version: 66.12
glider: 38
mission: 2
dive: 8
start: 1 7 115 4 27 35
data:
$ID,38
$MISSION,2
$DIVE,8
$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,80
$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,-6
$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,78054
$MASS_COMP,9134.2002
$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,290
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2996
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,19
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2169
$C_ROLL_CLIMB,2169
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2627
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-1022.0887
$PRESSURE_SLOPE,0.00093318848
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,070115,042117,4744.1699,-12224.5967,3,1.0,26,16.3,0.0,0.0,7,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-65.5
$GPS2,070115,042708,4744.2056,-12224.6240,4,0.9,22,16.3,0.0,0.0,7,8.8
$SPEED_LIMITS,0.075,0.235
$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,159.7,2238,-13.1,-7.500,-17.71,2947
$D_GRID,175
$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,-0.73,-146.6,157,2176,1646,1611,0.0,0.0,0,149,0.00,0.00,-131.05,0.146,16386,0.000,0.000,157,2177,2815,2791,2840,0,0,0,0,0,0,26.35,28.83,26.37
$GC,151,-0.73,-146.6,157,2177,2791,2840,3.3,-3.9,24,192,10.05,2.25,-20.35,0.166,18948,0.266,0.092,2760,758,3133,3111,3156,0,0,0,0,0,0,25.78,25.95,25.87
$GC,499,-0.73,-146.6,2760,757,3111,3155,35.2,-9.0,75,503,0.00,2.10,0.00,0.000,1030,0.000,0.079,2751,2180,3133,3111,3155,0,0,0,0,0,0,26.43,26.35,26.45
$GC,624,-0.73,-146.6,2750,2180,3111,3155,45.2,-7.4,87,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2181,3133,3111,3155,0,0,0,0,0,0,26.70,26.72,26.72
$GC,744,-0.73,-146.6,2750,2181,3111,3155,54.2,-7.1,99,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2180,3133,3111,3156,0,0,0,0,0,0,26.76,26.78,26.78
$GC,864,-0.73,-146.6,2750,2180,3111,3155,64.3,-9.0,111,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2181,3133,3112,3155,0,0,0,0,0,0,26.81,26.84,26.82
$GC,984,-0.73,-146.6,2750,2181,3111,3155,73.9,-7.2,123,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2180,3133,3111,3155,0,0,0,0,0,0,26.86,26.88,26.87
$GC,1104,-0.73,-146.6,2750,2180,3111,3155,84.3,-8.7,135,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2181,3133,3111,3155,0,0,0,0,0,0,26.89,26.91,26.90
$GC,1225,-0.73,-146.6,2750,2180,3111,3155,94.2,-8.3,147,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2180,3133,3111,3155,0,0,0,0,0,0,26.92,26.95,26.94
$GC,1344,-0.73,-146.6,2750,2180,3111,3155,102.9,-7.2,159,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2180,3133,3111,3155,0,0,0,0,0,0,26.96,26.98,26.97
$GC,1464,-0.73,-146.6,2750,2180,3111,3154,110.7,-6.8,171,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2180,3133,3111,3155,0,0,0,0,0,0,26.97,27.00,26.98
$GC,1585,-0.73,-146.6,2750,2180,3111,3155,119.5,-7.7,183,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2181,3133,3111,3155,0,0,0,0,0,0,27.00,27.02,27.01
$GC,1704,-0.73,-146.6,2750,2180,3111,3155,129.0,-7.8,195,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2181,3133,3111,3155,0,0,0,0,0,0,27.02,27.04,27.03
$GC,1824,-0.73,-146.6,2750,2180,3112,3155,138.8,-8.4,207,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2180,3133,3111,3155,0,0,0,0,0,0,27.04,27.06,27.05
$GC,1944,-0.73,-146.6,2750,2180,3111,3155,147.7,-7.1,219,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2180,3133,3111,3155,0,0,0,0,0,0,27.05,27.08,27.07
$GC,2064,-0.73,-146.6,2750,2181,3111,3155,156.2,-5.8,231,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2180,3133,3111,3155,0,0,0,0,0,0,27.07,27.09,27.08
$GC,2184,-0.73,-146.6,2750,2180,3111,3155,163.9,-6.7,243,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2181,3133,3111,3155,0,0,0,0,0,0,27.08,27.10,27.10
$GC,2304,-0.73,-146.6,2750,2181,3111,3154,173.6,-7.6,255,2307,0.00,2.08,0.00,0.000,260,0.000,0.094,2740,3578,3133,3111,3155,0,0,0,0,0,0,27.10,26.79,27.11
$STATE,2328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2328,begin apogee
$GC,2334,-0.26,0.0,2740,2154,3111,3155,175.7,-7.7,257,2442,0.47,0.00,104.70,0.886,10246,0.151,0.000,2913,2153,2627,2640,2615,0,0,0,0,0,0,26.74,25.21,24.65
$STATE,2443,end apogee,CONTROL_FINISHED_OK
$STATE,2443,begin climb
$GC,2444,0.73,146.6,2912,2153,2640,2615,178.7,0.0,268,2561,0.82,2.20,106.53,0.842,10756,0.124,0.097,3224,777,2122,2134,2110,0,0,0,0,0,0,25.29,24.82,24.41
$GC,2623,0.73,146.6,3224,777,2134,2110,168.2,8.2,286,2627,0.00,2.12,0.00,0.000,1030,0.000,0.079,3224,2167,2121,2134,2109,0,0,0,0,0,0,25.70,25.62,25.72
$GC,2748,0.73,146.6,3224,2167,2134,2110,157.7,8.8,298,2752,0.00,2.20,0.00,0.000,260,0.000,0.094,3224,3579,2122,2134,2110,0,0,0,0,0,0,26.25,25.96,26.26
$GC,2803,0.73,146.6,3224,3579,2134,2110,152.7,9.4,303,2807,0.00,2.10,0.00,0.000,1030,0.000,0.082,3235,2170,2121,2133,2110,0,0,0,0,0,0,26.15,26.07,26.17
$GC,2928,0.73,146.6,3235,2169,2134,2110,141.7,8.5,315,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2170,2122,2134,2110,0,0,0,0,0,0,26.50,26.53,26.51
$GC,3048,0.73,146.6,3235,2170,2134,2109,131.5,9.3,327,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2170,2122,2134,2110,0,0,0,0,0,0,26.60,26.63,26.63
$GC,3168,0.73,146.6,3235,2169,2134,2110,121.4,8.5,339,3172,0.00,2.15,0.00,0.000,516,0.000,0.097,3243,754,2122,2134,2110,0,0,0,0,0,0,26.69,26.40,26.71
$GC,3234,0.73,146.6,3243,754,2134,2110,115.7,9.0,345,3238,0.00,2.10,0.00,0.000,1030,0.000,0.079,3243,2178,2122,2134,2110,0,0,0,0,0,0,26.54,26.46,26.55
$GC,3359,0.73,146.6,3243,2178,2134,2110,105.7,8.3,357,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2178,2122,2134,2110,0,0,0,0,0,0,26.78,26.81,26.80
$GC,3479,0.73,146.6,3242,2178,2134,2110,96.6,7.7,369,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2178,2122,2134,2110,0,0,0,0,0,0,26.83,26.84,26.84
$GC,3600,0.73,146.6,3243,2177,2134,2110,87.5,7.5,381,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2178,2122,2134,2110,0,0,0,0,0,0,26.87,26.89,26.89
$GC,3719,0.73,146.6,3243,2178,2133,2110,78.6,8.1,393,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2178,2122,2134,2110,0,0,0,0,0,0,26.91,26.93,26.92
$GC,3839,0.73,146.6,3243,2177,2134,2110,69.9,6.6,405,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2177,2122,2134,2110,0,0,0,0,0,0,26.94,26.96,26.95
$GC,3959,0.73,146.6,3243,2178,2134,2110,60.7,8.3,417,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2178,2122,2134,2110,0,0,0,0,0,0,26.96,26.98,26.98
$GC,4079,0.73,146.6,3243,2178,2134,2110,51.2,7.7,429,4083,0.00,2.10,0.00,0.000,260,0.000,0.094,3244,3574,2122,2134,2110,0,0,0,0,0,0,26.98,26.70,27.01
$GC,4244,0.73,146.6,3243,3574,2132,2110,39.5,7.1,445,4248,0.00,2.05,0.00,0.000,1030,0.000,0.082,3254,2154,2122,2134,2110,0,0,0,0,0,0,26.82,26.74,26.84
$GC,4370,0.73,146.6,3253,2153,2134,2110,31.3,7.0,457,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2153,2122,2134,2110,0,0,0,0,0,0,27.03,27.05,27.05
$GC,4489,0.73,146.6,3254,2153,2134,2109,23.5,6.7,469,4493,0.00,2.08,0.00,0.000,516,0.000,0.094,3262,763,2121,2134,2109,0,0,0,0,0,0,27.05,26.77,27.07
$GC,4605,0.73,146.6,3262,763,2134,2110,14.6,8.9,486,4612,0.00,2.08,0.00,0.000,1030,0.000,0.079,3262,2176,2122,2134,2110,0,0,0,0,0,0,26.87,26.79,26.89
$GC,4673,0.73,146.6,3262,2176,2134,2110,9.7,7.6,499,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2176,2122,2134,2110,0,0,0,0,0,0,27.07,27.09,27.08
$GC,4740,0.73,146.6,3262,2176,2134,2110,4.8,7.1,512,4747,0.00,2.15,0.00,0.000,516,0.000,0.094,3271,759,2122,2134,2110,0,0,0,0,0,0,27.08,26.79,27.09
$STATE,4772,end climb,SURFACE_DEPTH_REACHED
$STATE,4772,begin surface coast
$FINISH,0.4,1.013009
$STATE,4818,end surface coast,CONTROL_FINISHED_OK
$STATE,4819,begin surface
$SM_CCo,4834,93.55,0.767,0,0,1628,290.20
$SM_GC,2.21,8.00,2.12,93.55,0.087,0.077,0.767,155,2182,1628,-8.81,-0.82,290.20,0,0,0,0,0,0,26.81,26.82,24.98
$IRIDIUM_FIX,4722.92,-12225.08,070115,030431
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.53
$INTERNAL_PRESSURE,9.00669
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.2,6.4
$24V_AH,24.41,1.383
$10V_AH,10.56,0.504
$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,19.350,33.975,211.225,93.550,151.400,25.787,18.911,211.997,0.500,0.000,23.436,1265.451,2365.833,429.318,1190.316,46.670,0.000,941.273,0.000,893.106,0.000,5.454,0.000
$DEVICE_MAMPS,265.681,96.837,886.431,767.247,166.361,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.207,699.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322928
$DATA_FILE_SIZE,30251,527
$CAP_FILE_SIZE,74368,0
$CFSIZE,1024409600,1020968960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4755.88,0x238aa6,7,5
$GPS,070115,055052,4744.141,-12224.661,34,0.9,35,16.3,0.0,0.0,7,8.4