version: 66.14
glider: 38
mission: 12
dive: 14
start: 4 26 118 9 2 9
data:
$ID,38
$MISSION,12
$DIVE,14
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,6000
$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,83
$T_MISSION,90
$T_ABORT,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,350
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80313
$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,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,3
$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,3415
$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,2251
$C_ROLL_CLIMB,2251
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,1910
$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,-21.153936
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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,32
$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
$GPS1,260418,085523,4743.0557,-12223.7754,5,0.9,23,16.3,0.4,217.7,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.6
$GPS2,260418,090131,4743.0083,-12223.8262,5,0.9,19,16.3,0.3,212.7,9,5.0
$SPEED_LIMITS,0.172,0.306
$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,297.7,840,-10.7,-8.032,-14.71,6340
$D_GRID,160
$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,-0.83,-342.1,129,2251,182,201,0.0,0.0,0,214,0.00,0.00,-204.48,0.144,16386,0.000,0.000,129,2251,1551,1575,1528,0,0,0,0,0,0,26.22,28.83,26.24,7.46,30.07
$GC,217,-0.83,-342.1,129,2251,1575,1529,3.1,-2.5,33,341,13.55,2.67,-101.10,0.144,18692,0.303,0.102,3131,3835,3088,3114,3063,0,0,0,0,0,0,24.94,25.45,25.17,7.59,29.09
$GC,509,-0.83,-342.1,3130,3835,3103,3059,35.9,-11.6,73,519,0.00,2.53,-0.30,0.904,17414,0.000,0.074,3131,2230,3091,3116,3066,0,0,0,0,0,0,25.94,25.83,23.61,7.71,29.44
$GC,639,-0.83,-342.1,3130,2230,3115,3065,52.0,-13.0,86,640,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2229,3090,3115,3065,0,0,0,0,0,0,26.35,26.36,26.36,7.72,30.11
$GC,759,-0.83,-342.1,3130,2229,3114,3065,67.2,-12.1,98,764,0.00,2.62,0.00,0.000,260,0.000,0.102,3121,3835,3089,3114,3065,0,0,0,0,0,0,26.41,25.75,26.42,7.72,29.72
$GC,801,-0.83,-342.1,3120,3835,3114,3065,72.4,-12.5,102,805,0.00,2.47,0.00,0.000,1030,0.000,0.074,3121,2254,3089,3114,3065,0,0,0,0,0,0,26.06,25.96,26.10,7.71,30.03
$GC,934,-0.77,-342.1,3120,2252,3112,3065,89.7,-13.6,115,947,0.12,2.47,0.00,0.000,2564,0.196,0.087,3166,670,3088,3111,3065,0,0,0,0,0,0,25.83,25.82,25.89,7.71,30.35
$GC,972,-0.77,-342.1,3165,670,3111,3065,94.4,-12.7,118,980,0.00,2.45,0.00,0.000,1030,0.000,0.079,3156,2268,3088,3111,3065,0,0,0,0,0,0,26.03,25.87,26.07,7.71,29.79
$GC,1099,-0.77,-342.1,3156,2268,3110,3065,108.7,-10.6,131,1108,0.00,2.53,0.00,0.000,260,0.000,0.102,3152,3833,3087,3110,3065,0,0,0,0,0,0,26.51,25.82,26.52,7.71,30.58
$GC,1181,-0.77,-342.1,3152,3833,3109,3065,115.9,-9.0,139,1190,0.00,2.47,0.00,0.000,1030,0.000,0.074,3153,2245,3087,3109,3065,0,0,0,0,0,0,26.16,26.07,26.20,7.71,30.31
$GC,1431,-0.77,-342.1,3152,2244,3108,3065,137.7,-9.0,164,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2244,3086,3108,3065,0,0,0,0,0,0,26.56,26.58,26.58,7.71,30.35
$STATE,1580,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1580,begin apogee
$GC,1583,-0.29,0.0,3152,2244,3107,3065,152.7,-10.1,179,1844,0.50,0.00,256.17,0.904,10246,0.154,0.000,3322,2242,1910,1939,1881,0,0,0,0,0,0,25.48,24.34,23.51,7.71,30.35
$STATE,1845,end apogee,CONTROL_FINISHED_OK
$STATE,1845,begin climb
$GC,1847,0.83,342.1,3322,2243,1938,1880,169.1,0.0,205,2166,0.93,2.67,308.35,0.881,10756,0.139,0.089,3646,679,730,730,730,0,0,0,0,0,0,24.54,24.05,23.20,7.62,28.93
$GC,2204,0.94,342.1,3646,678,723,726,152.3,10.3,241,2214,0.10,2.55,0.00,0.000,3078,0.127,0.077,3703,2247,724,723,725,0,0,0,0,0,0,24.77,24.75,24.86,7.51,28.73
$GC,2453,0.94,342.1,3702,2247,720,718,124.7,10.6,266,2464,0.00,2.60,0.00,0.000,260,0.000,0.109,3702,3832,718,720,717,0,0,0,0,0,0,26.12,25.62,26.13,7.51,29.32
$GC,2689,0.85,342.1,3702,3832,720,715,94.8,12.9,289,2698,0.00,2.47,0.00,0.000,1030,0.000,0.074,3712,2261,717,720,715,0,0,0,0,0,0,26.01,25.91,26.03,7.50,29.95
$GC,2818,0.78,342.1,3713,2259,720,715,80.7,9.1,302,2829,0.12,2.60,0.00,0.000,4356,0.191,0.102,3669,3840,717,720,715,0,0,0,0,0,0,25.82,25.81,25.89,7.51,30.78
$GC,2865,0.78,342.1,3669,3840,720,715,76.0,10.4,306,2873,0.00,2.50,0.00,0.000,1030,0.000,0.074,3677,2237,717,720,715,0,0,0,0,0,0,26.09,25.97,26.13,7.51,30.07
$GC,2992,0.78,342.1,3677,2236,720,715,64.3,9.3,319,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,3677,2236,717,720,715,0,0,0,0,0,0,26.46,26.47,26.47,7.51,29.99
$GC,3112,0.78,342.1,3677,2235,720,715,54.5,9.0,331,3122,0.00,2.45,0.00,0.000,516,0.000,0.089,3680,672,717,720,715,0,0,0,0,0,0,26.49,25.89,26.51,7.51,30.70
$GC,3148,0.78,342.1,3679,672,719,715,51.8,8.0,334,3156,0.00,2.45,0.00,0.000,1030,0.000,0.082,3680,2258,717,719,715,0,0,0,0,0,0,26.08,25.93,26.14,7.51,30.19
$GC,3275,0.78,342.1,3679,2258,719,715,40.5,9.5,347,3284,0.00,2.55,0.00,0.000,260,0.000,0.107,3679,3835,717,719,715,0,0,0,0,0,0,26.53,25.86,26.53,7.51,30.23
$GC,3330,0.78,342.1,3679,3835,719,715,35.7,9.3,352,3338,0.00,2.47,0.00,0.000,1030,0.000,0.074,3690,2241,716,718,715,0,0,0,0,0,0,26.17,26.06,26.22,7.50,30.19
$GC,3457,0.78,342.1,3689,2239,719,715,23.1,10.5,365,3467,0.00,2.45,0.00,0.000,516,0.000,0.089,3690,675,717,719,715,0,0,0,0,0,0,26.55,25.91,26.56,7.50,30.27
$GC,3500,0.78,342.1,3690,675,718,715,19.5,8.5,369,3508,0.00,2.42,0.00,0.000,1030,0.000,0.082,3690,2259,716,718,714,0,0,0,0,0,0,26.10,25.94,26.16,7.50,30.42
$GC,3570,0.89,528.6,3690,2259,718,715,14.8,5.0,382,3723,0.00,2.65,143.82,0.797,8452,0.000,0.107,3691,3830,198,187,210,0,0,0,0,0,0,26.56,24.79,23.98,7.51,30.90
$STATE,3795,end climb,SURFACE_DEPTH_REACHED
$STATE,3795,begin surface coast
$FINISH,0.5,1.018212
$STATE,3831,end surface coast,CONTROL_FINISHED_OK
$STATE,3831,begin surface
$SM_CCo,3911,0.00,0.000,0,0,193,498.77
$SM_GC,1.73,9.23,2.55,0.00,0.072,0.072,0.000,132,2256,193,-10.19,1.33,498.77,0,0,1,0,0,0,25.59,25.60,25.67
$IRIDIUM_FIX,4741.67,-12220.67,260418,081220
$TT8_MAMPS,0.02247,0.199234
$HUMID,29.83
$INTERNAL_PRESSURE,7.42094
$TCM_TEMP,9.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,90.7,81.9
$24V_AH,23.20,20.747
$10V_AH,10.24,11.774
$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,24.550,55.625,708.350,0.000,305.875,24.434,51.737,206.201,1.500,0.000,20.571,951.590,1290.224,900.066,1111.602,58.505,0.000,1466.463,0.000,794.535,0.000,7.279,0.000
$DEVICE_MAMPS,302.926,109.252,903.812,0.000,903.812,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,280.933,563.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312592
$DATA_FILE_SIZE,31491,427
$CAP_FILE_SIZE,62084,0
$CFSIZE,2047311872,2039054336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.220,189.72,1
$GPS,260418,100836,4743.081,-12224.490,22,1.0,39,16.3,0.4,173.1,10,4.8