version: 66.12
glider: 35
mission: 25
dive: 8
start: 11 14 114 2 50 25
data:
$ID,35
$MISSION,25
$DIVE,8
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26.663748
$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,57
$R_STBD_OVSHOOT,68
$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
$GPS1,141114,024526,4743.5664,-12224.1963,9,2.0,10,18.2,0.3,206.5,7,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-60.1
$GPS2,141114,024924,4743.5273,-12224.2197,11,2.0,16,18.2,0.3,216.6,7,7.6
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.084,-0.200
$KALMAN_X,315.3,107.6,16.2,-116.2,172.8
$KALMAN_Y,1326.0,115.2,100.9,-538.6,296.9
$MHEAD_RNG_PITCHd_Wd,184.7,1037,-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,-0.55,-146.6,229,2374,803,662,0.0,0.0,0,127,0.00,0.00,-108.22,0.094,16386,0.000,0.000,229,2375,2232,2210,2255,0,0,0,0,0,0,26.17,28.83,26.19
$GC,129,-0.55,-146.6,229,2374,2210,2254,3.1,-1.4,18,162,7.72,2.08,-16.52,0.102,18692,0.248,0.065,2253,3713,2604,2579,2629,0,0,0,0,0,0,25.65,25.84,25.78
$GC,491,-0.55,-146.6,2253,3713,2585,2606,35.1,-7.9,70,501,0.00,2.08,-0.22,0.872,17414,0.000,0.052,2253,2328,2608,2602,2615,0,0,0,0,0,0,26.16,26.10,25.70
$GC,621,-0.55,-146.6,2253,2328,2604,2612,44.4,-7.3,83,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2328,2608,2604,2612,0,0,0,0,0,0,26.39,26.41,26.41
$GC,741,-0.55,-146.6,2253,2328,2606,2611,53.4,-7.4,95,745,0.00,2.15,0.00,0.000,260,0.000,0.067,2253,3712,2608,2606,2611,0,0,0,0,0,0,26.44,26.18,26.45
$GC,782,-0.55,-146.6,2253,3712,2606,2611,56.5,-7.5,99,786,0.00,2.05,0.00,0.000,1030,0.000,0.050,2253,2324,2608,2606,2611,0,0,0,0,0,0,26.27,26.22,26.29
$GC,914,-0.55,-146.6,2253,2324,2607,2609,64.8,-6.2,112,918,0.00,2.08,0.00,0.000,516,0.000,0.057,2253,914,2608,2607,2609,0,0,0,0,0,0,26.49,26.25,26.50
$GC,958,-0.55,-146.6,2253,914,2612,2604,67.6,-6.6,116,965,0.00,2.10,0.00,0.000,1030,0.000,0.055,2253,2299,2607,2611,2604,0,0,0,0,0,0,26.28,26.25,26.30
$GC,1086,-0.55,-146.6,2253,2299,2611,2604,75.9,-6.3,129,1090,0.00,2.22,0.00,0.000,260,0.000,0.067,2250,3742,2607,2611,2604,0,0,0,0,0,0,26.53,26.27,26.54
$GC,1140,-0.55,-146.6,2250,3752,2611,2604,79.4,-6.7,134,1147,0.00,2.12,0.00,0.000,1030,0.000,0.050,2250,2341,2608,2611,2605,0,0,0,0,0,0,26.34,26.32,26.35
$GC,1268,-0.55,-146.6,2249,2340,2611,2604,87.3,-5.8,147,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2341,2607,2611,2604,0,0,0,0,0,0,26.56,26.58,26.58
$GC,1387,-0.55,-146.6,2250,2341,2611,2604,94.6,-6.4,159,1391,0.00,2.08,0.00,0.000,516,0.000,0.057,2250,920,2608,2612,2604,0,0,0,0,0,0,26.58,26.34,26.60
$GC,1438,-0.55,-146.6,2250,919,2613,2602,97.9,-6.6,164,1442,0.00,2.10,0.00,0.000,1030,0.000,0.057,2250,2340,2607,2613,2602,0,0,0,0,0,0,26.40,26.33,26.41
$GC,1570,-0.55,-146.6,2250,2340,2612,2602,105.7,-6.0,177,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2340,2607,2613,2602,0,0,0,0,0,0,26.60,26.62,26.62
$GC,1690,-0.55,-146.6,2250,2340,2613,2602,112.0,-4.7,189,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2340,2607,2613,2602,0,0,0,0,0,0,26.63,26.64,26.63
$GC,1810,-0.55,-146.6,2250,2340,2612,2602,118.6,-5.8,201,1813,0.00,2.15,0.00,0.000,260,0.000,0.067,2251,3749,2607,2613,2602,0,0,0,0,0,0,26.64,26.37,26.65
$GC,1854,-0.55,-146.6,2250,3749,2612,2602,121.3,-6.6,205,1861,0.00,2.10,0.00,0.000,1030,0.000,0.050,2251,2325,2607,2612,2602,0,0,0,0,0,0,26.46,26.41,26.48
$GC,1982,-0.55,-146.6,2250,2325,2612,2602,129.9,-5.7,218,1985,0.00,2.05,0.00,0.000,516,0.000,0.057,2250,917,2607,2612,2602,0,0,0,0,0,0,26.65,26.41,26.67
$GC,2066,-0.55,-146.6,2250,916,2613,2601,134.4,-5.7,226,2073,0.00,2.12,0.00,0.000,1030,0.000,0.055,2250,2328,2607,2613,2602,0,0,0,0,0,0,26.44,26.41,26.46
$GC,2194,-0.55,-146.6,2250,2328,2613,2601,138.3,-2.8,239,2198,0.00,2.20,0.00,0.000,260,0.000,0.067,2250,3746,2607,2613,2601,0,0,0,0,0,0,26.67,26.41,26.68
$GC,2256,-0.55,-146.6,2250,3746,2612,2601,139.9,-2.6,245,2260,0.00,2.08,0.00,0.000,1030,0.000,0.050,2250,2329,2606,2612,2601,0,0,0,0,0,0,26.50,26.44,26.51
$GC,2388,-0.55,-146.6,2250,2328,2612,2601,144.1,-3.3,258,2392,0.00,2.05,0.00,0.000,516,0.000,0.057,2250,917,2607,2613,2601,0,0,0,0,0,0,26.69,26.44,26.70
$GC,2433,-0.55,-146.6,2250,916,2613,2601,145.8,-3.8,262,2440,0.00,2.10,0.00,0.000,1030,0.000,0.055,2250,2336,2607,2613,2601,0,0,0,0,0,0,26.50,26.43,26.51
$GC,2560,-0.55,-146.6,2250,2336,2613,2601,151.6,-4.9,275,2564,0.00,2.15,0.00,0.000,260,0.000,0.067,2250,3751,2607,2613,2601,0,0,0,0,0,0,26.70,26.44,26.71
$GC,2604,-0.55,-146.6,2250,3751,2612,2601,153.7,-4.7,279,2608,0.00,2.08,0.00,0.000,1030,0.000,0.050,2251,2330,2606,2612,2601,0,0,0,0,0,0,26.52,26.47,26.53
$STATE,2714,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2714,begin apogee
$GC,2718,-0.19,0.0,2250,2330,2612,2601,158.4,-4.5,290,2827,0.35,0.00,103.30,1.102,10246,0.119,0.000,2379,2326,2100,2152,2048,0,0,0,0,0,0,26.39,24.68,24.07
$STATE,2828,end apogee,CONTROL_FINISHED_OK
$STATE,2828,begin climb
$GC,2830,0.55,146.6,2379,2326,2152,2048,159.6,0.0,301,2946,0.57,0.00,108.47,1.070,10246,0.089,0.000,2598,2326,1594,1691,1498,0,0,0,0,0,0,24.85,24.32,23.89
$GC,3066,0.55,146.6,2597,2325,1691,1499,141.5,8.8,325,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2325,1595,1691,1499,0,0,0,0,0,0,25.69,25.70,25.70
$GC,3186,0.55,146.6,2597,2326,1691,1499,131.7,7.9,337,3189,0.00,2.25,0.00,0.000,260,0.000,0.065,2598,3734,1595,1691,1500,0,0,0,0,0,0,25.95,25.70,25.96
$GC,3250,0.55,146.6,2597,3749,1690,1501,126.2,9.1,343,3257,0.00,2.17,0.00,0.000,1030,0.000,0.050,2608,2333,1595,1690,1501,0,0,0,0,0,0,25.84,25.82,25.86
$GC,3377,0.55,146.6,2608,2334,1690,1500,112.8,10.5,356,3381,0.00,2.10,0.00,0.000,516,0.000,0.057,2618,919,1595,1689,1501,0,0,0,0,0,0,26.17,25.93,26.17
$GC,3439,0.55,146.6,2618,918,1690,1500,107.5,6.8,362,3443,0.00,2.12,0.00,0.000,1030,0.000,0.055,2618,2334,1595,1690,1500,0,0,0,0,0,0,26.03,25.97,26.04
$GC,3571,0.55,146.6,2618,2335,1690,1500,96.1,8.3,375,3575,0.00,2.17,0.00,0.000,260,0.000,0.067,2618,3741,1595,1690,1500,0,0,0,0,0,0,26.30,26.04,26.31
$GC,3634,0.55,146.6,2618,3742,1689,1501,89.4,10.9,381,3638,0.00,2.10,0.00,0.000,1030,0.000,0.050,2629,2328,1595,1690,1501,0,0,0,0,0,0,26.15,26.10,26.17
$GC,3765,0.55,146.6,2629,2328,1690,1501,77.4,8.7,394,3769,0.00,2.10,0.00,0.000,516,0.000,0.057,2638,927,1595,1690,1501,0,0,0,0,0,0,26.39,26.15,26.40
$GC,3797,0.55,146.6,2638,927,1690,1501,74.7,8.3,397,3801,0.00,2.12,0.00,0.000,1030,0.000,0.055,2638,2330,1595,1690,1501,0,0,0,0,0,0,26.19,26.15,26.20
$GC,3929,0.55,146.6,2638,2329,1690,1501,62.5,8.9,410,3932,0.00,2.17,0.00,0.000,260,0.000,0.067,2638,3744,1595,1690,1501,0,0,0,0,0,0,26.45,26.19,26.46
$GC,4073,0.55,146.6,2638,3744,1690,1501,48.3,9.9,424,4081,0.10,2.12,0.00,0.000,5126,0.161,0.050,2613,2335,1595,1690,1501,0,0,0,0,0,0,26.14,26.26,26.21
$GC,4201,0.55,146.6,2613,2335,1690,1501,38.0,7.8,437,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2336,1595,1690,1500,0,0,0,0,0,0,26.52,26.53,26.53
$GC,4321,0.55,146.6,2613,2335,1690,1501,28.4,8.2,449,4325,0.00,2.08,0.00,0.000,516,0.000,0.057,2624,918,1595,1690,1501,0,0,0,0,0,0,26.55,26.30,26.56
$GC,4385,0.55,146.6,2623,918,1690,1501,23.0,8.7,455,4392,0.00,2.12,0.00,0.000,1030,0.000,0.052,2624,2329,1595,1690,1501,0,0,0,0,0,0,26.34,26.32,26.36
$GC,4512,0.55,146.6,2623,2329,1690,1501,13.6,7.9,476,4519,0.00,2.17,0.00,0.000,260,0.000,0.067,2624,3745,1595,1690,1501,0,0,0,0,0,0,26.58,26.32,26.59
$GC,4591,0.55,146.6,2623,3744,1690,1500,6.7,8.9,491,4598,0.00,2.10,0.00,0.000,1030,0.000,0.050,2633,2314,1595,1690,1501,0,0,0,0,0,0,26.41,26.37,26.43
$GC,4661,0.55,244.1,2632,2314,1689,1501,3.5,3.9,504,4705,0.00,0.00,41.25,1.025,8706,0.000,0.000,2633,2314,1406,1524,1288,0,0,0,0,0,0,26.60,28.83,26.62
$STATE,4706,end climb,SURFACE_DEPTH_REACHED
$STATE,4706,begin surface coast
$FINISH,0.2,0.999772
$STATE,4747,end surface coast,CONTROL_FINISHED_OK
$STATE,4747,begin surface
$SM_CCo,4759,110.15,0.961,0,0,894,350.05
$SM_GC,1.64,6.30,0.00,110.15,0.055,0.000,0.961,212,2314,894,-6.84,-0.51,350.05,0,0,0,0,0,0,25.69,25.91,24.05
$IRIDIUM_FIX,4726.11,-12224.09,141114,023935
$TT8_MAMPS,0.020223,0.020223
$HUMID,65.27
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,19.10
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,115.5,72.4
$24V_AH,23.89,2.070
$10V_AH,10.29,0.457
$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,15.050,72.150,253.025,110.150,124.975,0.000,0.000,0.000,3.750,0.000,18.824,1273.927,1840.570,466.200,1259.646,116.048,33.280,1064.800,0.000,1241.705,0.000,10.306,0.000
$DEVICE_MAMPS,248.300,109.252,1102.452,960.921,871.533,0.000,0.000,0.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.704,684.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322852
$DATA_FILE_SIZE,30190,519
$CAP_FILE_SIZE,325726,0
$CFSIZE,1024409600,1015939072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2716.04,0x2389de,2,5
$INTR,1,4750.41,0x2389de,7,5
$GPS,141114,041252,4742.870,-12224.660,13,1.9,40,18.2,0.3,0.0,7,9.3