version: 66.12
glider: 35
mission: 21
dive: 15
start: 2 7 114 11 24 26
data:
$ID,35
$MISSION,21
$DIVE,15
$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,90
$T_MISSION,105
$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,-989806.94
$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,44
$R_STBD_OVSHOOT,39
$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
$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
$GPS1,070214,111855,4744.636,-12224.353,12,1.9,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.1
$GPS2,070214,112327,4744.660,-12224.322,9,3.0,29,18.2
$SPEED_LIMITS,0.067,0.213
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.024,-0.212
$KALMAN_X,-970.4,-215.8,264.3,1218.5,27.2
$KALMAN_Y,-698.8,-771.1,672.5,1644.5,-262.9
$MHEAD_RNG_PITCHd_Wd,168.2,3082,-13.8,-6.667,-17.39,3328
$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,-0.57,-146.6,242,1749,2312,2389,0.0,0.0,0,116,0.00,0.00,-97.45,0.000,16386,0.000,0.000,242,1749,3515,3475,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.57,-146.6,242,1749,3475,3556,3.5,-2.4,18,149,10.60,0.00,-13.77,0.000,18950,0.253,0.000,2810,1749,3866,3832,3900,0,0,0,0,0,0,24.85,28.83,25.30
$GC,211,-0.57,-146.6,2810,1749,3833,3900,16.3,-9.5,35,217,0.00,2.22,0.00,0.000,260,0.000,0.070,2804,3145,3866,3832,3900,0,0,0,0,0,0,28.83,25.45,28.83
$GC,307,-0.57,-146.6,2803,3145,3833,3900,25.8,-9.7,48,314,0.00,2.17,0.00,0.000,1030,0.000,0.057,2803,1734,3866,3832,3900,0,0,0,0,0,0,28.83,25.60,28.83
$GC,434,-0.57,-146.6,2804,1734,3833,3900,38.8,-9.9,61,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1734,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,554,-0.57,-146.6,2803,1734,3833,3900,48.8,-8.0,73,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1733,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,674,-0.57,-146.6,2803,1734,3832,3900,58.9,-7.9,85,683,0.00,2.25,0.00,0.000,260,0.000,0.070,2800,3137,3866,3833,3900,0,0,0,0,0,0,28.83,25.69,28.83
$GC,786,-0.57,-146.6,2800,3137,3832,3900,67.1,-7.0,96,794,0.00,2.15,0.00,0.000,1030,0.000,0.057,2800,1730,3866,3833,3900,0,0,0,0,0,0,28.83,25.81,28.83
$GC,916,-0.57,-146.6,2800,1730,3833,3900,75.8,-6.3,109,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1730,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1036,-0.57,-146.6,2800,1730,3833,3900,83.8,-7.3,121,1044,0.00,2.25,0.00,0.000,260,0.000,0.070,2800,3138,3866,3833,3900,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1138,-0.57,-146.6,2799,3137,3833,3900,92.0,-8.8,131,1147,0.00,2.15,0.00,0.000,1030,0.000,0.057,2800,1724,3866,3833,3900,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1268,-0.57,-146.6,2800,1724,3833,3900,103.1,-8.2,144,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1724,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1388,-0.57,-146.6,2800,1724,3833,3900,112.9,-7.9,156,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1724,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1508,-0.57,-146.6,2799,1724,3833,3900,122.4,-8.6,168,1517,0.00,2.22,0.00,0.000,260,0.000,0.067,2800,3137,3866,3833,3900,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1559,-0.57,-146.6,2800,3138,3833,3900,126.3,-7.2,173,1568,0.00,2.12,0.00,0.000,1030,0.000,0.057,2800,1736,3866,3833,3900,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1689,-0.57,-146.6,2800,1737,3833,3900,136.5,-8.1,186,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1737,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1809,-0.57,-146.6,2799,1736,3832,3900,146.8,-8.1,198,1818,0.00,2.22,0.00,0.000,260,0.000,0.070,2800,3141,3866,3833,3900,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1860,-0.57,-146.6,2800,3141,3833,3900,150.9,-7.7,203,1869,0.00,2.15,0.00,0.000,1030,0.000,0.057,2800,1723,3866,3833,3900,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1990,-0.57,-146.6,2800,1722,3833,3900,160.8,-7.8,216,1999,0.00,2.22,0.00,0.000,260,0.000,0.067,2800,3138,3866,3833,3900,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2044,-0.57,-146.6,2800,3138,3833,3900,164.5,-6.7,221,2051,0.00,2.15,0.00,0.000,1030,0.000,0.057,2800,1723,3866,3833,3900,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2171,-0.57,-146.6,2800,1723,3832,3900,173.3,-7.1,234,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1723,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2269,begin apogee
$GC,2274,-0.21,0.0,2800,1723,3833,3900,180.4,-7.3,244,2382,0.38,0.00,102.32,1.038,10246,0.124,0.000,2928,1723,3368,3340,3397,0,0,0,0,0,0,25.70,28.83,23.71
$STATE,2383,end apogee,CONTROL_FINISHED_OK
$STATE,2383,begin climb
$GC,2385,0.57,146.6,2928,1723,3340,3397,183.7,0.0,255,2493,0.68,0.00,104.38,0.914,10758,0.097,0.000,3166,1722,2871,2845,2898,0,0,0,0,0,0,24.63,28.83,23.30
$GC,2613,0.57,146.6,3165,1722,2846,2898,172.8,7.2,278,2621,0.00,2.30,0.00,0.000,260,0.000,0.067,3166,3130,2871,2845,2898,0,0,0,0,0,0,28.83,24.82,28.83
$GC,2656,0.57,146.6,3166,3130,2845,2897,169.7,7.9,282,2663,0.00,2.22,0.00,0.000,1030,0.000,0.057,3175,1739,2871,2845,2898,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2783,0.57,146.6,3174,1739,2845,2898,158.7,7.9,295,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1739,2871,2845,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,0.57,146.6,3175,1739,2845,2898,149.1,8.1,307,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1739,2871,2844,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,0.57,146.6,3175,1739,2845,2898,139.7,7.8,319,3032,0.00,2.25,0.00,0.000,260,0.000,0.067,3175,3138,2871,2845,2898,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3134,0.57,146.6,3175,3138,2845,2898,130.6,8.7,330,3143,0.00,2.17,0.00,0.000,1030,0.000,0.057,3185,1727,2871,2845,2898,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3264,0.57,146.6,3185,1727,2845,2898,120.8,7.8,343,3273,0.00,2.20,0.00,0.000,516,0.000,0.072,3195,336,2871,2845,2898,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3358,0.57,175.4,3194,336,2845,2898,114.6,5.8,352,3386,0.00,2.12,20.90,0.924,9222,0.000,0.057,3195,1747,2773,2747,2799,0,0,0,0,0,0,28.83,25.77,24.41
$GC,3505,0.57,179.4,3195,1747,2747,2799,104.7,6.5,367,3515,0.00,0.00,4.47,0.636,8198,0.000,0.000,3195,1747,2760,2735,2785,0,0,0,0,0,0,28.83,28.83,24.23
$GC,3635,0.57,195.5,3195,1747,2734,2786,95.9,6.2,380,3655,0.00,2.20,12.90,0.869,8452,0.000,0.070,3195,3137,2704,2676,2733,0,0,0,0,0,0,28.83,25.44,24.36
$GC,3708,0.57,195.5,3195,3137,2676,2733,90.4,8.0,387,3717,0.00,2.17,0.00,0.000,1030,0.000,0.057,3205,1734,2704,2676,2733,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3838,0.57,195.5,3205,1733,2676,2733,79.8,8.4,400,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1733,2704,2676,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3958,0.57,195.5,3205,1733,2676,2733,67.0,11.9,412,3966,0.00,2.20,0.00,0.000,516,0.000,0.072,3217,331,2704,2676,2733,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4021,0.57,195.5,3216,332,2676,2733,59.3,12.9,418,4029,0.15,2.12,0.00,0.000,5126,0.161,0.057,3174,1737,2704,2676,2733,0,0,0,0,0,0,25.51,25.76,28.83
$GC,4149,0.57,195.5,3173,1738,2676,2733,47.0,8.5,431,4157,0.00,2.20,0.00,0.000,260,0.000,0.067,3174,3136,2704,2676,2733,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4360,0.57,199.5,3173,3136,2676,2733,31.6,6.5,452,4371,0.00,2.17,4.40,0.616,9222,0.000,0.057,3183,1728,2692,2662,2723,0,0,0,0,0,0,28.83,25.85,24.53
$GC,4490,0.57,208.2,3183,1728,2662,2722,23.0,6.4,465,4503,0.00,2.25,7.88,0.770,8452,0.000,0.072,3183,3129,2662,2634,2691,0,0,0,0,0,0,28.83,25.75,24.59
$GC,4636,0.57,210.4,3183,3129,2634,2690,13.1,6.6,489,4649,0.00,2.15,3.30,0.492,9222,0.000,0.057,3192,1724,2655,2629,2681,0,0,0,0,0,0,28.83,25.82,24.42
$GC,4711,0.57,215.0,3192,1724,2629,2681,8.3,6.5,503,4718,0.00,0.00,4.95,0.648,8198,0.000,0.000,3192,1724,2639,2613,2665,0,0,0,0,0,0,28.83,28.83,24.49
$STATE,4779,end climb,SURFACE_DEPTH_REACHED
$STATE,4779,begin surface coast
$FINISH,-0.2,0.999950
$STATE,4839,end surface coast,CONTROL_FINISHED_OK
$STATE,4839,begin surface
$SM_CCo,4855,54.80,0.926,0,0,2351,300.22
$SM_GC,2.08,7.80,0.00,54.80,0.060,0.000,0.926,235,1724,2351,-8.55,-0.31,300.22,0,0,0,0,0,0,25.81,28.83,24.09
$IRIDIUM_FIX,4726.11,-12220.67,070214,101056
$TT8_MAMPS,0.020972,0.020972
$HUMID,39.25
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,155.4,35.4
$24V_AH,23.3,38.925
$10V_AH,10.4,4.901
$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,19.600,57.050,265.500,54.800,0.000,25.350,18.275,122.105,6.500,0.000,32.061,1262.426,2180.379,455.617,1193.670,105.865,33.234,1045.092,0.000,972.611,0.000,38.975,0.000
$DEVICE_MAMPS,253.266,72.007,1037.894,926.159,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.503,695.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354560
$DATA_FILE_SIZE,30277,528
$CAP_FILE_SIZE,82253,0
$CFSIZE,260165632,242233344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2369.86,0x235744,2,24
$GPS,070214,124727,4744.146,-12224.312,12,2.8,32,18.2