version: 66.14
glider: 38
mission: 14
dive: 16
start: 9 6 118 21 45 45
data:
$ID,38
$MISSION,14
$DIVE,16
$N_DIVES,0
$STOP_T,9201819
$D_SURF,3
$D_FLARE,5
$D_TGT,360
$D_ABORT,6050
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80388.797
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3249
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,150
$C_ROLL_CLIMB,150
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2240
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00059000001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,2
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.499046
$PRESSURE_SLOPE,0
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,2000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043154242
$SEABIRD_T_H,0.00062410574
$SEABIRD_T_I,2.302181e-05
$SEABIRD_T_J,2.4339581e-06
$SEABIRD_C_G,-9.7676115
$SEABIRD_C_H,1.1309991
$SEABIRD_C_I,-0.0018490348
$SEABIRD_C_J,0.00021460596
$SEABIRD_C_Z,2943.3999
$GPS1,060918,213639,3213.6294,-6434.0312,5,1.0,46,-14.9,0.0,307.1,7,5.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-54.0
$GPS2,060918,214508,3213.6418,-6434.0610,7,1.0,48,-14.9,0.0,333.7,7,4.9
$SPEED_LIMITS,0.200,0.268
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,10000.000
$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,144.8,72940,-35.5,-20.000,-36.78,1122
$D_GRID,360
$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,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-2.18,-146.6,154,148,521,491,0.0,0.0,0,210,0.00,0.00,-195.90,0.151,16390,0.000,0.000,154,148,2744,2766,2722,0,0,0,0,0,0,26.82,26.29,26.16,8.72,18.49
$GC,213,-2.18,-146.6,154,148,2767,2722,2.1,-0.9,31,226,8.98,0.00,0.00,0.000,2054,0.266,0.000,2547,147,2743,2765,2722,0,0,0,0,0,0,26.06,26.28,26.24,8.94,17.86
$GC,290,-2.69,-146.6,2547,148,2755,2720,0.9,0.9,45,297,0.30,0.00,-1.02,0.581,20486,0.092,0.000,2389,148,2743,2760,2727,0,0,0,0,0,0,26.39,26.32,26.25,8.95,18.06
$GC,360,-3.25,-146.6,2387,148,2759,2726,0.8,-0.2,58,368,0.35,0.00,0.00,0.000,4102,0.092,0.000,2201,147,2742,2759,2725,0,0,0,0,0,0,26.45,26.50,26.48,8.95,18.77
$GC,433,-2.76,-146.6,2200,148,2759,2723,2.8,3.6,71,440,0.57,0.00,0.00,0.000,2054,0.263,0.000,2359,148,2741,2759,2724,0,0,0,0,0,0,26.28,26.46,26.41,8.95,18.26
$GC,503,-2.39,-146.6,2358,147,2759,2723,2.3,-1.8,84,509,0.40,0.00,0.00,0.000,2054,0.233,0.000,2479,147,2741,2759,2723,0,0,0,0,0,0,26.33,26.51,26.45,8.95,18.97
$GC,573,-2.22,-146.6,2478,148,2759,2723,1.9,-0.1,97,580,0.17,0.00,0.00,0.000,2054,0.231,0.000,2533,148,2740,2759,2722,0,0,0,0,0,0,26.39,26.55,26.50,8.95,18.57
$GC,642,-2.37,-146.6,2533,147,2759,2722,1.7,-1.1,110,649,0.00,0.00,0.00,0.000,4102,0.000,0.000,2533,147,2740,2759,2722,0,0,0,0,0,0,26.85,26.86,26.85,8.96,18.49
$GC,713,-2.37,-146.6,2533,148,2759,2722,1.6,0.6,123,719,0.00,0.00,0.00,0.000,4102,0.000,0.000,2533,148,2740,2759,2722,0,0,0,0,0,0,26.87,26.87,26.88,8.95,18.41
$GC,782,-2.37,-146.6,2533,147,2758,2721,1.7,-0.0,136,788,0.00,0.00,0.00,0.000,4102,0.000,0.000,2533,148,2739,2758,2721,0,0,0,0,0,0,26.89,26.89,26.89,8.95,18.41
$GC,851,-2.37,-146.6,2532,147,2758,2721,1.7,0.5,149,857,0.00,0.00,0.00,0.000,4102,0.000,0.000,2533,148,2740,2759,2721,0,0,0,0,0,0,26.90,26.91,26.90,8.95,18.18
$GC,921,-2.25,-146.6,2533,147,2758,2720,1.8,-0.1,162,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,148,2739,2758,2720,0,0,0,0,0,0,26.90,26.91,26.91,8.96,18.22
$GC,990,-2.18,-146.6,2533,148,2758,2720,1.8,-0.0,175,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,148,2739,2758,2720,0,0,0,0,0,0,26.91,26.92,26.92,8.95,19.08
$GC,1062,-2.06,-146.6,2532,148,2758,2720,1.8,0.5,188,1069,0.15,0.00,0.00,0.000,2054,0.231,0.000,2580,148,2739,2758,2720,0,0,0,0,0,0,26.48,26.65,26.59,8.95,18.38
$GC,1132,-2.29,-146.6,2580,148,2758,2719,1.2,0.5,201,1139,0.10,0.00,0.00,0.000,4102,0.139,0.000,2505,148,2738,2758,2719,0,0,0,0,0,0,26.67,26.72,26.70,8.95,18.69
$GC,1203,-2.18,-146.6,2505,147,2758,2719,1.9,-0.8,214,1210,0.15,0.00,0.00,0.000,2054,0.233,0.000,2551,148,2738,2757,2719,0,0,0,0,0,0,26.50,26.67,26.60,8.95,18.45
$GC,1273,-2.35,-146.6,2550,147,2758,2719,1.4,-0.7,227,1281,0.08,0.00,0.00,0.000,4102,0.161,0.000,2496,147,2738,2757,2719,0,0,0,0,0,0,26.70,26.75,26.73,8.95,18.53
$GC,1345,-2.29,-146.6,2495,147,2757,2719,1.6,0.8,240,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,147,2737,2757,2718,0,0,0,0,0,0,26.94,26.96,26.95,8.95,18.85
$GC,1415,-2.19,-146.6,2495,147,2757,2718,1.6,0.9,253,1422,0.15,0.00,-0.70,0.824,18438,0.221,0.000,2544,148,2743,2760,2726,0,0,0,0,0,0,26.52,26.63,26.54,8.95,18.45
$GC,1485,-2.27,-146.6,2543,147,2760,2726,1.7,0.4,266,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,148,2742,2759,2726,0,0,0,0,0,0,26.94,26.95,26.94,8.95,18.73
$GC,1555,-2.40,-146.6,2543,148,2759,2726,1.6,-0.0,279,1563,0.10,0.00,0.00,0.000,4102,0.137,0.000,2479,148,2742,2759,2726,0,0,0,0,0,0,26.70,26.74,26.72,8.96,18.57
$GC,1627,-2.29,-146.6,2478,147,2760,2726,1.7,0.8,292,1634,0.10,0.00,0.00,0.000,2054,0.256,0.000,2508,148,2743,2760,2726,0,0,0,0,0,0,26.51,26.67,26.62,8.96,19.16
$GC,1696,-2.29,-146.6,2507,147,2760,2726,1.2,3.1,305,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,148,2743,2760,2726,0,0,0,0,0,0,26.95,26.96,26.96,8.95,19.08
$GC,1765,-2.87,-146.6,2507,147,2760,2726,0.9,-0.8,318,1772,0.35,0.00,0.00,0.000,4102,0.082,0.000,2326,147,2743,2760,2726,0,0,0,0,0,0,26.72,26.77,26.74,8.96,18.81
$GC,1834,-3.43,-146.6,2325,147,2759,2726,0.9,-0.8,331,1841,0.32,0.00,0.00,0.000,4102,0.084,0.000,2151,148,2742,2759,2726,0,0,0,0,0,0,26.74,26.77,26.77,8.96,18.34
$GC,1905,-3.08,-146.6,2150,147,2760,2725,1.7,3.9,344,1912,0.35,0.00,0.00,0.000,2054,0.226,0.000,2258,148,2742,2760,2725,0,0,0,0,0,0,26.52,26.67,26.63,8.95,18.49
$GC,1975,-2.80,-146.6,2257,148,2759,2725,1.9,1.2,357,1982,0.28,0.00,0.00,0.000,2054,0.228,0.000,2345,148,2742,2759,2725,0,0,0,0,0,0,26.51,26.69,26.63,8.95,18.57
$GC,2045,-2.57,-146.6,2344,148,2760,2725,1.9,0.4,370,2052,0.25,0.00,0.00,0.000,2054,0.238,0.000,2419,148,2742,2760,2725,0,0,0,0,0,0,26.51,26.69,26.63,8.95,18.69
$GC,2114,-2.57,-146.6,2419,148,2759,2725,1.6,-0.2,383,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,148,2742,2760,2725,0,0,0,0,0,0,26.96,26.97,26.97,8.95,18.65
$GC,2187,-2.42,-146.6,2419,148,2760,2725,1.9,-0.5,396,2193,0.15,0.00,0.00,0.000,2054,0.231,0.000,2466,147,2742,2759,2725,0,0,0,0,0,0,26.52,26.70,26.63,8.95,18.57
$GC,2256,-2.42,-146.6,2466,148,2759,2725,2.0,-1.3,409,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,147,2742,2759,2725,0,0,0,0,0,0,26.96,26.98,26.97,8.95,18.77
$STATE,2267,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2267,begin apogee
$GC,2271,-0.29,0.0,2466,147,2760,2725,2.0,-1.2,411,2281,2.17,0.00,5.65,0.507,10242,0.216,0.000,3150,147,2710,2729,2691,0,0,0,0,0,0,26.49,28.83,26.69,8.95,18.57
$STATE,2282,end apogee,SURFACE_DEPTH_REACHED
$STATE,2282,begin surface coast
$FINISH,0.8,1.023298
$STATE,2448,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2448,begin surface
$SM_CCo,2462,467.52,0.663,0,0,518,500.22
$SM_GC,1.53,7.20,0.00,467.52,0.067,0.000,0.663,138,148,518,-9.58,-0.06,500.22,0,0,0,0,0,0,26.69,26.94,24.94
$IRIDIUM_FIX,3213.07,-6433.29,060918,213902
$TT8_MAMPS,0.02247,0.257656
$HUMID,17.51
$INTERNAL_PRESSURE,8.70029
$TCM_TEMP,28.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,24.94,5.849
$10V_AH,10.81,1.776
$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,22.675,0.000,5.650,467.525,197.625,0.000,0.000,0.000,0.500,0.000,48.883,1197.474,315.506,766.803,722.819,38.900,0.000,1163.671,0.000,662.630,0.000,2.984,0.000
$DEVICE_MAMPS,265.681,0.000,506.532,662.961,824.356,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.030,590.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319256
$DATA_FILE_SIZE,27868,445
$CAP_FILE_SIZE,89391,0
$CFSIZE,2047311872,2036858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,265.03,1
$GPS,060918,223540,3213.620,-6434.237,4,0.9,34,-14.9,0.0,304.3,8,5.0