version: 66.12
glider: 35
mission: 21
dive: 6
start: 2 6 114 23 25 13
data:
$ID,35
$MISSION,21
$DIVE,6
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$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,60
$T_MISSION,70
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,76769
$MASS_COMP,9469
$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,47.724998
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-989795.69
$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,2995
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026142744
$P_OVSHOOT_WITHG,0.089055829
$PITCH_GAIN,24
$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,1735
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,3368
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2784
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,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,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,060214,231955,4744.323,-12224.395,12,1.6,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.1
$GPS2,060214,232418,4744.351,-12224.376,10,1.5,15,18.2
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.028,-0.243
$KALMAN_X,86.1,70.1,57.0,16.5,82.1
$KALMAN_Y,596.9,532.8,473.3,-1327.7,567.3
$MHEAD_RNG_PITCHd_Wd,168.4,2506,-19.7,-10.000,-22.22,2235
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.00,-146.6,247,1733,2319,2383,0.0,0.0,0,121,0.00,0.00,-102.82,0.000,16386,0.000,0.000,247,1734,3557,3522,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.00,-146.6,247,1733,3522,3592,3.2,-2.0,19,155,9.98,2.28,-13.02,0.000,18948,0.248,0.070,2668,297,3864,3831,3898,0,0,0,0,0,0,24.75,25.27,25.20
$GC,312,-1.00,-146.6,2667,297,3831,3898,36.6,-17.0,46,316,0.00,2.20,0.00,0.000,1030,0.000,0.057,2658,1735,3864,3831,3898,0,0,0,0,0,0,28.83,25.51,28.83
$GC,437,-1.00,-146.6,2658,1735,3831,3898,53.6,-14.0,58,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1734,3864,3831,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,558,-1.00,-146.6,2657,1735,3831,3898,70.8,-14.7,70,566,0.00,2.20,0.00,0.000,260,0.000,0.072,2647,3131,3865,3832,3898,0,0,0,0,0,0,28.83,25.56,28.83
$GC,619,-1.00,-146.6,2647,3132,3831,3898,79.9,-14.9,76,628,0.00,2.22,0.00,0.000,1030,0.000,0.060,2647,1694,3864,3831,3898,0,0,0,0,0,0,28.83,25.66,28.83
$GC,749,-1.00,-146.6,2647,1694,3831,3898,102.9,-18.0,89,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1694,3865,3832,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,869,-1.00,-146.6,2647,1694,3831,3898,123.3,-16.5,101,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1694,3865,3832,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,989,-1.00,-146.6,2647,1694,3831,3898,142.1,-15.3,113,997,0.00,2.33,0.00,0.000,260,0.000,0.070,2638,3141,3864,3831,3898,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1022,-1.00,-146.6,2638,3141,3832,3898,147.1,-16.0,116,1030,0.15,2.20,0.00,0.000,3078,0.179,0.060,2676,1723,3864,3831,3897,0,0,0,0,0,0,25.43,25.77,28.83
$GC,1151,-1.00,-146.6,2676,1723,3832,3899,165.8,-14.1,129,1159,0.00,2.20,0.00,0.000,260,0.000,0.070,2667,3123,3864,3831,3898,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1232,-1.00,-146.6,2666,3122,3832,3898,177.5,-14.3,137,1240,0.00,2.12,0.00,0.000,1030,0.000,0.060,2667,1732,3864,3831,3898,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,1250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1250,begin apogee
$GC,1254,-0.21,0.0,2666,1732,3831,3898,180.3,-14.5,139,1362,0.82,0.00,102.55,1.023,10246,0.144,0.000,2930,1732,3368,3338,3398,0,0,0,0,0,0,25.32,28.83,23.58
$STATE,1363,end apogee,CONTROL_FINISHED_OK
$STATE,1363,begin climb
$GC,1366,1.00,146.6,2929,1732,3338,3399,184.8,0.0,150,1482,1.08,2.40,105.15,0.929,10756,0.094,0.077,3311,341,2871,2845,2897,0,0,0,0,0,0,24.51,23.96,23.11
$GC,1515,1.00,146.6,3311,341,2845,2897,175.3,11.0,165,1525,0.00,2.25,0.00,0.000,1030,0.000,0.057,3311,1740,2871,2845,2897,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1646,1.00,146.6,3311,1740,2845,2897,159.7,11.3,178,1654,0.00,2.30,0.00,0.000,260,0.000,0.070,3311,3134,2871,2845,2897,0,0,0,0,0,0,28.83,24.83,28.83
$GC,1879,1.00,146.6,3311,3134,2845,2897,128.4,13.0,201,1886,0.00,2.20,0.00,0.000,1030,0.000,0.060,3322,1732,2871,2845,2897,0,0,0,0,0,0,28.83,25.35,28.83
$GC,2007,1.00,146.6,3322,1732,2845,2897,111.7,12.8,214,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1732,2871,2845,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2127,1.00,146.6,3322,1732,2845,2897,97.3,11.9,226,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1732,2871,2845,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,1.00,146.6,3321,1732,2845,2897,82.8,12.6,238,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1732,2871,2845,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,1.00,146.6,3322,1732,2845,2897,69.3,10.4,250,2370,0.00,2.20,0.00,0.000,516,0.000,0.074,3333,349,2871,2845,2897,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2410,1.00,146.6,3333,333,2844,2897,64.9,10.7,254,2417,0.00,2.12,0.00,0.000,1030,0.000,0.057,3332,1741,2871,2845,2897,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2538,1.00,146.6,3332,1742,2845,2897,51.5,10.2,267,2546,0.00,2.20,0.00,0.000,260,0.000,0.070,3332,3137,2871,2845,2897,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2709,1.00,146.6,3332,3137,2845,2897,33.4,11.1,284,2713,0.00,2.17,0.00,0.000,1030,0.000,0.060,3343,1734,2871,2845,2897,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2835,1.00,146.6,3343,1734,2845,2897,19.8,11.2,296,2842,0.00,2.22,0.00,0.000,260,0.000,0.070,3343,3129,2871,2845,2897,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,2975,end climb,SURFACE_DEPTH_REACHED
$STATE,2975,begin surface coast
$FINISH,-0.1,0.999899
$STATE,3006,end surface coast,CONTROL_FINISHED_OK
$STATE,3006,begin surface
$SM_CCo,3024,98.53,0.894,0,0,2351,300.22
$SM_GC,1.33,8.25,2.20,98.53,0.065,0.060,0.894,244,1734,2351,-8.54,1.27,300.22,0,0,0,0,0,0,25.73,25.82,23.83
$IRIDIUM_FIX,4726.11,-12239.31,060214,222238
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.58
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,155.9,31.9
$24V_AH,23.1,38.044
$10V_AH,10.4,4.585
$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,20.275,40.025,207.700,98.525,0.000,24.556,40.334,108.632,6.500,0.000,17.853,790.362,1266.306,421.706,843.724,79.247,31.303,814.988,0.000,631.603,0.000,41.802,0.000
$DEVICE_MAMPS,248.300,76.973,1022.996,893.880,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.013,432.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,20254,329
$CAP_FILE_SIZE,54133,0
$CFSIZE,260165632,242659328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,001829,4744.104,-12224.286,29,1.2,33,18.2