version: 66.12
glider: 35
mission: 26
dive: 7
start: 1 30 115 20 42 14
data:
$ID,35
$MISSION,26
$DIVE,7
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,1080
$D_ABORT,5500
$D_NO_BLEED,50
$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,360
$T_MISSION,390
$T_ABORT,2880
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77482
$MASS_COMP,9268.2998
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2248
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1037.27
$PRESSURE_SLOPE,0.00092600001
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,30
$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,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$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,0.004269524
$SEABIRD_T_H,0.00061604282
$SEABIRD_T_I,2.0033509e-05
$SEABIRD_T_J,1.8499288e-06
$SEABIRD_C_G,-9.6420546
$SEABIRD_C_H,1.1096923
$SEABIRD_C_I,-0.001213078
$SEABIRD_C_J,0.00016721067
$GPS1,300115,203805,3218.1021,-6435.0400,29,1.6,33,-15.5,0.7,298.4,7,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-52.0
$GPS2,300115,204148,3218.1072,-6435.0581,13,1.5,30,-15.5,0.4,250.8,7,5.4
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,167.7,16980,-19.7,-10.000,-22.22,2235
$D_GRID,1080
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.99,-146.6,183,2330,1299,1131,0.0,0.0,0,111,0.00,0.00,-93.82,0.092,16386,0.000,0.000,183,2327,2600,2604,2596,0,0,0,0,0,0,26.29,28.83,26.31
$GC,114,-0.99,-146.6,183,2327,2606,2596,3.3,-3.3,9,136,7.45,2.38,-8.23,0.117,18692,0.273,0.070,2019,3806,2753,2766,2740,0,0,0,0,0,0,25.80,26.01,25.99
$GC,364,-0.99,-146.6,2019,3805,2766,2740,30.5,-12.9,31,374,0.00,2.15,0.00,0.000,1030,0.000,0.050,2019,2375,2752,2766,2739,0,0,0,0,0,0,26.30,26.29,26.32
$GC,674,-0.99,-146.6,2019,2375,2766,2738,68.1,-12.5,62,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2375,2752,2766,2738,0,0,0,0,0,0,26.64,26.65,26.65
$GC,974,-0.99,-146.6,2018,2375,2766,2737,104.6,-12.3,92,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2375,2751,2766,2737,0,0,0,0,0,0,26.71,26.72,26.72
$GC,1275,-0.99,-146.6,2019,2375,2766,2737,140.7,-11.9,122,1285,0.00,1.98,0.00,0.000,516,0.000,0.060,2019,986,2751,2766,2736,0,0,0,0,0,0,26.72,26.50,26.72
$GC,1299,-0.99,-146.6,2019,986,2766,2736,143.4,-11.6,124,1309,0.00,2.05,0.00,0.000,1030,0.000,0.057,2010,2399,2751,2766,2736,0,0,0,0,0,0,26.52,26.48,26.54
$GC,1621,-0.99,-146.6,2010,2399,2766,2736,182.1,-11.9,143,1626,0.00,2.12,0.00,0.000,260,0.000,0.070,2001,3803,2751,2766,2736,0,0,0,0,0,0,26.75,26.51,26.77
$GC,1790,-0.99,-146.6,2000,3803,2766,2736,203.9,-12.7,151,1796,0.10,2.03,0.00,0.000,3078,0.176,0.052,2032,2379,2751,2766,2736,0,0,0,0,0,0,26.40,26.55,26.48
$GC,2112,-0.99,-146.6,2032,2379,2767,2736,235.9,-9.4,167,2117,0.00,2.17,0.00,0.000,260,0.000,0.067,2023,3816,2751,2766,2736,0,0,0,0,0,0,26.81,26.53,26.82
$GC,2176,-0.99,-146.6,2023,3816,2766,2736,242.7,-10.1,170,2181,0.00,2.10,0.00,0.000,1030,0.000,0.050,2023,2404,2751,2766,2736,0,0,0,0,0,0,26.60,26.58,26.62
$GC,2496,-0.99,-146.6,2023,2404,2766,2736,273.4,-9.5,186,2501,0.00,2.03,0.00,0.000,516,0.000,0.057,2023,982,2751,2766,2736,0,0,0,0,0,0,26.82,26.57,26.83
$GC,2558,-0.99,-146.6,2023,982,2766,2735,279.2,-9.7,189,2563,0.00,2.05,0.00,0.000,1030,0.000,0.057,2015,2400,2750,2766,2735,0,0,0,0,0,0,26.59,26.55,26.60
$GC,2869,-0.99,-146.6,2015,2400,2766,2735,311.2,-10.7,203,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2400,2750,2766,2735,0,0,0,0,0,0,26.79,26.81,26.81
$GC,3169,-0.99,-146.6,2015,2400,2766,2735,346.0,-11.6,213,3174,0.00,2.10,0.00,0.000,260,0.000,0.070,2007,3803,2750,2766,2735,0,0,0,0,0,0,26.84,26.55,26.84
$GC,3263,-0.99,-146.6,2007,3803,2766,2735,358.0,-12.4,216,3268,0.00,2.08,0.00,0.000,1030,0.000,0.050,2007,2404,2750,2766,2735,0,0,0,0,0,0,26.63,26.60,26.64
$GC,3594,-0.99,-146.6,2007,2403,2766,2735,399.1,-12.3,227,3599,0.00,2.03,0.00,0.000,516,0.000,0.057,2007,993,2750,2766,2734,0,0,0,0,0,0,26.84,26.59,26.84
$GC,3664,-0.99,-146.6,2007,993,2766,2732,406.9,-12.3,229,3669,0.10,2.10,0.00,0.000,3078,0.169,0.057,2035,2395,2749,2766,2733,0,0,0,0,0,0,26.45,26.56,26.53
$GC,3988,-0.99,-146.6,2034,2395,2766,2733,444.2,-11.2,240,3994,0.00,2.12,0.00,0.000,260,0.000,0.070,2033,3802,2750,2767,2733,0,0,0,0,0,0,26.84,26.56,26.84
$GC,4073,-0.99,-146.6,2033,3802,2766,2733,451.3,-11.4,242,4083,0.00,2.08,0.00,0.000,1030,0.000,0.050,2033,2402,2749,2766,2733,0,0,0,0,0,0,26.63,26.60,26.66
$GC,4382,-0.99,-146.6,2033,2402,2766,2732,487.3,-10.8,253,4388,0.00,2.03,0.00,0.000,516,0.000,0.057,2033,993,2749,2766,2732,0,0,0,0,0,0,26.84,26.59,26.85
$GC,4508,-0.99,-146.6,2033,993,2766,2731,500.7,-10.9,257,4514,0.00,2.05,0.00,0.000,1030,0.000,0.057,2028,2406,2748,2766,2731,0,0,0,0,0,0,26.60,26.57,26.63
$GC,4838,-0.99,-146.6,2028,2406,2766,2731,532.6,-9.3,268,4843,0.00,2.12,0.00,0.000,260,0.000,0.070,2027,3810,2748,2766,2731,0,0,0,0,0,0,26.83,26.56,26.84
$GC,4880,-0.99,-146.6,2027,3810,2766,2731,535.7,-9.3,269,4884,0.00,2.10,0.00,0.000,1030,0.000,0.050,2027,2397,2748,2766,2731,0,0,0,0,0,0,26.63,26.60,26.65
$GC,5201,-0.99,-146.6,2027,2397,2766,2730,570.2,-10.6,280,5206,0.00,2.00,0.00,0.000,516,0.000,0.057,2027,990,2748,2766,2730,0,0,0,0,0,0,26.82,26.59,26.83
$GC,5280,-0.99,-146.6,2027,990,2766,2729,576.8,-10.4,282,5284,0.00,2.08,0.00,0.000,1030,0.000,0.057,2027,2409,2747,2766,2729,0,0,0,0,0,0,26.64,26.57,26.66
$GC,5589,-0.99,-146.6,2027,2409,2766,2729,609.9,-10.0,292,5594,0.00,2.08,0.00,0.000,260,0.000,0.070,2021,3798,2747,2765,2729,0,0,0,0,0,0,26.84,26.57,26.85
$GC,5642,-0.99,-146.6,2021,3798,2765,2730,613.3,-10.3,293,5651,0.00,2.08,0.00,0.000,1030,0.000,0.050,2021,2400,2747,2765,2729,0,0,0,0,0,0,26.63,26.60,26.65
$GC,5951,-0.99,-146.6,2021,2400,2765,2729,646.9,-9.7,304,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2400,2747,2765,2729,0,0,0,0,0,0,26.84,26.86,26.85
$GC,6251,-0.99,-146.6,2021,2400,2765,2727,679.4,-11.0,314,6257,0.00,2.00,0.00,0.000,516,0.000,0.057,2021,995,2746,2765,2727,0,0,0,0,0,0,26.84,26.60,26.86
$GC,6289,-0.99,-146.6,2021,995,2766,2726,683.1,-11.3,315,6293,0.00,2.10,0.00,0.000,1030,0.000,0.057,2020,2398,2745,2764,2726,0,0,0,0,0,0,26.61,26.58,26.63
$GC,6613,-0.99,-146.6,2019,2398,2765,2726,719.1,-10.8,326,6619,0.00,2.10,0.00,0.000,260,0.000,0.067,2018,3801,2745,2764,2726,0,0,0,0,0,0,26.84,26.56,26.86
$GC,6693,-0.99,-146.6,2018,3801,2763,2726,725.4,-10.3,328,6697,0.00,2.10,0.00,0.000,1030,0.000,0.050,2018,2392,2744,2763,2726,0,0,0,0,0,0,26.67,26.61,26.68
$GC,7007,-0.99,-146.6,2017,2391,2763,2726,758.4,-10.0,339,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2391,2744,2763,2726,0,0,0,0,0,0,26.84,26.86,26.86
$GC,7307,-0.99,-146.6,2017,2391,2763,2725,788.8,-10.4,349,7312,0.00,2.00,0.00,0.000,516,0.000,0.057,2018,989,2743,2762,2725,0,0,0,0,0,0,26.79,26.59,26.81
$GC,7360,-0.99,-146.6,2018,989,2762,2724,791.9,-10.5,350,7369,0.00,2.12,0.00,0.000,1030,0.000,0.057,2017,2401,2743,2762,2724,0,0,0,0,0,0,26.62,26.57,26.65
$GC,7669,-0.99,-146.6,2017,2401,2762,2724,829.4,-11.1,361,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2401,2743,2762,2724,0,0,0,0,0,0,26.84,26.86,26.86
$GC,7971,-0.99,-146.6,2016,2401,2761,2722,863.3,-11.8,371,7976,0.00,2.05,0.00,0.000,516,0.000,0.057,2017,995,2742,2762,2722,0,0,0,0,0,0,26.82,26.60,26.84
$GC,8012,-0.99,-146.6,2016,995,2762,2721,867.1,-12.0,372,8017,0.00,2.12,0.00,0.000,1030,0.000,0.055,2007,2408,2742,2762,2722,0,0,0,0,0,0,26.61,26.57,26.63
$GC,8331,-0.99,-146.6,2007,2408,2761,2720,907.1,-11.7,383,8337,0.00,2.12,0.00,0.000,260,0.000,0.067,2004,3809,2741,2761,2721,0,0,0,0,0,0,26.84,26.56,26.85
$GC,8457,-0.99,-146.6,2004,3810,2760,2720,922.6,-12.6,387,8463,0.00,2.05,0.00,0.000,1030,0.000,0.050,2004,2397,2740,2759,2721,0,0,0,0,0,0,26.63,26.60,26.65
$GC,8789,-0.99,-146.6,2004,2397,2760,2718,963.9,-12.6,398,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2397,2739,2760,2719,0,0,0,0,0,0,26.82,26.84,26.84
$GC,9088,-0.99,-146.6,2004,2397,2759,2717,1001.9,-12.7,408,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2397,2737,2758,2717,0,0,0,0,0,0,26.81,26.82,26.82
$GC,9387,-0.99,-146.6,2004,2397,2758,2716,1039.1,-12.4,413,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2397,2737,2758,2716,0,0,0,0,0,0,26.84,26.86,26.85
$GC,9688,-0.99,-146.6,2004,2397,2757,2715,1076.2,-12.5,418,9693,0.00,2.03,0.00,0.000,516,0.000,0.057,2004,991,2735,2756,2714,0,0,0,0,0,0,26.81,26.59,26.82
$STATE,9748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9748,begin apogee
$GC,9754,-0.25,0.0,1996,2410,2756,2713,1084.1,-12.6,419,9867,0.80,0.00,106.45,1.790,10246,0.137,0.000,2273,2410,2249,2298,2200,0,0,0,0,0,0,26.45,24.45,23.81
$STATE,9868,end apogee,CONTROL_FINISHED_OK
$STATE,9869,begin climb
$GC,9870,0.99,146.6,2273,2410,2298,2199,1089.5,0.0,421,9991,1.08,2.28,113.62,1.674,10756,0.062,0.074,2714,992,1743,1815,1671,0,0,0,0,0,0,25.00,24.57,23.79
$GC,10543,0.99,197.8,2714,992,1814,1664,1055.3,7.7,432,10589,0.15,2.15,38.45,1.681,13318,0.196,0.057,2669,2395,1567,1653,1482,0,0,0,0,0,0,26.05,26.20,24.22
$GC,10903,0.99,197.8,2669,2395,1652,1482,1016.9,11.4,438,10909,0.00,2.17,0.00,0.000,260,0.000,0.067,2669,3802,1566,1650,1482,0,0,0,0,0,0,26.34,26.07,26.35
$GC,10964,0.99,197.8,2669,3802,1647,1484,1009.9,11.4,439,10969,0.00,2.15,0.00,0.000,1030,0.000,0.050,2679,2396,1565,1647,1484,0,0,0,0,0,0,26.19,26.16,26.20
$GC,11294,0.99,197.8,2679,2396,1647,1484,973.4,11.0,448,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2396,1565,1647,1484,0,0,0,0,0,0,26.56,26.58,26.57
$GC,11594,0.99,197.8,2679,2396,1646,1484,940.0,10.8,458,11598,0.00,2.08,0.00,0.000,516,0.000,0.060,2690,996,1565,1646,1484,0,0,0,0,0,0,26.64,26.40,26.65
$GC,11689,0.99,197.8,2691,979,1646,1482,928.8,11.6,461,11694,0.00,2.10,0.00,0.000,1030,0.000,0.057,2690,2404,1564,1647,1482,0,0,0,0,0,0,26.44,26.40,26.46
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$STATE,17912,end climb,SURFACE_DEPTH_REACHED
$STATE,17913,begin surface coast
$FINISH,0.4,1.025560
$STATE,17924,end surface coast,CONTROL_FINISHED_OK
$STATE,17924,begin surface
$SM_CCo,17936,72.95,1.001,0,0,1214,300.09
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$IRIDIUM_FIX,3205.87,-6436.80,300115,194449
$TT8_MAMPS,0.019474,0.019474
$HUMID,65.75
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,21.40
$XPDR_PINGS,96
$ALTIM_TOP_PING,19.6,17.9
$24V_AH,23.79,5.150
$10V_AH,10.54,1.282
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.150,131.825,258.525,72.950,102.050,24.109,37.093,71.722,49.000,0.000,33.820,2127.503,11879.397,478.899,3648.272,122.464,0.000,1593.645,0.000,3379.716,0.000,158.360,0.000
$DEVICE_MAMPS,273.130,74.490,1790.243,1000.649,116.701,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,0.000,11.000,0.000,20.220,0.000,30.000,0.000
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$SENSOR_SECS,505.141,2405.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353576
$DATA_FILE_SIZE,46944,737
$CAP_FILE_SIZE,156141,0
$CFSIZE,1024409600,1014317056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17927.48,0x238a9a,7,5
$GPS,310115,014335,3215.266,-6434.961,34,1.4,34,-15.5,0.6,1.3,6,11.0