version: 66.12
glider: 36
mission: 17
dive: 11
start: 1 7 115 8 25 57
data:
$ID,36
$MISSION,17
$DIVE,11
$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,100
$T_MISSION,110
$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,57
$R_STBD_OVSHOOT,47
$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
$GPS1,070115,081822,4744.2095,-12224.5029,11,1.5,39,18.2,0.0,0.0,7,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-69.4
$GPS2,070115,082534,4744.1626,-12224.4717,13,1.2,40,18.2,0.3,151.2,9,4.9
$SPEED_LIMITS,0.060,0.215
$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,162.7,2153,-9.9,-6.000,-15.57,3651
$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,-0.50,-146.6,205,2207,660,897,0.0,0.0,0,128,0.00,0.00,-110.18,0.775,16386,0.000,0.000,205,2207,2386,2304,2469,0,0,0,0,0,0,26.01,28.83,26.03
$GC,130,-0.50,-146.6,205,2207,2304,2469,3.0,-3.5,20,182,11.80,2.55,-32.75,0.797,18692,2.287,0.435,3185,3775,3005,2915,3096,0,0,0,0,0,0,25.46,25.67,25.60
$GC,441,-0.50,-146.6,3185,3775,2915,3096,29.7,-9.0,70,449,0.00,2.35,0.00,0.000,1030,0.000,0.253,3185,2195,3005,2915,3096,0,0,0,0,0,0,26.09,26.04,26.10
$GC,568,-0.50,-146.6,3185,2195,2915,3096,41.6,-9.1,83,573,0.00,2.38,0.00,0.000,516,0.000,0.355,3185,620,3005,2915,3096,0,0,0,0,0,0,26.34,26.08,26.36
$GC,624,-0.50,-146.6,3185,620,2915,3096,47.1,-10.6,88,628,0.00,2.35,0.00,0.000,1030,0.000,0.281,3176,2200,3005,2915,3096,0,0,0,0,0,0,26.19,26.13,26.20
$GC,749,-0.50,-146.6,3176,2200,2915,3096,58.9,-8.8,100,753,0.00,2.45,0.00,0.000,260,0.000,0.444,3164,3778,3005,2915,3096,0,0,0,0,0,0,26.43,26.15,26.44
$GC,827,-0.50,-146.6,3164,3778,2915,3096,66.2,-9.5,107,836,0.12,2.38,0.00,0.000,3078,1.209,0.246,3207,2188,3005,2915,3096,0,0,0,0,0,0,26.09,26.24,26.17
$GC,955,-0.50,-146.6,3206,2188,2915,3096,75.8,-6.3,120,959,0.00,2.35,0.00,0.000,516,0.000,0.350,3207,632,3005,2915,3096,0,0,0,0,0,0,26.50,26.25,26.51
$GC,994,-0.50,-146.6,3206,632,2915,3096,78.3,-7.0,123,1001,0.00,2.38,0.00,0.000,1030,0.000,0.281,3202,2200,3005,2915,3096,0,0,0,0,0,0,26.30,26.27,26.32
$GC,1121,-0.50,-146.6,3202,2200,2915,3096,87.3,-5.7,136,1125,0.00,2.47,0.00,0.000,260,0.000,0.447,3191,3786,3005,2915,3096,0,0,0,0,0,0,26.54,26.27,26.56
$GC,1280,-0.50,-146.6,3190,3786,2915,3096,97.0,-6.6,151,1287,0.00,2.38,0.00,0.000,1030,0.000,0.246,3190,2198,3005,2915,3095,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1407,-0.50,-146.6,3190,2198,2915,3096,104.9,-6.2,164,1411,0.00,2.45,0.00,0.000,260,0.000,0.439,3180,3781,3005,2915,3096,0,0,0,0,0,0,26.61,26.33,26.63
$GC,1466,-0.50,-146.6,3180,3781,2915,3096,109.1,-7.4,169,1473,0.00,2.33,0.00,0.000,1030,0.000,0.246,3180,2194,3005,2915,3096,0,0,0,0,0,0,26.45,26.40,26.46
$GC,1593,-0.50,-146.6,3180,2194,2915,3096,117.9,-6.3,182,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2194,3005,2915,3096,0,0,0,0,0,0,26.64,26.66,26.66
$GC,1713,-0.50,-146.6,3180,2194,2915,3096,126.3,-7.4,194,1717,0.00,2.45,0.00,0.000,260,0.000,0.442,3169,3779,3005,2915,3096,0,0,0,0,0,0,26.66,26.38,26.68
$GC,1778,-0.50,-146.6,3168,3779,2915,3096,131.7,-8.7,200,1784,0.12,2.30,0.00,0.000,3078,1.286,0.246,3212,2194,3005,2915,3096,0,0,0,0,0,0,26.32,26.45,26.43
$GC,1904,-0.50,-146.6,3211,2193,2915,3096,140.5,-6.6,212,1908,0.00,2.33,0.00,0.000,516,0.000,0.350,3212,639,3005,2915,3096,0,0,0,0,0,0,26.69,26.43,26.70
$GC,1952,-0.50,-146.6,3211,639,2915,3096,143.6,-6.6,216,1960,0.00,2.35,0.00,0.000,1030,0.000,0.281,3208,2204,3005,2915,3096,0,0,0,0,0,0,26.48,26.45,26.51
$GC,2079,-0.50,-146.6,3207,2204,2915,3096,151.8,-6.6,229,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2204,3005,2915,3096,0,0,0,0,0,0,26.71,26.73,26.72
$GC,2199,-0.50,-146.6,3207,2204,2915,3096,159.2,-6.4,241,2203,0.00,2.45,0.00,0.000,260,0.000,0.447,3196,3786,3005,2915,3096,0,0,0,0,0,0,26.72,26.44,26.74
$GC,2275,-0.50,-146.6,3196,3786,2915,3096,163.9,-7.7,248,2279,0.00,2.30,0.00,0.000,1030,0.000,0.248,3196,2202,3005,2915,3096,0,0,0,0,0,0,26.55,26.51,26.57
$GC,2400,-0.50,-146.6,3195,2202,2915,3095,171.6,-6.6,260,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2202,3005,2915,3096,0,0,0,0,0,0,26.74,26.77,26.76
$STATE,2429,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2429,begin apogee
$GC,2433,-0.23,0.0,3196,2201,2915,3096,173.4,-5.8,263,2541,0.28,0.00,102.82,9.249,10246,1.088,0.000,3291,2201,2500,2424,2576,0,0,0,0,0,0,26.39,24.79,24.12
$STATE,2542,end apogee,CONTROL_FINISHED_OK
$STATE,2542,begin climb
$GC,2543,0.50,146.6,3291,2201,2424,2576,176.1,0.0,274,2655,0.60,2.50,103.82,8.869,10756,0.824,0.355,3519,640,1994,1912,2077,0,0,0,0,0,0,24.92,24.55,23.89
$GC,2698,0.50,146.6,3519,640,1913,2077,169.3,6.0,289,2707,0.00,2.42,0.00,0.000,1030,0.000,0.271,3519,2198,1995,1913,2077,0,0,0,0,0,0,25.26,25.20,25.27
$GC,2827,0.50,146.6,3519,2199,1913,2077,162.2,6.1,302,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2199,1994,1912,2077,0,0,0,0,0,0,25.86,25.89,25.88
$GC,2947,0.50,146.6,3519,2198,1913,2077,155.0,5.4,314,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2199,1994,1912,2077,0,0,0,0,0,0,26.06,26.08,26.08
$GC,3067,0.50,146.6,3519,2199,1913,2077,148.0,6.1,326,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2199,1994,1912,2077,0,0,0,0,0,0,26.19,26.21,26.21
$GC,3187,0.50,146.6,3519,2199,1912,2077,141.1,6.1,338,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2199,1995,1913,2077,0,0,0,0,0,0,26.28,26.31,26.29
$GC,3307,0.50,146.6,3519,2199,1912,2077,134.2,6.8,350,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2199,1995,1913,2077,0,0,0,0,0,0,26.35,26.38,26.37
$GC,3427,0.50,146.6,3519,2198,1913,2077,127.9,5.4,362,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2199,1995,1913,2077,0,0,0,0,0,0,26.41,26.43,26.42
$GC,3547,0.50,146.6,3519,2199,1913,2077,121.6,5.1,374,3551,0.00,2.38,0.00,0.000,516,0.000,0.353,3530,627,1995,1913,2077,0,0,0,0,0,0,26.46,26.20,26.48
$GC,3596,0.50,146.6,3530,627,1912,2077,119.0,5.7,378,3603,0.00,2.38,0.00,0.000,1030,0.000,0.286,3530,2197,1995,1913,2077,0,0,0,0,0,0,26.27,26.24,26.29
$GC,3723,0.50,146.6,3530,2197,1913,2077,111.1,5.9,391,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2197,1994,1912,2077,0,0,0,0,0,0,26.52,26.54,26.53
$GC,3843,0.50,146.6,3530,2197,1913,2077,104.0,5.6,403,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2197,1995,1913,2077,0,0,0,0,0,0,26.55,26.58,26.57
$GC,3963,0.50,146.6,3530,2197,1913,2077,97.1,5.7,415,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2197,1995,1913,2077,0,0,0,0,0,0,26.58,26.60,26.60
$GC,4083,0.50,146.6,3530,2197,1913,2077,90.0,6.0,427,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2197,1995,1913,2077,0,0,0,0,0,0,26.60,26.63,26.63
$GC,4203,0.50,146.6,3530,2197,1913,2077,83.3,5.9,439,4207,0.00,2.47,0.00,0.000,260,0.000,0.459,3530,3784,1995,1913,2077,0,0,0,0,0,0,26.63,26.35,26.65
$GC,4250,0.50,146.6,3530,3784,1913,2077,80.3,6.4,443,4259,0.00,2.33,0.00,0.000,1030,0.000,0.243,3539,2190,1995,1913,2077,0,0,0,0,0,0,26.47,26.42,26.48
$GC,4379,0.50,146.6,3539,2190,1913,2077,71.7,6.6,456,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,2190,1994,1912,2077,0,0,0,0,0,0,26.66,26.69,26.67
$GC,4499,0.50,146.6,3538,2189,1912,2077,64.1,5.9,468,4503,0.00,2.33,0.00,0.000,516,0.000,0.355,3551,626,1995,1913,2077,0,0,0,0,0,0,26.68,26.42,26.70
$GC,4575,0.50,146.6,3550,626,1913,2077,59.4,6.6,475,4579,0.00,2.33,0.00,0.000,1030,0.000,0.286,3550,2207,1995,1913,2077,0,0,0,0,0,0,26.51,26.45,26.53
$GC,4700,0.50,146.6,3550,2208,1913,2077,49.7,8.4,487,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2208,1995,1913,2077,0,0,0,0,0,0,26.70,26.73,26.72
$GC,4820,0.50,146.6,3549,2208,1913,2077,41.0,7.7,499,4824,0.00,2.45,0.00,0.000,260,0.000,0.452,3550,3786,1995,1913,2077,0,0,0,0,0,0,26.72,26.44,26.74
$GC,4867,0.50,146.6,3550,3786,1913,2077,37.3,7.7,503,4877,0.12,2.33,0.00,0.000,5126,1.408,0.243,3512,2183,1995,1913,2077,0,0,0,0,0,0,26.36,26.51,26.44
$GC,4996,0.50,146.6,3512,2183,1913,2077,29.9,5.2,516,5000,0.00,2.33,0.00,0.000,516,0.000,0.355,3521,630,1995,1913,2077,0,0,0,0,0,0,26.74,26.48,26.75
$GC,5092,0.50,146.6,3521,630,1913,2077,23.6,5.2,525,5096,0.00,2.30,0.00,0.000,1030,0.000,0.286,3521,2204,1995,1913,2077,0,0,0,0,0,0,26.57,26.51,26.58
$GC,5217,0.50,146.6,3521,2204,1913,2077,16.0,6.7,543,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2204,1995,1913,2077,0,0,0,0,0,0,26.75,26.78,26.77
$GC,5284,0.50,146.6,3520,2204,1913,2077,12.2,4.9,556,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2204,1995,1913,2077,0,0,0,0,0,0,26.76,26.78,26.77
$GC,5351,0.50,146.6,3520,2204,1913,2077,9.0,4.9,569,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2204,1995,1913,2077,0,0,0,0,0,0,26.77,26.79,26.78
$GC,5419,0.50,146.6,3521,2204,1913,2077,5.6,4.8,582,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,2204,1994,1912,2077,0,0,0,0,0,0,26.77,26.79,26.79
$STATE,5479,end climb,SURFACE_DEPTH_REACHED
$STATE,5479,begin surface coast
$FINISH,0.6,0.999731
$STATE,5557,end surface coast,CONTROL_FINISHED_OK
$STATE,5558,begin surface
$SM_CCo,5572,243.25,7.943,0,0,778,500.22
$SM_GC,1.59,8.48,0.00,243.25,0.340,0.000,7.943,201,2204,778,-9.80,0.11,500.22,0,0,0,0,0,0,26.51,26.80,24.01
$IRIDIUM_FIX,4726.11,-12209.84,070115,064029
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.35
$INTERNAL_PRESSURE,8.5362
$TCM_TEMP,17.80
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,115.4,72.7
$24V_AH,23.89,22.071
$10V_AH,10.40,2.625
$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,21.525,71.500,206.650,243.250,142.925,24.991,14.367,281.126,6.250,0.000,41.323,1480.840,2615.551,620.396,1477.109,65.620,0.000,1251.197,0.000,1089.903,0.000,11.961,0.000
$DEVICE_MAMPS,2286.843,459.355,9249.175,7943.117,797.043,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.419,801.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322920
$DATA_FILE_SIZE,33638,609
$CAP_FILE_SIZE,98416,0
$CFSIZE,1024409600,1020575744
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5960.03,0x238aa6,7,5
$INTR,1,2430.82,0x238aa6,2,5
$INTR,2,5560.54,0x238aa6,7,5
$GPS,070115,100404,4743.185,-12224.612,7,1.8,36,18.2,0.0,0.0,7,5.1