version: 66.12
glider: 35
mission: 21
dive: 7
start: 2 7 114 0 23 29
data:
$ID,35
$MISSION,21
$DIVE,7
$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,80
$T_MISSION,90
$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,-989796.94
$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,40
$R_STBD_OVSHOOT,47
$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
$GPS1,070214,001829,4744.104,-12224.286,29,1.2,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.8
$GPS2,070214,002231,4744.119,-12224.265,13,1.1,13,18.2
$SPEED_LIMITS,0.075,0.222
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.052,-0.216
$KALMAN_X,249.4,126.0,65.2,-72.5,166.6
$KALMAN_Y,829.1,703.8,529.8,-2211.8,429.1
$MHEAD_RNG_PITCHd_Wd,175.4,2093,-15.4,-7.500,-18.65,2965
$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,-0.64,-146.6,243,1734,2318,2384,0.0,0.0,0,122,0.00,0.00,-103.57,0.000,16386,0.000,0.000,244,1734,3591,3551,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.64,-146.6,244,1734,3552,3631,3.8,-3.2,19,156,10.48,2.28,-10.55,0.000,18948,0.248,0.072,2782,332,3866,3833,3900,0,0,0,0,0,0,24.77,25.30,25.24
$GC,383,-0.64,-146.6,2782,332,3833,3901,33.2,-8.0,55,391,0.00,2.15,0.00,0.000,1030,0.000,0.057,2781,1732,3867,3833,3901,0,0,0,0,0,0,28.83,25.59,28.83
$GC,513,-0.64,-146.6,2780,1732,3834,3901,43.1,-7.3,68,522,0.00,2.25,0.00,0.000,516,0.000,0.072,2781,327,3867,3833,3901,0,0,0,0,0,0,28.83,25.56,28.83
$GC,584,-0.64,-146.6,2780,327,3833,3900,49.0,-8.4,75,593,0.00,2.15,0.00,0.000,1030,0.000,0.057,2776,1746,3866,3833,3900,0,0,0,0,0,0,28.83,25.69,28.83
$GC,714,-0.64,-146.6,2776,1746,3833,3901,61.0,-9.4,88,723,0.00,2.20,0.00,0.000,260,0.000,0.070,2768,3136,3866,3833,3900,0,0,0,0,0,0,28.83,25.63,28.83
$GC,778,-0.64,-146.6,2768,3136,3833,3900,67.0,-9.7,94,785,0.00,2.17,0.00,0.000,1030,0.000,0.060,2768,1724,3867,3833,3901,0,0,0,0,0,0,28.83,25.75,28.83
$GC,905,-0.64,-146.6,2768,1724,3833,3900,79.3,-9.6,107,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1724,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1025,-0.64,-146.6,2768,1724,3833,3900,91.1,-9.8,119,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1724,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1145,-0.64,-146.6,2768,1724,3833,3900,102.8,-10.1,131,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1724,3867,3834,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1265,-0.64,-146.6,2768,1724,3833,3900,114.3,-9.6,143,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1724,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1386,-0.64,-146.6,2768,1724,3833,3900,125.4,-8.5,155,1395,0.00,2.25,0.00,0.000,260,0.000,0.072,2763,3131,3866,3833,3900,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1489,-0.64,-146.6,2763,3131,3833,3900,133.9,-8.3,165,1499,0.00,2.15,0.00,0.000,1030,0.000,0.060,2763,1735,3866,3833,3900,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1617,-0.64,-146.6,2762,1735,3833,3900,146.0,-9.3,178,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1735,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1737,-0.64,-146.6,2763,1735,3833,3900,157.0,-9.4,190,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1735,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1857,-0.64,-146.6,2763,1735,3833,3900,168.5,-10.0,202,1865,0.00,2.22,0.00,0.000,260,0.000,0.070,2758,3132,3867,3834,3900,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,1946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1946,begin apogee
$GC,1954,-0.21,0.0,2758,1724,3833,3900,177.9,-10.1,211,2060,0.50,0.00,102.32,1.040,10246,0.132,0.000,2926,1724,3369,3339,3399,0,0,0,0,0,0,25.51,28.83,23.64
$STATE,2061,end apogee,CONTROL_FINISHED_OK
$STATE,2063,begin climb
$GC,2064,0.64,146.6,2925,1724,3339,3399,182.4,0.0,222,2178,0.75,0.00,105.32,0.921,10246,0.097,0.000,3184,1724,2870,2845,2895,0,0,0,0,0,0,24.54,28.83,23.18
$GC,2301,0.64,181.0,3184,1724,2845,2895,171.2,6.3,246,2331,0.00,2.40,25.38,0.926,8452,0.000,0.072,3184,3133,2754,2730,2778,0,0,0,0,0,0,28.83,24.46,23.48
$GC,2398,0.64,181.0,3184,3133,2730,2778,164.1,7.8,255,2405,0.00,2.25,0.00,0.000,1030,0.000,0.057,3195,1728,2754,2730,2778,0,0,0,0,0,0,28.83,24.86,28.83
$GC,2524,0.64,191.2,3194,1728,2730,2778,153.9,7.1,268,2535,0.00,0.00,8.90,0.832,8198,0.000,0.000,3195,1728,2720,2696,2744,0,0,0,0,0,0,28.83,28.83,23.88
$GC,2654,0.64,191.2,3195,1728,2696,2744,143.8,8.0,281,2663,0.00,2.22,0.00,0.000,516,0.000,0.074,3203,335,2720,2696,2744,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2715,0.64,191.2,3203,335,2695,2745,138.8,8.3,287,2724,0.00,2.15,0.00,0.000,1030,0.000,0.057,3203,1738,2719,2695,2744,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2845,0.64,196.3,3202,1738,2695,2744,128.9,7.3,300,2856,0.00,2.28,5.20,0.705,8452,0.000,0.070,3203,3129,2703,2676,2731,0,0,0,0,0,0,28.83,25.45,24.19
$GC,2938,0.64,196.3,3202,3129,2676,2731,120.8,8.7,309,2947,0.00,2.17,0.00,0.000,1030,0.000,0.060,3213,1732,2703,2676,2731,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3068,0.64,196.3,3213,1732,2676,2731,109.7,8.6,322,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1732,2703,2676,2730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3188,0.64,196.3,3213,1732,2676,2731,99.5,8.3,334,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1732,2703,2676,2731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3308,0.64,196.3,3213,1733,2676,2731,88.7,8.7,346,3317,0.00,2.22,0.00,0.000,516,0.000,0.072,3224,324,2703,2676,2731,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3392,0.64,196.3,3223,324,2676,2731,81.0,9.5,354,3401,0.00,2.12,0.00,0.000,1030,0.000,0.057,3224,1735,2703,2676,2731,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3519,0.64,196.3,3223,1735,2676,2731,67.8,10.6,367,3528,0.00,2.20,0.00,0.000,260,0.000,0.070,3224,3133,2703,2676,2731,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3620,0.64,196.3,3223,3133,2676,2730,56.2,11.2,377,3629,0.12,2.15,0.00,0.000,5126,0.181,0.060,3201,1730,2703,2676,2731,0,0,0,0,0,0,25.57,25.82,28.83
$GC,3750,0.64,196.3,3201,1730,2676,2731,43.4,9.5,390,3759,0.00,2.22,0.00,0.000,260,0.000,0.070,3201,3130,2703,2676,2731,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3861,0.64,196.3,3201,3130,2676,2731,34.3,7.7,401,3870,0.00,2.15,0.00,0.000,1030,0.000,0.060,3211,1736,2703,2676,2731,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3991,0.64,210.9,3211,1736,2676,2731,25.4,7.0,414,4011,0.00,2.22,11.88,0.849,8708,0.000,0.077,3221,343,2652,2628,2677,0,0,0,0,0,0,28.83,25.74,24.65
$GC,4057,0.64,210.9,3220,343,2628,2677,20.7,8.0,420,4063,0.00,2.12,0.00,0.000,1030,0.000,0.057,3220,1733,2652,2628,2677,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4185,0.64,249.4,3220,1733,2628,2677,12.3,6.2,444,4220,0.00,2.25,27.23,0.906,8708,0.000,0.077,3230,333,2523,2501,2545,0,0,0,0,0,0,28.83,25.37,24.39
$GC,4262,0.64,249.4,3230,333,2501,2545,6.2,9.0,458,4269,0.00,2.15,0.00,0.000,1030,0.000,0.057,3230,1738,2522,2500,2545,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,4289,end climb,SURFACE_DEPTH_REACHED
$STATE,4289,begin surface coast
$FINISH,-0.2,0.999901
$STATE,4335,end surface coast,CONTROL_FINISHED_OK
$STATE,4335,begin surface
$SM_CCo,4351,34.53,0.939,0,0,2351,300.22
$SM_GC,0.95,8.02,0.00,34.53,0.062,0.000,0.939,245,1739,2351,-8.54,0.11,300.22,0,0,0,0,0,0,25.48,28.83,24.06
$IRIDIUM_FIX,4726.11,-12223.37,060214,232305
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.05
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,19.2
$ALTIM_BOTTOM_PING,150.6,36.2
$24V_AH,23.2,38.139
$10V_AH,10.4,4.619
$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,19.875,57.325,286.225,34.525,0.000,29.917,15.950,109.035,6.000,0.000,15.839,1107.267,1906.495,459.838,1077.994,94.445,32.229,1001.035,0.000,880.625,0.000,37.457,0.000
$DEVICE_MAMPS,248.300,76.973,1040.377,938.574,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.902,620.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,26941,472
$CAP_FILE_SIZE,73969,0
$CFSIZE,260165632,242597888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3393.74,0x235746,1,24
$GPS,070214,013753,4743.595,-12224.354,21,2.0,39,18.2