073237,1833.932,-6600.625,25,1.5,25,-12.7