version: 66.12
glider: 35
mission: 25
dive: 10
start: 11 14 114 5 59 34
data:
$ID,35
$MISSION,25
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,85
$T_MISSION,90
$T_ABORT,120
$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,77080
$MASS_COMP,9247
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,4743
$TGT_DEFAULT_LON,-12224.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,1000000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2430
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,22.5
$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,2332
$C_ROLL_CLIMB,2332
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2100
$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,-1037.434
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$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
$GPS1,141114,055041,4743.3071,-12224.7666,9,1.6,25,18.2,0.2,296.3,7,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-62.6
$GPS2,141114,055834,4743.3271,-12224.8438,12,1.6,45,18.2,0.2,0.0,8,6.0
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.081,0.202
$KALMAN_X,-209.4,119.8,23.5,-385.2,-278.1
$KALMAN_Y,902.4,196.9,38.2,-507.6,-353.5
$MHEAD_RNG_PITCHd_Wd,3.5,2214,-14.6,-7.059,-17.99,3147
$D_GRID,180
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.65,-146.6,232,2314,996,800,0.0,0.0,0,113,0.00,0.00,-94.25,0.094,16386,0.000,0.000,232,2314,2242,2228,2256,0,0,0,0,0,0,26.06,28.83,26.08
$GC,115,-0.65,-146.6,232,2314,2228,2256,3.4,-3.0,17,146,7.55,2.30,-15.95,0.104,18692,0.246,0.062,2217,3740,2605,2590,2621,0,0,0,0,0,0,25.58,25.77,25.73
$GC,333,-0.65,-146.6,2217,3740,2590,2607,25.3,-9.2,54,337,0.00,2.10,0.00,0.000,1030,0.000,0.050,2218,2335,2598,2590,2607,0,0,0,0,0,0,26.04,25.98,26.06
$GC,458,-0.65,-146.6,2217,2335,2597,2598,36.2,-9.2,66,462,0.00,2.08,-0.15,0.911,16900,0.000,0.055,2217,914,2609,2613,2606,0,0,0,0,0,0,26.30,25.77,25.24
$GC,557,-0.65,-146.6,2217,914,2616,2603,45.7,-10.5,75,564,0.00,2.15,0.00,0.000,1030,0.000,0.052,2213,2322,2609,2616,2603,0,0,0,0,0,0,26.12,26.09,26.15
$GC,684,-0.65,-146.6,2213,2323,2616,2602,56.9,-8.0,88,688,0.00,2.20,0.00,0.000,260,0.000,0.065,2210,3757,2609,2616,2603,0,0,0,0,0,0,26.40,26.15,26.41
$GC,720,-0.65,-146.6,2210,3757,2615,2603,59.7,-8.2,91,724,0.00,2.12,0.00,0.000,1030,0.000,0.050,2210,2323,2609,2616,2603,0,0,0,0,0,0,26.24,26.18,26.25
$GC,845,-0.65,-146.6,2210,2323,2616,2602,70.4,-9.0,103,849,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,941,2608,2616,2601,0,0,0,0,0,0,26.43,26.20,26.44
$GC,929,-0.65,-146.6,2210,922,2618,2599,77.6,-9.3,111,936,0.00,2.15,0.00,0.000,1030,0.000,0.055,2210,2331,2608,2618,2599,0,0,0,0,0,0,26.25,26.22,26.27
$GC,1056,-0.65,-146.6,2210,2331,2618,2599,88.0,-8.1,124,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2331,2608,2618,2599,0,0,0,0,0,0,26.50,26.51,26.51
$GC,1176,-0.65,-146.6,2210,2330,2618,2599,97.3,-8.3,136,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2331,2608,2618,2599,0,0,0,0,0,0,26.53,26.55,26.54
$GC,1296,-0.65,-146.6,2210,2331,2618,2599,106.8,-7.9,148,1300,0.00,2.17,0.00,0.000,260,0.000,0.067,2210,3754,2608,2617,2599,0,0,0,0,0,0,26.56,26.29,26.57
$GC,1363,-0.65,-146.6,2210,3754,2617,2599,113.0,-8.4,154,1367,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2327,2608,2617,2599,0,0,0,0,0,0,26.39,26.34,26.40
$GC,1488,-0.65,-146.6,2210,2327,2617,2599,124.2,-8.9,166,1492,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,918,2608,2617,2599,0,0,0,0,0,0,26.59,26.34,26.60
$GC,1548,-0.65,-146.6,2210,918,2618,2597,129.1,-9.2,171,1555,0.00,2.10,0.00,0.000,1030,0.000,0.052,2210,2341,2608,2618,2598,0,0,0,0,0,0,26.41,26.34,26.42
$GC,1674,-0.65,-146.6,2210,2340,2618,2598,139.3,-7.9,184,1678,0.00,2.12,0.00,0.000,260,0.000,0.065,2210,3742,2607,2618,2597,0,0,0,0,0,0,26.62,26.36,26.63
$GC,1749,-0.65,-146.6,2210,3742,2618,2598,144.8,-7.3,191,1753,0.00,2.08,0.00,0.000,1030,0.000,0.050,2210,2329,2608,2618,2598,0,0,0,0,0,0,26.44,26.39,26.46
$GC,1875,-0.65,-146.6,2210,2329,2618,2598,153.5,-6.4,203,1878,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,916,2608,2618,2598,0,0,0,0,0,0,26.64,26.39,26.65
$GC,1983,-0.65,-146.6,2210,916,2618,2597,160.9,-7.3,213,1990,0.00,2.15,0.00,0.000,1030,0.000,0.052,2210,2338,2607,2618,2597,0,0,0,0,0,0,26.43,26.39,26.45
$GC,2110,-0.65,-146.6,2210,2338,2618,2598,169.8,-7.1,226,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2338,2608,2618,2598,0,0,0,0,0,0,26.67,26.68,26.67
$GC,2230,-0.65,-146.6,2210,2338,2617,2597,177.5,-5.8,238,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2338,2607,2618,2597,0,0,0,0,0,0,26.67,26.70,26.69
$STATE,2249,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2249,begin apogee
$GC,2253,-0.22,0.0,2210,2338,2618,2597,179.0,-6.4,240,2361,0.43,0.00,103.80,1.112,10246,0.122,0.000,2363,2338,2100,2154,2047,0,0,0,0,0,0,26.36,24.64,24.05
$STATE,2362,end apogee,CONTROL_FINISHED_OK
$STATE,2362,begin climb
$GC,2364,0.65,146.6,2363,2337,2153,2047,180.9,0.0,251,2481,0.70,0.00,108.25,1.102,10502,0.089,0.000,2626,2338,1595,1692,1499,0,0,0,0,0,0,24.81,24.44,23.84
$GC,2600,0.65,146.6,2626,2338,1692,1499,160.3,10.7,275,2604,0.00,2.25,0.00,0.000,260,0.000,0.065,2626,3751,1595,1692,1499,0,0,0,0,0,0,25.67,25.44,25.69
$GC,2686,0.65,146.6,2626,3751,1690,1500,150.0,11.9,283,2690,0.00,2.15,0.00,0.000,1030,0.000,0.050,2637,2328,1595,1690,1500,0,0,0,0,0,0,25.71,25.66,25.72
$GC,2811,0.65,146.6,2637,2328,1690,1499,137.3,9.8,295,2815,0.00,2.10,0.00,0.000,516,0.000,0.057,2646,919,1595,1691,1500,0,0,0,0,0,0,26.06,25.82,26.08
$GC,2860,0.65,146.6,2646,918,1691,1499,132.3,10.9,299,2867,0.00,2.17,0.00,0.000,1030,0.000,0.052,2646,2331,1595,1690,1500,0,0,0,0,0,0,25.91,25.87,25.92
$GC,2987,0.65,146.6,2646,2331,1690,1499,118.8,9.7,312,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2331,1594,1690,1499,0,0,0,0,0,0,26.22,26.23,26.23
$GC,3107,0.65,146.6,2646,2331,1690,1499,106.2,10.9,324,3111,0.00,2.20,0.00,0.000,260,0.000,0.065,2646,3753,1595,1690,1500,0,0,0,0,0,0,26.29,26.04,26.31
$GC,3256,0.65,146.6,2646,3752,1690,1500,88.1,13.3,338,3263,0.00,2.15,0.00,0.000,1030,0.000,0.047,2657,2329,1595,1690,1500,0,0,0,0,0,0,26.17,26.14,26.18
$GC,3383,0.65,146.6,2656,2329,1690,1500,73.8,10.7,351,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2329,1595,1690,1500,0,0,0,0,0,0,26.42,26.44,26.43
$GC,3503,0.65,146.6,2657,2329,1690,1500,61.0,10.3,363,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2329,1595,1690,1500,0,0,0,0,0,0,26.46,26.47,26.47
$GC,3623,0.65,146.6,2657,2329,1690,1500,48.9,9.6,375,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2329,1594,1689,1500,0,0,0,0,0,0,26.49,26.51,26.51
$GC,3743,0.65,146.6,2657,2329,1690,1500,38.0,8.4,387,3747,0.00,2.08,0.00,0.000,516,0.000,0.057,2667,940,1595,1690,1500,0,0,0,0,0,0,26.52,26.28,26.53
$GC,3813,0.65,146.6,2667,923,1690,1500,31.7,9.0,394,3818,0.00,2.10,0.00,0.000,1030,0.000,0.055,2668,2348,1595,1690,1500,0,0,0,0,0,0,26.35,26.29,26.36
$GC,3939,0.65,146.6,2667,2348,1690,1500,19.7,10.4,406,3945,0.00,2.15,0.00,0.000,260,0.000,0.065,2668,3745,1595,1690,1500,0,0,0,0,0,0,26.56,26.30,26.58
$GC,4063,0.65,146.6,2667,3745,1690,1500,8.5,8.9,430,4070,0.12,2.08,0.00,0.000,5126,0.171,0.050,2637,2320,1595,1690,1500,0,0,0,0,0,0,26.24,26.36,26.34
$GC,4133,0.65,146.6,2636,2320,1690,1500,3.4,6.2,443,4139,0.00,2.17,0.00,0.000,260,0.000,0.065,2636,3739,1595,1690,1500,0,0,0,0,0,0,26.60,26.34,26.60
$STATE,4160,end climb,SURFACE_DEPTH_REACHED
$STATE,4160,begin surface coast
$FINISH,0.1,1.010527
$STATE,4191,end surface coast,CONTROL_FINISHED_OK
$STATE,4191,begin surface
$SM_CCo,4206,149.50,1.013,0,0,895,350.05
$SM_GC,1.45,6.10,2.10,149.50,0.055,0.047,1.013,216,2343,895,-6.79,2.01,350.05,0,0,0,0,0,0,26.39,26.38,24.01
$IRIDIUM_FIX,4726.11,-12222.38,141114,041428
$TT8_MAMPS,0.019474,0.019474
$HUMID,65.67
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,19.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,120.6,73.0
$24V_AH,23.84,2.345
$10V_AH,10.45,0.532
$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,14.900,59.675,212.050,149.500,110.350,30.649,36.530,284.456,4.000,0.000,48.110,1123.544,1924.586,485.837,1244.299,65.649,33.286,970.592,0.000,830.603,0.000,11.880,0.000
$DEVICE_MAMPS,245.817,67.041,1112.384,1013.064,911.261,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.509,598.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322912
$DATA_FILE_SIZE,26926,454
$CAP_FILE_SIZE,78156,0
$CFSIZE,1024409600,1016020992
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5668.66,0x2389de,7,5
$INTR,1,2250.78,0x2389de,2,5
$GPS,141114,071329,4743.922,-12224.671,7,1.4,42,18.2,0.2,0.0,8,6.8