version: 66.12
glider: 39
mission: 3
dive: 7
start: 11 14 114 2 42 58
data:
$ID,39
$MISSION,3
$DIVE,7
$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,90
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,25.296419
$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,1988
$C_ROLL_CLIMB,1988
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,38
$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
$GPS1,141114,023552,4744.3438,-12224.3066,2,1.0,13,16.3,0.0,0.0,8,6.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.0
$GPS2,141114,024151,4744.2979,-12224.2539,4,1.0,13,16.3,0.6,137.9,8,9.8
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.049,-0.211
$KALMAN_X,80.5,-16.2,3.8,-24.4,153.8
$KALMAN_Y,1140.3,370.1,25.7,928.0,301.6
$MHEAD_RNG_PITCHd_Wd,176.8,2423,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.58,-146.0,163,1959,1110,1370,0.0,0.0,0,162,0.00,0.00,-144.55,0.134,16386,0.000,0.000,163,1959,2749,2639,2860,0,0,0,0,0,0,26.87,28.83,26.89
$GC,164,-0.58,-146.0,163,1959,2639,2860,3.3,-1.9,24,203,10.32,2.20,-20.98,0.151,18692,0.271,0.065,2699,3398,3120,2998,3242,0,0,0,0,0,0,26.10,26.27,26.19
$GC,428,-0.58,-146.0,2699,3398,2998,3242,23.5,-6.4,69,436,0.00,2.12,0.00,0.000,1030,0.000,0.055,2699,1993,3119,2997,3242,0,0,0,0,0,0,26.59,26.55,26.62
$GC,555,-0.58,-146.0,2698,1993,2998,3241,32.4,-7.5,82,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1993,3120,2998,3242,0,0,0,0,0,0,26.90,26.92,26.92
$GC,675,-0.58,-146.0,2698,1993,2998,3242,40.8,-6.8,94,679,0.00,2.12,0.00,0.000,516,0.000,0.070,2699,581,3120,2998,3242,0,0,0,0,0,0,26.96,26.66,26.98
$GC,856,-0.58,-146.0,2698,581,2998,3241,53.2,-6.1,112,860,0.00,2.05,0.00,0.000,1030,0.000,0.055,2689,1995,3120,2998,3242,0,0,0,0,0,0,26.84,26.77,26.85
$GC,987,-0.58,-146.0,2688,1996,2998,3241,60.5,-5.7,125,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1996,3119,2998,3241,0,0,0,0,0,0,27.07,27.09,27.08
$GC,1107,-0.58,-146.0,2688,1996,2998,3242,66.8,-5.4,137,1111,0.00,2.12,0.00,0.000,516,0.000,0.070,2689,576,3119,2998,3241,0,0,0,0,0,0,27.10,26.80,27.12
$GC,1218,-0.58,-146.0,2688,575,2997,3241,73.3,-6.5,148,1223,0.10,2.03,0.00,0.000,3078,0.176,0.055,2712,1992,3119,2998,3241,0,0,0,0,0,0,26.74,26.86,26.87
$GC,1350,-0.58,-146.0,2711,1992,2998,3241,80.1,-4.8,161,1354,0.00,2.12,0.00,0.000,516,0.000,0.070,2711,571,3119,2998,3241,0,0,0,0,0,0,27.15,26.85,27.17
$GC,1451,-0.58,-146.0,2711,571,2998,3241,85.9,-5.9,171,1455,0.00,2.03,0.00,0.000,1030,0.000,0.055,2703,1990,3119,2998,3241,0,0,0,0,0,0,26.98,26.91,26.99
$GC,1582,-0.58,-146.0,2702,1990,2998,3241,94.0,-6.1,184,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1990,3119,2998,3241,0,0,0,0,0,0,27.19,27.21,27.20
$GC,1703,-0.58,-146.0,2702,1990,2998,3241,100.3,-4.8,196,1707,0.00,2.10,0.00,0.000,516,0.000,0.070,2702,578,3119,2998,3241,0,0,0,0,0,0,27.17,26.91,27.19
$GC,1936,-0.58,-146.0,2702,578,2998,3241,111.8,-5.8,219,1940,0.00,2.03,0.00,0.000,1030,0.000,0.052,2693,1998,3119,2998,3241,0,0,0,0,0,0,27.04,26.97,27.05
$GC,2067,-0.58,-146.0,2692,1998,2998,3241,118.9,-5.7,232,2071,0.00,2.08,0.00,0.000,260,0.000,0.067,2682,3394,3119,2998,3241,0,0,0,0,0,0,27.24,26.94,27.26
$GC,2139,-0.58,-146.0,2682,3395,2998,3241,123.3,-6.5,239,2144,0.10,2.05,0.00,0.000,3078,0.166,0.055,2717,1976,3119,2998,3241,0,0,0,0,0,0,26.88,26.98,26.99
$GC,2272,-0.58,-146.0,2717,1976,2998,3241,130.5,-5.5,252,2275,0.00,2.08,0.00,0.000,516,0.000,0.070,2718,573,3119,2998,3241,0,0,0,0,0,0,27.22,26.96,27.24
$GC,2489,-0.58,-146.0,2717,573,2998,3241,140.5,-4.2,273,2493,0.00,2.03,0.00,0.000,1030,0.000,0.052,2708,1995,3119,2998,3241,0,0,0,0,0,0,27.08,27.01,27.09
$GC,2619,-0.58,-146.0,2708,1995,2998,3241,145.5,-4.3,286,2623,0.00,2.10,0.00,0.000,516,0.000,0.067,2709,578,3119,2998,3241,0,0,0,0,0,0,27.27,26.98,27.28
$STATE,2710,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2710,begin apogee
$GC,2715,-0.20,0.0,2699,1996,2998,3241,149.2,-3.9,295,2822,0.35,0.00,102.65,0.795,10246,0.129,0.000,2831,1996,2617,2516,2718,0,0,0,0,0,0,26.91,25.53,25.01
$STATE,2823,end apogee,CONTROL_FINISHED_OK
$STATE,2823,begin climb
$GC,2824,0.58,146.0,2831,1996,2516,2718,150.3,0.0,306,2936,0.62,2.25,105.00,0.757,10756,0.099,0.072,3082,582,2113,2029,2197,0,0,0,0,0,0,25.61,25.08,24.71
$GC,2998,0.58,146.0,3082,582,2029,2196,138.4,8.2,323,3002,0.00,2.10,0.00,0.000,1030,0.000,0.052,3082,1988,2112,2029,2196,0,0,0,0,0,0,25.91,25.84,25.93
$GC,3129,0.58,146.0,3081,1988,2029,2196,127.4,8.2,336,3133,0.00,2.17,0.00,0.000,516,0.000,0.072,3092,577,2112,2029,2196,0,0,0,0,0,0,26.46,26.17,26.48
$GC,3190,0.58,146.0,3092,577,2029,2196,121.9,9.6,342,3194,0.00,2.08,0.00,0.000,1030,0.000,0.052,3092,1991,2112,2029,2196,0,0,0,0,0,0,26.38,26.32,26.40
$GC,3321,0.58,146.0,3092,1993,2029,2196,110.5,8.3,355,3325,0.00,2.12,0.00,0.000,260,0.000,0.067,3092,3394,2112,2029,2196,0,0,0,0,0,0,26.72,26.43,26.73
$GC,3365,0.58,146.0,3092,3394,2028,2197,106.5,9.9,359,3372,0.00,2.12,0.00,0.000,1030,0.000,0.055,3100,1993,2113,2029,2197,0,0,0,0,0,0,26.53,26.48,26.55
$GC,3492,0.58,146.0,3100,1993,2029,2197,95.2,8.6,372,3496,0.00,2.12,0.00,0.000,516,0.000,0.070,3111,581,2113,2029,2197,0,0,0,0,0,0,26.85,26.55,26.86
$GC,3563,0.58,146.0,3111,581,2029,2196,88.9,8.8,379,3567,0.00,2.05,0.00,0.000,1030,0.000,0.052,3111,2003,2112,2029,2196,0,0,0,0,0,0,26.70,26.63,26.72
$GC,3694,0.58,146.0,3110,2003,2029,2197,77.9,8.7,392,3698,0.00,2.15,0.00,0.000,516,0.000,0.070,3121,578,2113,2030,2196,0,0,0,0,0,0,26.96,26.65,26.97
$GC,3735,0.58,146.0,3121,578,2030,2196,74.4,8.5,396,3740,0.10,2.03,0.00,0.000,5126,0.179,0.052,3088,1990,2112,2029,2196,0,0,0,0,0,0,26.59,26.71,26.72
$GC,3868,0.58,146.0,3087,1990,2029,2197,64.4,7.3,409,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1989,2113,2029,2197,0,0,0,0,0,0,27.02,27.04,27.04
$GC,3987,0.58,146.0,3087,1990,2029,2197,55.6,7.8,421,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1990,2113,2030,2197,0,0,0,0,0,0,27.06,27.08,27.08
$GC,4107,0.58,146.0,3088,1989,2029,2197,46.7,7.9,433,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1990,2113,2029,2197,0,0,0,0,0,0,27.09,27.12,27.11
$GC,4227,0.58,146.0,3087,1990,2029,2197,37.4,8.1,445,4230,0.00,2.12,0.00,0.000,516,0.000,0.070,3097,571,2113,2030,2197,0,0,0,0,0,0,27.13,26.82,27.14
$GC,4319,0.58,146.0,3097,571,2030,2197,29.7,8.8,454,4323,0.00,2.03,0.00,0.000,1030,0.000,0.052,3097,1987,2113,2029,2197,0,0,0,0,0,0,26.95,26.88,26.96
$GC,4444,0.58,146.0,3097,1987,2029,2197,19.2,8.3,467,4451,0.00,2.10,0.00,0.000,260,0.000,0.067,3098,3389,2113,2029,2197,0,0,0,0,0,0,27.16,26.87,27.18
$GC,4503,0.58,146.0,3097,3389,2029,2197,14.5,7.8,478,4510,0.00,2.05,0.00,0.000,1030,0.000,0.055,3102,1985,2113,2029,2197,0,0,0,0,0,0,26.98,26.90,27.00
$GC,4572,0.58,146.0,3102,1985,2029,2197,9.7,6.5,491,4579,0.00,2.10,0.00,0.000,516,0.000,0.070,3114,582,2113,2030,2197,0,0,0,0,0,0,27.18,26.88,27.20
$STATE,4700,end climb,SURFACE_DEPTH_REACHED
$STATE,4700,begin surface coast
$FINISH,0.4,1.022021
$STATE,4731,end surface coast,CONTROL_FINISHED_OK
$STATE,4731,begin surface
$SM_CCo,4746,148.60,0.588,1,0,1412,350.05
$SM_GC,1.89,7.43,2.08,148.60,0.062,0.052,0.588,160,1999,1412,-8.51,-1.10,350.05,0,0,0,0,1,0,26.91,26.95,25.04
$IRIDIUM_FIX,4722.92,-12222.38,141114,023826
$TT8_MAMPS,0.020972,0.020972
$HUMID,53.74
$INTERNAL_PRESSURE,9.05186
$TCM_TEMP,18.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,145.1,46.6
$24V_AH,24.71,1.803
$10V_AH,10.39,1.804
$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,19.025,67.000,207.650,148.600,165.525,0.000,0.000,0.000,4.250,0.000,20.173,1295.628,1797.000,480.561,1350.755,62.615,33.275,1088.281,0.000,1298.712,0.000,25.879,0.000
$DEVICE_MAMPS,270.647,72.007,794.560,588.471,151.463,0.000,0.000,0.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.311,689.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323004
$DATA_FILE_SIZE,30309,522
$CAP_FILE_SIZE,345327,1
$CFSIZE,1024409600,1019969536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,4980.16,0x2389de,7,5
$GPS,141114,040551,4743.620,-12224.430,21,0.9,39,16.3,0.0,0.0,8,4.7