version: 66.12
glider: 35
mission: 26
dive: 8
start: 1 31 115 1 49 18
data:
$ID,35
$MISSION,26
$DIVE,8
$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,53
$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,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
$GPS1,310115,014335,3215.2659,-6434.9614,34,1.4,34,-15.5,0.6,1.3,6,11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-50.1
$GPS2,310115,014854,3215.2839,-6434.9697,9,1.4,14,-15.5,1.1,47.2,6,5.4
$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,157.0,12509,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.99,-146.6,204,2394,1308,1122,0.0,0.0,0,122,0.00,0.00,-103.93,0.092,16390,0.000,0.000,205,2395,2753,2773,2734,0,0,0,0,0,0,26.21,25.99,25.91
$GC,124,-0.99,-146.6,205,2395,2773,2735,3.5,-2.8,10,136,7.15,2.22,0.00,0.000,2308,0.261,0.062,2018,3811,2754,2773,2735,0,0,0,0,0,0,25.70,25.94,25.89
$GC,376,-0.99,-146.6,2018,3811,2773,2735,48.8,-18.5,32,386,0.00,2.10,0.00,0.000,1030,0.000,0.050,2018,2393,2754,2773,2735,0,0,0,0,0,0,26.20,26.19,26.23
$GC,685,-0.99,-146.6,2018,2393,2773,2734,89.5,-12.7,63,696,0.00,2.17,0.00,0.000,260,0.000,0.067,2008,3809,2754,2773,2735,0,0,0,0,0,0,26.55,26.28,26.56
$GC,767,-0.99,-146.6,2007,3809,2773,2734,100.4,-13.7,70,777,0.00,2.08,0.00,0.000,1030,0.000,0.050,2008,2391,2753,2773,2734,0,0,0,0,0,0,26.39,26.34,26.41
$GC,1078,-0.99,-146.6,2007,2391,2774,2735,140.3,-13.0,101,1088,0.00,2.00,0.00,0.000,516,0.000,0.057,2008,994,2753,2773,2734,0,0,0,0,0,0,26.63,26.40,26.64
$GC,1149,-0.99,-146.6,2007,994,2773,2734,149.8,-13.7,107,1160,0.10,2.12,0.00,0.000,3078,0.171,0.055,2032,2404,2753,2773,2734,0,0,0,0,0,0,26.29,26.39,26.35
$GC,1459,-0.99,-146.6,2032,2404,2773,2734,187.0,-12.1,123,1463,0.00,2.08,0.00,0.000,516,0.000,0.057,2033,1002,2754,2773,2735,0,0,0,0,0,0,26.71,26.45,26.71
$GC,1525,-0.99,-146.6,2032,981,2773,2734,194.6,-11.5,126,1531,0.00,2.08,0.00,0.000,1030,0.000,0.067,2025,2408,2754,2774,2735,0,0,0,0,0,0,26.48,26.45,26.50
$GC,1846,-0.99,-146.6,2026,2408,2773,2734,230.5,-11.2,142,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2408,2753,2773,2734,0,0,0,0,0,0,26.72,26.73,26.72
$GC,2145,-0.99,-146.6,2025,2408,2774,2735,263.7,-10.3,157,2151,0.00,2.12,0.00,0.000,260,0.000,0.067,2019,3807,2754,2774,2734,0,0,0,0,0,0,26.76,26.48,26.77
$GC,2316,-0.99,-146.6,2019,3807,2774,2735,282.7,-11.3,165,2321,0.00,2.05,0.00,0.000,1030,0.000,0.050,2019,2395,2754,2774,2734,0,0,0,0,0,0,26.56,26.54,26.58
$GC,2646,-0.99,-146.6,2019,2395,2774,2735,318.2,-11.1,179,2652,0.00,2.12,0.00,0.000,260,0.000,0.067,2014,3799,2754,2774,2735,0,0,0,0,0,0,26.79,26.51,26.79
$GC,2695,-0.99,-146.6,2013,3799,2774,2735,321.6,-11.1,180,2699,0.00,2.10,0.00,0.000,1030,0.000,0.050,2014,2389,2754,2774,2735,0,0,0,0,0,0,26.58,26.55,26.60
$GC,3009,-0.99,-146.6,2013,2389,2774,2735,357.0,-10.8,191,3014,0.00,2.00,0.00,0.000,516,0.000,0.057,2014,998,2754,2774,2735,0,0,0,0,0,0,26.74,26.55,26.76
$GC,3134,-0.99,-146.6,2013,998,2775,2734,371.1,-11.4,195,3140,0.00,2.03,0.00,0.000,1030,0.000,0.055,2007,2394,2754,2775,2734,0,0,0,0,0,0,26.56,26.53,26.58
$GC,3465,-0.99,-146.6,2006,2394,2775,2735,407.5,-11.1,206,3470,0.00,2.10,0.00,0.000,260,0.000,0.070,2004,3799,2754,2775,2734,0,0,0,0,0,0,26.81,26.53,26.82
$GC,3518,-0.99,-146.6,2004,3799,2775,2735,411.0,-11.1,207,3527,0.00,2.08,0.00,0.000,1030,0.000,0.050,2004,2403,2755,2775,2735,0,0,0,0,0,0,26.60,26.58,26.61
$GC,3827,-0.99,-146.6,2004,2403,2775,2735,448.1,-11.2,218,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2403,2754,2775,2734,0,0,0,0,0,0,26.82,26.83,26.82
$GC,4129,-0.99,-146.6,2004,2403,2775,2734,483.0,-11.7,228,4135,0.00,2.12,0.00,0.000,260,0.000,0.067,1995,3808,2755,2775,2735,0,0,0,0,0,0,26.79,26.55,26.81
$GC,4234,-0.99,-146.6,1995,3808,2775,2735,494.7,-12.2,231,4239,0.10,2.10,0.00,0.000,3078,0.164,0.050,2029,2384,2755,2775,2735,0,0,0,0,0,0,26.43,26.58,26.58
$GC,4553,-0.99,-146.6,2029,2383,2775,2734,529.2,-9.9,242,4557,0.00,2.00,0.00,0.000,516,0.000,0.057,2030,996,2755,2775,2735,0,0,0,0,0,0,26.77,26.57,26.78
$GC,4619,-0.99,-146.6,2029,993,2775,2734,536.1,-10.2,244,4624,0.00,2.10,0.00,0.000,1030,0.000,0.055,2021,2396,2754,2775,2734,0,0,0,0,0,0,26.58,26.55,26.60
$GC,4951,-0.99,-146.6,2021,2395,2775,2735,570.6,-10.3,255,4956,0.00,2.10,0.00,0.000,260,0.000,0.067,2018,3799,2754,2775,2734,0,0,0,0,0,0,26.80,26.55,26.82
$GC,4997,-0.99,-146.6,2018,3799,2775,2734,574.1,-10.6,256,5002,0.00,2.08,0.00,0.000,1030,0.000,0.050,2018,2405,2755,2775,2735,0,0,0,0,0,0,26.62,26.59,26.63
$GC,5311,-0.99,-146.6,2018,2404,2775,2734,609.6,-10.9,267,5317,0.00,2.00,0.00,0.000,516,0.000,0.057,2018,996,2754,2775,2734,0,0,0,0,0,0,26.82,26.58,26.84
$GC,5381,-0.99,-146.6,2018,996,2775,2734,617.0,-11.5,269,5385,0.00,2.08,0.00,0.000,1030,0.000,0.055,2009,2411,2754,2775,2734,0,0,0,0,0,0,26.63,26.55,26.64
$GC,5705,-0.99,-146.6,2009,2411,2775,2734,657.3,-12.1,280,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2411,2754,2775,2734,0,0,0,0,0,0,26.83,26.84,26.84
$GC,6007,-0.99,-146.6,2009,2410,2775,2734,690.0,-10.8,290,6012,0.00,2.08,0.00,0.000,260,0.000,0.067,2007,3799,2754,2775,2734,0,0,0,0,0,0,26.81,26.55,26.82
$GC,6067,-0.99,-146.6,2006,3798,2774,2734,696.8,-10.8,292,6073,0.00,2.05,0.00,0.000,1030,0.000,0.050,2007,2393,2754,2774,2734,0,0,0,0,0,0,26.63,26.60,26.64
$GC,6400,-0.99,-146.6,2007,2393,2774,2734,733.3,-10.9,303,6405,0.00,2.00,0.00,0.000,516,0.000,0.057,2007,989,2754,2774,2734,0,0,0,0,0,0,26.82,26.58,26.82
$GC,6500,-0.99,-146.6,2006,989,2775,2732,744.6,-11.8,306,6504,0.00,2.08,0.00,0.000,1030,0.000,0.055,2007,2406,2753,2774,2732,0,0,0,0,0,0,26.63,26.56,26.65
$GC,6824,-0.99,-146.6,2006,2406,2774,2732,784.8,-12.2,317,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2406,2753,2774,2732,0,0,0,0,0,0,26.84,26.85,26.84
$GC,7126,-0.99,-146.6,2006,2406,2774,2731,822.5,-12.5,327,7131,0.00,2.10,0.00,0.000,260,0.000,0.067,2005,3805,2752,2774,2731,0,0,0,0,0,0,26.82,26.55,26.82
$GC,7218,-0.99,-146.6,2004,3805,2773,2731,834.9,-13.0,330,7223,0.00,2.05,0.00,0.000,1030,0.000,0.050,2005,2395,2752,2774,2731,0,0,0,0,0,0,26.63,26.60,26.64
$GC,7549,-0.99,-146.6,2004,2395,2774,2730,874.4,-12.1,341,7554,0.00,2.03,0.00,0.000,516,0.000,0.060,2005,996,2752,2774,2730,0,0,0,0,0,0,26.84,26.58,26.85
$GC,7627,-0.99,-146.6,2004,996,2774,2728,882.4,-12.5,343,7632,0.10,2.10,0.00,0.000,3078,0.156,0.055,2034,2391,2751,2774,2728,0,0,0,0,0,0,26.45,26.55,26.53
$GC,7943,-0.99,-146.6,2034,2391,2774,2727,918.3,-10.4,354,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2391,2750,2773,2727,0,0,0,0,0,0,26.84,26.85,26.84
$GC,8241,-0.99,-146.6,2034,2391,2773,2726,949.2,-10.3,364,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2391,2749,2773,2726,0,0,0,0,0,0,26.84,26.85,26.84
$GC,8544,-0.99,-146.6,2034,2391,2772,2725,980.6,-10.4,374,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2391,2748,2772,2725,0,0,0,0,0,0,26.82,26.83,26.82
$GC,8872,-0.99,-146.6,2034,2391,2770,2724,1015.4,-10.5,383,8878,0.00,2.12,0.00,0.000,260,0.000,0.067,2033,3805,2747,2770,2724,0,0,0,0,0,0,26.80,26.55,26.82
$GC,8912,-0.99,-146.6,2033,3805,2770,2724,1015.4,-10.5,383,8917,0.00,2.10,0.00,0.000,1030,0.000,0.060,2033,2404,2747,2770,2724,0,0,0,0,0,0,26.63,26.60,26.64
$GC,9232,-0.99,-146.6,2033,2404,2769,2722,1054.9,-10.9,389,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2405,2745,2769,2722,0,0,0,0,0,0,26.80,26.82,26.82
$STATE,9471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9471,begin apogee
$GC,9474,-0.25,0.0,2033,2404,2767,2722,1082.8,-11.6,393,9592,0.68,0.00,108.72,1.746,10246,0.127,0.000,2272,2399,2247,2299,2195,0,0,0,0,0,0,26.46,24.28,23.81
$STATE,9593,end apogee,CONTROL_FINISHED_OK
$STATE,9593,begin climb
$GC,9595,0.99,146.6,2271,2399,2300,2195,1088.4,0.0,395,9718,1.05,2.38,113.18,1.698,10500,0.065,0.072,2695,3807,1742,1814,1671,0,0,0,0,0,0,24.96,24.20,23.68
$GC,10177,0.99,193.9,2695,3807,1811,1670,1067.5,7.8,404,10219,0.15,2.12,35.83,1.666,13318,0.214,0.050,2663,2390,1580,1664,1496,0,0,0,0,0,0,25.91,26.10,24.16
$GC,10558,0.99,193.9,2662,2390,1661,1496,1023.9,11.5,411,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2390,1578,1661,1496,0,0,0,0,0,0,26.27,26.29,26.29
$GC,10858,0.99,193.9,2662,2390,1660,1496,992.0,10.7,417,10863,0.00,2.05,0.00,0.000,516,0.000,0.057,2673,992,1578,1660,1496,0,0,0,0,0,0,26.46,26.22,26.48
$GC,10963,0.99,193.9,2673,992,1660,1495,981.9,10.9,420,10967,0.00,2.15,0.00,0.000,1030,0.000,0.057,2673,2408,1577,1660,1494,0,0,0,0,0,0,26.32,26.25,26.32
$GC,11282,0.99,193.9,2673,2408,1658,1494,947.6,10.1,431,11285,0.00,2.10,0.00,0.000,516,0.000,0.057,2683,1021,1576,1658,1494,0,0,0,0,0,0,26.59,26.35,26.60
$GC,11347,0.99,193.9,2683,992,1658,1494,941.0,10.3,433,11352,0.00,2.15,0.00,0.000,1030,0.000,0.055,2684,2400,1576,1658,1494,0,0,0,0,0,0,26.39,26.36,26.41
$GC,11677,0.99,193.9,2683,2400,1656,1494,907.6,9.8,444,11682,0.00,2.08,0.00,0.000,516,0.000,0.057,2694,988,1575,1657,1494,0,0,0,0,0,0,26.66,26.42,26.67
$GC,11943,0.99,193.9,2694,988,1657,1493,881.6,10.3,452,11947,0.00,2.15,0.00,0.000,1030,0.000,0.055,2694,2404,1575,1657,1493,0,0,0,0,0,0,26.47,26.44,26.49
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$STATE,17779,end climb,SURFACE_DEPTH_REACHED
$STATE,17779,begin surface coast
$FINISH,0.2,1.000355
$STATE,17792,end surface coast,CONTROL_FINISHED_OK
$STATE,17792,begin surface
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$TT8_MAMPS,0.020223,0.020223
$HUMID,64.33
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,21.10
$XPDR_PINGS,90
$ALTIM_TOP_PING,19.1,18.1
$24V_AH,23.68,5.316
$10V_AH,10.43,1.373
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.725,125.525,257.725,76.925,103.925,30.482,16.238,169.127,47.500,0.000,16.692,2055.033,11923.450,467.896,3633.265,125.981,0.000,1577.967,0.000,3298.458,0.000,157.859,0.000
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$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,43521,711
$CAP_FILE_SIZE,154802,0
$CFSIZE,1024409600,1014218752
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18423.44,0x238a9a,7,5
$INTR,1,9472.52,0x238a9a,2,5
$GPS,310115,064956,3212.393,-6434.551,96,4.5,116,-15.5,0.5,6.5,4,34.0