version: 66.12
glider: 36
mission: 17
dive: 9
start: 1 7 115 5 17 27
data:
$ID,36
$MISSION,17
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,300
$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,90
$T_MISSION,100
$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,1.0233001
$MASS,78118
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3365
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,21.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,45
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$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,-971.80823
$PRESSURE_SLOPE,0.00091862795
$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,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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$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,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,070115,051019,4744.5205,-12224.4316,13,1.1,13,18.2,0.0,0.0,7,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.2
$GPS2,070115,051701,4744.5464,-12224.4580,13,1.3,37,18.2,0.3,0.0,7,5.6
$SPEED_LIMITS,0.067,0.224
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,162.8,2864,-11.4,-6.667,-16.54,3301
$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,15,-0.57,-146.6,213,2209,660,898,0.0,0.0,0,149,0.00,0.00,-131.62,0.772,16386,0.000,0.000,214,2210,2635,2557,2714,0,0,0,0,0,0,26.00,28.83,26.03
$GC,152,-0.57,-146.6,213,2210,2557,2714,3.0,-3.0,24,192,11.85,2.47,-18.73,0.827,18948,2.332,0.350,3178,638,3005,2915,3096,0,0,0,0,0,0,25.46,25.70,25.60
$GC,501,-0.57,-146.6,3177,638,2915,3097,39.1,-10.6,74,509,0.00,2.38,0.00,0.000,1030,0.000,0.283,3168,2200,3006,2915,3097,0,0,0,0,0,0,26.09,26.06,26.13
$GC,629,-0.57,-146.6,3168,2200,2915,3097,51.7,-8.6,87,633,0.00,2.45,0.00,0.000,260,0.000,0.444,3158,3774,3006,2915,3097,0,0,0,0,0,0,26.37,26.09,26.39
$GC,668,-0.57,-146.6,3158,3774,2915,3097,54.8,-8.4,90,675,0.00,2.38,0.00,0.000,1030,0.000,0.248,3158,2198,3006,2915,3097,0,0,0,0,0,0,26.20,26.17,26.21
$GC,795,-0.57,-146.6,3158,2198,2915,3097,65.0,-7.8,103,804,0.00,2.47,0.00,0.000,260,0.000,0.447,3152,3782,3006,2915,3097,0,0,0,0,0,0,26.41,26.16,26.42
$GC,895,-0.57,-146.6,3152,3782,2915,3097,74.2,-9.5,113,900,0.00,2.33,0.00,0.000,1030,0.000,0.248,3152,2198,3006,2915,3097,0,0,0,0,0,0,26.31,26.26,26.32
$GC,1020,-0.57,-146.6,3151,2198,2915,3097,86.9,-11.1,125,1025,0.00,2.38,0.00,0.000,516,0.000,0.358,3152,625,3006,2915,3097,0,0,0,0,0,0,26.52,26.26,26.53
$GC,1109,-0.57,-146.6,3152,625,2915,3097,96.3,-11.1,133,1117,0.10,2.38,0.00,0.000,3078,1.304,0.293,3180,2195,3006,2915,3097,0,0,0,0,0,0,26.17,26.30,26.31
$GC,1236,-0.57,-146.6,3179,2195,2915,3097,109.1,-9.5,146,1240,0.00,2.45,0.00,0.000,260,0.000,0.447,3170,3779,3006,2915,3097,0,0,0,0,0,0,26.58,26.29,26.59
$GC,1292,-0.57,-146.6,3170,3779,2915,3097,114.9,-10.6,151,1296,0.00,2.33,0.00,0.000,1030,0.000,0.246,3171,2188,3005,2915,3096,0,0,0,0,0,0,26.41,26.36,26.43
$GC,1417,-0.57,-146.6,3171,2188,2915,3097,125.8,-8.2,163,1421,0.00,2.47,0.00,0.000,260,0.000,0.439,3160,3782,3006,2915,3097,0,0,0,0,0,0,26.61,26.32,26.63
$GC,1463,-0.57,-146.6,3160,3782,2915,3096,129.4,-8.1,167,1468,0.00,2.33,0.00,0.000,1030,0.000,0.248,3160,2193,3006,2915,3097,0,0,0,0,0,0,26.45,26.40,26.46
$GC,1588,-0.57,-146.6,3159,2192,2915,3097,139.8,-8.7,179,1592,0.00,2.35,0.00,0.000,516,0.000,0.358,3160,627,3006,2915,3097,0,0,0,0,0,0,26.64,26.38,26.66
$GC,1627,-0.57,-146.6,3160,627,2915,3096,142.5,-7.6,182,1634,0.00,2.38,0.00,0.000,1030,0.000,0.288,3152,2202,3006,2916,3097,0,0,0,0,0,0,26.44,26.40,26.45
$GC,1754,-0.57,-146.6,3152,2202,2916,3096,152.7,-7.9,195,1758,0.00,2.42,0.00,0.000,260,0.000,0.459,3147,3774,3006,2915,3097,0,0,0,0,0,0,26.67,26.38,26.68
$GC,1813,-0.57,-146.6,3147,3774,2915,3096,157.3,-9.1,200,1821,0.10,2.35,0.00,0.000,3078,1.368,0.251,3181,2199,3006,2915,3097,0,0,0,0,0,0,26.32,26.46,26.43
$GC,1940,-0.57,-146.6,3181,2198,2915,3096,166.8,-8.1,213,1944,0.00,2.45,0.00,0.000,260,0.000,0.444,3172,3786,3006,2915,3097,0,0,0,0,0,0,26.69,26.41,26.71
$GC,2061,-0.57,-146.6,3172,3786,2915,3096,175.1,-7.7,224,2067,0.00,2.33,0.00,0.000,1030,0.000,0.251,3172,2190,3006,2915,3097,0,0,0,0,0,0,26.53,26.48,26.55
$STATE,2075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2075,begin apogee
$GC,2078,-0.23,0.0,3172,2189,2915,3096,176.8,-7.8,226,2187,0.35,0.00,103.18,9.197,10246,1.073,0.000,3292,2190,2499,2423,2576,0,0,0,0,0,0,26.34,24.77,24.11
$STATE,2188,end apogee,CONTROL_FINISHED_OK
$STATE,2188,begin climb
$GC,2189,0.57,146.6,3292,2189,2424,2576,180.4,0.0,237,2298,0.68,0.00,104.60,8.904,10246,0.790,0.000,3532,2189,1995,1913,2077,0,0,0,0,0,0,24.92,24.51,23.88
$GC,2416,0.57,146.6,3532,2189,1912,2077,167.2,9.1,260,2425,0.00,2.40,0.00,0.000,516,0.000,0.350,3544,636,1995,1913,2077,0,0,0,0,0,0,25.72,25.48,25.74
$GC,2440,0.57,146.6,3544,636,1913,2077,165.4,8.9,262,2447,0.00,2.40,0.00,0.000,1030,0.000,0.278,3544,2199,1995,1913,2077,0,0,0,0,0,0,25.63,25.57,25.64
$GC,2567,0.57,146.6,3544,2199,1913,2077,156.5,6.6,275,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2198,1995,1913,2077,0,0,0,0,0,0,26.03,26.06,26.05
$GC,2687,0.57,146.6,3544,2199,1913,2077,147.7,7.5,287,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2199,1995,1913,2077,0,0,0,0,0,0,26.17,26.20,26.19
$GC,2807,0.57,146.6,3544,2199,1913,2077,138.9,7.4,299,2811,0.00,2.38,0.00,0.000,516,0.000,0.345,3556,635,1995,1913,2077,0,0,0,0,0,0,26.27,26.02,26.29
$GC,2856,0.57,146.6,3556,635,1913,2077,135.7,7.2,303,2863,0.00,2.35,0.00,0.000,1030,0.000,0.288,3556,2202,1995,1913,2077,0,0,0,0,0,0,26.13,26.07,26.15
$GC,2983,0.57,146.6,3556,2202,1913,2077,125.6,7.7,316,2987,0.00,2.45,0.00,0.000,260,0.000,0.449,3556,3775,1995,1913,2077,0,0,0,0,0,0,26.38,26.10,26.39
$GC,3059,0.57,146.6,3555,3775,1913,2077,119.3,8.3,323,3063,0.00,2.33,0.00,0.000,1030,0.000,0.243,3567,2194,1995,1913,2077,0,0,0,0,0,0,26.25,26.20,26.26
$GC,3184,0.57,146.6,3567,2194,1912,2077,109.1,7.4,335,3188,0.00,2.35,0.00,0.000,516,0.000,0.353,3578,626,1995,1913,2077,0,0,0,0,0,0,26.46,26.21,26.48
$GC,3223,0.57,146.6,3578,626,1913,2077,105.9,8.7,338,3230,0.00,2.40,0.00,0.000,1030,0.000,0.286,3578,2208,1995,1913,2077,0,0,0,0,0,0,26.27,26.24,26.29
$GC,3350,0.57,146.6,3578,2208,1913,2077,93.1,10.5,351,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2208,1995,1913,2077,0,0,0,0,0,0,26.52,26.55,26.54
$GC,3470,0.57,146.6,3578,2208,1913,2077,83.0,7.8,363,3474,0.00,2.38,0.00,0.000,516,0.000,0.353,3589,631,1995,1913,2077,0,0,0,0,0,0,26.55,26.29,26.57
$GC,3565,0.57,146.6,3589,631,1913,2076,77.4,5.8,372,3570,0.15,2.33,0.00,0.000,5126,1.326,0.281,3541,2207,1995,1913,2077,0,0,0,0,0,0,26.20,26.34,26.33
$GC,3691,0.57,146.6,3542,2207,1913,2077,69.9,5.6,384,3700,0.00,2.42,0.00,0.000,260,0.000,0.457,3542,3775,1995,1913,2077,0,0,0,0,0,0,26.60,26.32,26.63
$GC,3824,0.57,146.6,3542,3775,1913,2077,61.6,6.1,397,3832,0.00,2.30,0.00,0.000,1030,0.000,0.243,3548,2198,1995,1913,2077,0,0,0,0,0,0,26.46,26.41,26.48
$GC,3952,0.61,256.9,3547,2198,1913,2077,55.3,3.2,410,4035,0.00,2.62,75.97,8.492,8452,0.000,0.444,3548,3777,1614,1525,1704,0,0,0,0,0,0,26.65,25.07,24.44
$GC,4073,0.61,256.9,3548,3777,1525,1704,46.5,8.7,422,4081,0.00,2.38,0.00,0.000,1030,0.000,0.236,3557,2200,1614,1525,1704,0,0,0,0,0,0,25.50,25.48,25.51
$GC,4201,0.61,256.9,3557,2201,1525,1704,36.2,7.3,435,4205,0.00,2.42,0.00,0.000,516,0.000,0.353,3569,630,1614,1525,1704,0,0,0,0,0,0,26.01,25.76,26.03
$GC,4300,0.61,256.9,3569,631,1525,1703,29.3,7.8,444,4307,0.00,2.42,0.00,0.000,1030,0.000,0.288,3569,2203,1614,1525,1704,0,0,0,0,0,0,25.94,25.91,25.96
$GC,4429,0.61,256.9,3569,2203,1525,1704,18.2,7.8,459,4435,0.00,2.50,0.00,0.000,260,0.000,0.444,3569,3785,1614,1525,1704,0,0,0,0,0,0,26.27,25.98,26.29
$GC,4507,0.61,256.9,3569,3785,1525,1704,11.6,8.1,474,4513,0.00,2.35,0.00,0.000,1030,0.000,0.246,3577,2198,1614,1525,1703,0,0,0,0,0,0,26.15,26.10,26.17
$GC,4575,0.61,256.9,3577,2198,1525,1703,6.6,6.3,487,4581,0.00,2.38,0.00,0.000,516,0.000,0.360,3588,624,1614,1525,1704,0,0,0,0,0,0,26.36,26.10,26.38
$STATE,4622,end climb,SURFACE_DEPTH_REACHED
$STATE,4622,begin surface coast
$FINISH,0.7,1.021328
$STATE,4653,end surface coast,CONTROL_FINISHED_OK
$STATE,4653,begin surface
$SM_CCo,4671,168.50,7.985,0,0,778,500.22
$SM_GC,1.59,8.70,2.42,168.50,0.298,0.281,7.985,204,2211,778,-9.78,-0.96,500.22,0,0,0,0,0,0,26.15,26.17,24.02
$IRIDIUM_FIX,4726.11,-12224.09,070115,034714
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.41
$INTERNAL_PRESSURE,8.5362
$TCM_TEMP,17.70
$XPDR_PINGS,13
$ALTIM_TOP_PING,20.0,19.4
$ALTIM_BOTTOM_PING,120.1,71.0
$24V_AH,23.88,19.808
$10V_AH,10.44,2.525
$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,21.925,91.050,283.750,168.500,150.350,23.407,13.829,259.604,5.250,0.000,38.160,1207.092,2029.726,639.159,1324.135,59.528,0.000,1217.969,0.000,963.153,0.000,16.447,0.000
$DEVICE_MAMPS,2331.537,459.355,9197.032,7985.328,826.839,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.577,659.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322884
$DATA_FILE_SIZE,30189,502
$CAP_FILE_SIZE,88472,0
$CFSIZE,1024409600,1020739584
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5049.52,0x238aa6,7,5
$INTR,1,2076.40,0x238aa6,2,5
$GPS,070115,063922,4744.489,-12224.521,6,1.8,40,18.2,0.3,345.5,8,6.0