version: 66.12
glider: 39
mission: 3
dive: 10
start: 11 14 114 7 20 25
data:
$ID,39
$MISSION,3
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,5500
$D_NO_BLEED,50
$D_BOOST,3
$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,100
$T_ABORT,120
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,78291
$MASS_COMP,9185.7002
$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,150
$PITCH_MAX,3910
$C_PITCH,2880
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,21
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2617
$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,8
$UNCOM_BLEED,60
$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,-1076.7625
$PRESSURE_SLOPE,0.00094170001
$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,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044030095
$SEABIRD_T_H,0.00064263446
$SEABIRD_T_I,2.7272366e-05
$SEABIRD_T_J,3.452938e-06
$SEABIRD_C_G,-9.7790155
$SEABIRD_C_H,1.1333548
$SEABIRD_C_I,-0.00086257502
$SEABIRD_C_J,0.00014502628
$GPS1,141114,071227,4743.6157,-12224.6182,9,0.9,33,16.3,0.0,0.0,8,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-64.8
$GPS2,141114,071919,4743.6523,-12224.6689,5,0.9,8,16.3,0.0,0.0,10,9.5
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.067,0.206
$KALMAN_X,-282.1,53.3,36.8,-274.7,-193.1
$KALMAN_Y,1384.9,154.2,-211.5,-64.9,70.0
$MHEAD_RNG_PITCHd_Wd,1.7,1584,-14.6,-7.059,-18.01,3147
$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,15,-0.70,-146.0,151,1692,1298,1528,0.0,0.0,0,132,0.00,0.00,-114.22,0.134,16386,0.000,0.000,151,1692,2612,2499,2725,0,0,0,0,0,0,26.67,28.83,26.69
$GC,134,-0.70,-146.0,151,1692,2499,2725,3.2,-1.2,21,186,10.20,2.20,-31.77,0.144,18692,0.271,0.062,2641,3091,3121,3002,3241,0,0,0,0,0,0,26.01,26.20,26.10
$GC,412,-0.70,-146.0,2641,3092,3001,3241,27.6,-9.7,68,416,0.00,2.08,0.00,0.000,1030,0.000,0.057,2642,1700,3121,3002,3241,0,0,0,0,0,0,26.58,26.51,26.60
$GC,538,-0.70,-146.0,2641,1700,3001,3241,38.4,-8.9,80,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1700,3121,3001,3241,0,0,0,0,0,0,26.86,26.89,26.88
$GC,658,-0.70,-146.0,2641,1700,3001,3240,48.1,-7.6,92,662,0.00,2.15,0.00,0.000,516,0.000,0.072,2641,294,3121,3001,3241,0,0,0,0,0,0,26.93,26.63,26.95
$GC,823,-0.70,-146.0,2641,294,3002,3240,61.0,-7.9,108,827,0.00,2.03,0.00,0.000,1030,0.000,0.052,2632,1707,3120,3001,3240,0,0,0,0,0,0,26.82,26.75,26.83
$GC,948,-0.70,-146.0,2631,1707,3001,3240,70.8,-7.9,120,952,0.00,2.15,0.00,0.000,516,0.000,0.072,2632,288,3120,3001,3240,0,0,0,0,0,0,27.05,26.74,27.06
$GC,1114,-0.70,-146.0,2631,288,3001,3240,85.8,-9.2,136,1118,0.10,2.03,0.00,0.000,3078,0.186,0.052,2654,1710,3120,3001,3240,0,0,0,0,0,0,26.70,26.84,26.84
$GC,1239,-0.70,-146.0,2653,1710,3001,3240,95.3,-7.7,148,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1710,3120,3001,3240,0,0,0,0,0,0,27.12,27.15,27.14
$GC,1359,-0.70,-146.0,2653,1710,3002,3240,104.5,-7.3,160,1363,0.00,2.05,0.00,0.000,260,0.000,0.062,2644,3091,3120,3001,3240,0,0,0,0,0,0,27.15,26.86,27.16
$GC,1408,-0.70,-146.0,2643,3091,3002,3240,107.3,-6.4,164,1416,0.00,2.10,0.00,0.000,1030,0.000,0.055,2644,1696,3120,3001,3240,0,0,0,0,0,0,26.92,26.86,26.94
$GC,1536,-0.70,-146.0,2644,1696,3001,3240,116.0,-6.2,177,1539,0.00,2.10,0.00,0.000,516,0.000,0.072,2644,296,3121,3002,3240,0,0,0,0,0,0,27.17,26.86,27.18
$GC,1566,-0.70,-146.0,2643,294,3001,3240,118.2,-6.7,180,1570,0.00,2.00,0.00,0.000,1030,0.000,0.052,2634,1701,3120,3001,3239,0,0,0,0,0,0,26.98,26.92,27.00
$GC,1691,-0.70,-146.0,2633,1701,3001,3239,126.6,-6.9,192,1695,0.00,2.12,0.00,0.000,516,0.000,0.070,2634,288,3120,3001,3240,0,0,0,0,0,0,27.18,26.88,27.20
$GC,1771,-0.70,-146.0,2633,288,3001,3240,132.3,-7.4,199,1779,0.08,2.05,0.00,0.000,3078,0.176,0.050,2650,1697,3120,3001,3240,0,0,0,0,0,0,26.79,26.96,26.89
$GC,1898,-0.70,-146.0,2649,1697,3001,3240,140.8,-6.4,212,1902,0.00,2.12,0.00,0.000,516,0.000,0.072,2650,284,3120,3001,3240,0,0,0,0,0,0,27.21,26.90,27.22
$GC,1974,-0.70,-146.0,2650,283,3001,3240,146.7,-7.5,219,1977,0.00,2.03,0.00,0.000,1030,0.000,0.052,2640,1711,3120,3001,3240,0,0,0,0,0,0,27.03,26.96,27.05
$GC,2099,-0.70,-146.0,2640,1712,3001,3239,155.4,-6.9,231,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1712,3121,3002,3240,0,0,0,0,0,0,27.23,27.26,27.24
$GC,2219,-0.70,-146.0,2640,1712,3001,3239,163.1,-6.4,243,2223,0.00,2.12,0.00,0.000,516,0.000,0.072,2640,294,3120,3001,3240,0,0,0,0,0,0,27.24,26.94,27.27
$GC,2272,-0.70,-146.0,2640,294,3001,3239,166.6,-6.7,248,2279,0.00,2.03,0.00,0.000,1030,0.000,0.050,2630,1694,3120,3001,3239,0,0,0,0,0,0,27.03,27.01,27.05
$GC,2399,-0.70,-146.0,2630,1694,3001,3239,175.0,-6.5,261,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1694,3120,3002,3239,0,0,0,0,0,0,27.26,27.29,27.28
$STATE,2468,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2468,begin apogee
$GC,2472,-0.24,0.0,2629,1810,3001,3239,179.3,-5.9,268,2580,0.50,0.00,102.95,0.807,10246,0.137,0.000,2804,1810,2617,2519,2715,0,0,0,0,0,0,26.89,25.51,24.97
$STATE,2581,end apogee,CONTROL_FINISHED_OK
$STATE,2581,begin climb
$GC,2582,0.70,146.0,2804,1809,2519,2715,181.1,0.0,279,2692,0.80,0.00,105.05,0.775,10758,0.104,0.000,3095,1810,2113,2030,2197,0,0,0,0,0,0,25.58,25.18,24.68
$GC,2809,0.70,146.0,3094,1810,2030,2197,163.5,9.1,302,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1810,2113,2030,2197,0,0,0,0,0,0,26.27,26.29,26.28
$GC,2929,0.70,146.0,3094,1810,2030,2197,153.0,9.0,314,2933,0.00,2.17,0.00,0.000,516,0.000,0.070,3105,396,2113,2030,2197,0,0,0,0,0,0,26.53,26.24,26.55
$GC,2947,0.70,146.0,3105,396,2030,2197,151.5,9.1,315,2955,0.00,2.10,0.00,0.000,1030,0.000,0.050,3105,1799,2113,2030,2197,0,0,0,0,0,0,26.35,26.32,26.37
$GC,3074,0.70,146.0,3105,1799,2030,2197,139.0,9.8,328,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1799,2113,2030,2197,0,0,0,0,0,0,26.71,26.73,26.73
$GC,3194,0.70,146.0,3105,1800,2030,2197,127.8,9.1,340,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1799,2113,2030,2197,0,0,0,0,0,0,26.82,26.84,26.83
$GC,3314,0.70,146.0,3105,1799,2030,2197,116.2,10.1,352,3318,0.00,2.10,0.00,0.000,260,0.000,0.065,3105,3198,2113,2030,2197,0,0,0,0,0,0,26.89,26.60,26.90
$GC,3370,0.70,146.0,3105,3198,2030,2197,110.2,11.1,357,3374,0.00,2.08,0.00,0.000,1030,0.000,0.057,3116,1798,2113,2030,2197,0,0,0,0,0,0,26.72,26.65,26.74
$GC,3495,0.70,146.0,3115,1797,2029,2197,97.3,10.3,369,3499,0.00,2.12,0.00,0.000,516,0.000,0.072,3127,386,2113,2030,2197,0,0,0,0,0,0,26.97,26.67,26.99
$GC,3530,0.70,146.0,3126,386,2031,2197,93.3,11.4,372,3534,0.00,2.03,0.00,0.000,1030,0.000,0.052,3126,1804,2113,2030,2197,0,0,0,0,0,0,26.80,26.74,26.82
$GC,3655,0.70,146.0,3126,1804,2030,2197,80.3,9.5,384,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1804,2113,2030,2197,0,0,0,0,0,0,27.03,27.05,27.05
$GC,3775,0.70,146.0,3126,1804,2031,2197,68.6,9.8,396,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1804,2113,2030,2197,0,0,0,0,0,0,27.07,27.09,27.08
$GC,3895,0.70,146.0,3126,1804,2030,2197,56.8,9.7,408,3899,0.00,2.12,0.00,0.000,516,0.000,0.072,3137,394,2114,2031,2197,0,0,0,0,0,0,27.10,26.79,27.11
$GC,3951,0.70,146.0,3137,394,2031,2197,50.6,11.7,413,3955,0.10,2.03,0.00,0.000,5126,0.186,0.052,3104,1803,2114,2031,2197,0,0,0,0,0,0,26.72,26.86,26.86
$GC,4076,0.70,146.0,3104,1803,2030,2197,38.6,8.3,425,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1803,2114,2031,2197,0,0,0,0,0,0,27.14,27.16,27.15
$GC,4196,0.70,146.0,3104,1803,2030,2197,28.7,7.6,437,4200,0.00,2.12,0.00,0.000,516,0.000,0.072,3114,390,2114,2031,2197,0,0,0,0,0,0,27.16,26.86,27.18
$GC,4221,0.70,146.0,3113,390,2030,2197,26.6,7.1,439,4225,0.00,2.00,0.00,0.000,1030,0.000,0.052,3114,1799,2113,2030,2197,0,0,0,0,0,0,26.98,26.91,26.99
$GC,4346,0.70,146.0,3113,1799,2030,2197,15.8,8.9,455,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1799,2114,2031,2197,0,0,0,0,0,0,27.18,27.21,27.20
$GC,4413,0.70,146.0,3113,1799,2031,2197,11.2,6.5,468,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1799,2114,2031,2197,0,0,0,0,0,0,27.20,27.22,27.22
$GC,4481,0.70,221.5,3113,1799,2031,2198,7.9,4.6,481,4542,0.00,2.15,52.20,0.695,8452,0.000,0.067,3114,3192,1854,1761,1947,0,0,0,0,0,0,27.20,26.15,25.63
$STATE,4598,end climb,SURFACE_DEPTH_REACHED
$STATE,4598,begin surface coast
$FINISH,0.5,1.016652
$STATE,4629,end surface coast,CONTROL_FINISHED_OK
$STATE,4629,begin surface
$SM_CCo,4645,166.73,0.079,0,0,1412,350.05
$SM_GC,1.73,7.70,2.30,166.73,0.067,0.055,0.079,152,1698,1412,-8.47,1.02,350.05,0,0,0,0,0,0,26.36,26.39,26.34
$IRIDIUM_FIX,4722.92,-12225.08,141114,071328
$TT8_MAMPS,0.020972,0.020972
$HUMID,53.38
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,135.8,58.1
$24V_AH,24.68,2.082
$10V_AH,10.53,1.905
$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,19.475,59.100,260.200,166.725,146.000,31.750,16.692,277.360,3.000,0.000,15.326,1222.290,2133.159,569.691,1275.189,41.318,33.276,1102.739,0.000,904.184,0.000,22.333,0.000
$DEVICE_MAMPS,270.647,99.320,806.975,79.456,144.014,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.138,670.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322972
$DATA_FILE_SIZE,30272,509
$CAP_FILE_SIZE,83436,1
$CFSIZE,1024409600,1020002304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141114,084120,4744.437,-12224.449,4,0.9,9,16.3,0.0,0.0,10,9.0