version: 66.14
glider: 38
mission: 12
dive: 15
start: 4 26 118 10 16 15
data:
$ID,38
$MISSION,12
$DIVE,15
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,260418,100836,4743.0811,-12224.4902,22,1.0,39,16.3,0.4,173.1,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.3
$GPS2,260418,101536,4742.9883,-12224.4873,5,0.9,16,16.3,0.0,195.8,9,5.0
$SPEED_LIMITS,0.172,0.306
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-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,350.6,2799,-10.7,-8.032,-14.71,6340
$D_GRID,177
$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,-342.1,131,2254,181,201,0.0,0.0,0,212,0.00,0.00,-202.88,0.144,16386,0.000,0.000,131,2254,1544,1568,1520,0,0,0,0,0,0,26.20,28.83,26.21,7.46,30.23
$GC,215,-0.83,-342.1,131,2254,1568,1520,3.4,-3.5,32,338,13.48,2.60,-99.65,0.144,18692,0.303,0.102,3131,3832,3089,3114,3065,0,0,0,0,0,0,24.95,25.46,25.17,7.59,29.16
$GC,414,-0.83,-342.1,3130,3832,3106,3062,25.7,-11.7,61,421,0.00,2.50,0.00,0.000,1030,0.000,0.072,3131,2238,3083,3105,3062,0,0,0,0,0,0,25.84,25.74,25.86,7.72,28.73
$GC,541,-0.78,-342.1,3130,2236,3099,3062,40.1,-11.7,74,552,0.10,2.47,-0.25,0.951,18948,0.201,0.084,3166,671,3091,3113,3070,0,0,0,0,0,0,25.75,24.43,23.62,7.72,29.24
$GC,594,-0.78,-342.1,3165,671,3113,3070,46.0,-11.0,79,600,0.00,2.45,0.00,0.000,1030,0.000,0.079,3156,2262,3091,3113,3070,0,0,0,0,0,0,25.90,25.75,25.94,7.73,29.24
$GC,727,-0.78,-342.1,3156,2262,3112,3069,60.3,-10.7,92,736,0.00,2.53,0.00,0.000,260,0.000,0.102,3155,3828,3091,3112,3070,0,0,0,0,0,0,26.40,25.73,26.41,7.71,29.40
$GC,838,-0.78,-342.1,3154,3828,3112,3068,72.1,-9.8,103,843,0.00,2.45,0.00,0.000,1030,0.000,0.072,3155,2247,3090,3112,3068,0,0,0,0,0,0,26.10,26.01,26.13,7.71,29.68
$GC,970,-0.78,-342.1,3154,2246,3110,3068,88.1,-12.9,116,979,0.00,2.45,0.00,0.000,516,0.000,0.084,3155,674,3088,3109,3068,0,0,0,0,0,0,26.48,25.83,26.49,7.71,29.95
$GC,996,-0.78,-342.1,3154,674,3109,3068,90.7,-12.0,118,1004,0.00,2.45,0.00,0.000,1030,0.000,0.079,3155,2248,3088,3108,3069,0,0,0,0,0,0,25.91,25.85,25.97,7.71,29.87
$GC,1124,-0.78,-342.1,3154,2248,3108,3069,106.2,-10.4,131,1128,0.00,2.55,0.00,0.000,260,0.000,0.104,3146,3831,3088,3108,3068,0,0,0,0,0,0,26.52,25.79,26.53,7.71,29.87
$GC,1195,-0.78,-342.1,3145,3831,3109,3068,114.7,-12.2,138,1205,0.00,2.47,0.00,0.000,1030,0.000,0.074,3146,2235,3088,3108,3068,0,0,0,0,0,0,26.14,26.03,26.17,7.71,30.50
$GC,1446,-0.78,-342.1,3145,2235,3107,3068,141.1,-9.9,163,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2234,3087,3107,3068,0,0,0,0,0,0,26.57,26.58,26.58,7.71,30.78
$GC,1686,-0.78,-342.1,3145,2234,3106,3068,163.1,-10.5,187,1690,0.00,2.60,0.00,0.000,260,0.000,0.102,3135,3832,3086,3105,3068,0,0,0,0,0,0,26.60,25.82,26.61,7.71,30.62
$STATE,1696,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1696,begin apogee
$GC,1702,-0.29,0.0,3134,2241,3106,3067,164.5,-11.1,188,1968,0.52,0.00,257.05,0.916,10246,0.154,0.000,3317,2240,1909,1938,1880,0,0,0,0,0,0,25.39,24.03,23.46,7.71,30.50
$STATE,1970,end apogee,CONTROL_FINISHED_OK
$STATE,1970,begin climb
$GC,1971,0.83,342.1,3317,2240,1938,1880,180.8,0.0,215,2290,0.95,2.67,308.90,0.894,11012,0.132,0.087,3659,681,731,732,730,0,0,0,0,0,0,24.56,24.03,23.15,7.62,29.01
$GC,2407,0.83,342.1,3658,682,721,724,158.0,8.5,258,2415,0.00,2.50,0.00,0.000,1030,0.000,0.079,3659,2252,722,721,724,0,0,0,0,0,0,25.37,25.24,25.41,7.51,28.93
$GC,2655,0.83,342.1,3658,2251,719,718,134.9,10.3,283,2664,0.00,2.55,0.00,0.000,260,0.000,0.104,3659,3835,719,720,718,0,0,0,0,0,0,26.21,25.68,26.22,7.51,29.68
$GC,2788,0.83,342.1,3659,3835,720,716,120.7,11.7,296,2798,0.00,2.47,0.00,0.000,1030,0.000,0.074,3665,2248,718,720,716,0,0,0,0,0,0,26.01,25.91,26.05,7.51,29.79
$GC,3038,0.83,342.1,3664,2246,720,716,95.7,10.3,321,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,3665,2247,717,719,716,0,0,0,0,0,0,26.44,26.45,26.44,7.51,30.74
$GC,3158,0.83,342.1,3664,2246,719,716,85.4,8.9,333,3167,0.00,2.58,0.00,0.000,260,0.000,0.102,3665,3834,717,719,716,0,0,0,0,0,0,26.47,25.86,26.48,7.50,30.03
$GC,3220,0.83,342.1,3664,3834,719,715,79.7,9.3,339,3230,0.00,2.45,0.00,0.000,1030,0.000,0.074,3675,2244,717,719,715,0,0,0,0,0,0,26.15,26.05,26.19,7.51,30.11
$GC,3350,0.83,342.1,3674,2243,719,715,68.9,7.2,352,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,3675,2242,717,719,715,0,0,0,0,0,0,26.51,26.53,26.53,7.50,30.03
$GC,3470,0.83,342.1,3674,2243,719,715,60.1,6.7,364,3480,0.00,2.60,0.00,0.000,260,0.000,0.104,3675,3839,717,720,715,0,0,0,0,0,0,26.53,25.88,26.55,7.50,30.82
$GC,3503,0.83,342.1,3674,3839,719,715,57.2,8.0,367,3513,0.00,2.47,0.00,0.000,1030,0.000,0.074,3677,2239,717,719,715,0,0,0,0,0,0,26.18,26.08,26.22,7.50,30.23
$GC,3633,0.83,342.1,3677,2238,719,715,47.3,7.9,380,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,3678,2238,717,719,715,0,0,0,0,0,0,26.56,26.58,26.57,7.50,30.50
$GC,3753,0.83,342.1,3676,2238,720,715,37.0,8.5,392,3763,0.00,2.42,0.00,0.000,516,0.000,0.087,3682,685,717,719,715,0,0,0,0,0,0,26.58,25.92,26.59,7.49,30.27
$GC,3826,0.83,342.1,3681,685,718,715,31.3,7.8,399,3835,0.00,2.42,0.00,0.000,1030,0.000,0.082,3682,2258,717,719,715,0,0,0,0,0,0,26.11,25.95,26.17,7.50,30.07
$GC,3955,0.83,342.1,3682,2258,719,715,21.3,8.3,412,3965,0.00,2.53,0.00,0.000,260,0.000,0.104,3682,3827,717,719,715,0,0,0,0,0,0,26.60,25.88,26.61,7.50,30.31
$GC,3993,0.83,342.1,3681,3827,719,715,18.0,8.8,417,4000,0.00,2.42,0.00,0.000,1030,0.000,0.074,3690,2256,717,719,715,0,0,0,0,0,0,26.21,26.10,26.25,7.50,30.58
$GC,4063,0.83,342.1,3690,2254,719,715,11.9,8.2,430,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,3690,2254,717,719,715,0,0,0,0,0,0,26.60,26.61,26.61,7.51,30.31
$GC,4131,0.83,342.1,3690,2254,719,715,7.4,6.1,443,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,3690,2255,717,719,715,0,0,0,0,0,0,26.60,26.62,26.62,7.51,30.19
$GC,4201,0.92,487.6,3690,2254,719,715,3.3,5.7,456,4228,0.00,0.00,25.12,0.797,8450,0.000,0.000,3690,2254,644,644,645,0,0,0,0,0,0,26.62,28.83,26.63,7.50,30.42
$STATE,4229,end climb,SURFACE_DEPTH_REACHED
$STATE,4229,begin surface coast
$FINISH,0.7,1.018678
$STATE,4261,end surface coast,CONTROL_FINISHED_OK
$STATE,4261,begin surface
$SM_CCo,4277,26.98,0.795,0,0,532,400.00
$SM_GC,1.71,9.12,0.00,26.98,0.077,0.000,0.795,176,2254,532,-10.07,0.08,400.00,0,0,0,0,0,0,25.76,26.28,24.41
$IRIDIUM_FIX,4748.93,-12421.43,260418,085639
$TT8_MAMPS,0.021721,0.20223
$HUMID,30.58
$INTERNAL_PRESSURE,7.45024
$TCM_TEMP,9.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,19.1
$ALTIM_BOTTOM_PING,90.7,92.7
$24V_AH,23.15,20.935
$10V_AH,10.23,11.810
$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,24.175,60.150,591.075,26.975,302.775,26.267,11.507,288.861,1.500,0.000,17.954,1108.632,1505.552,855.913,1216.579,67.637,0.000,1440.069,0.000,856.186,0.000,7.324,0.000
$DEVICE_MAMPS,302.926,104.286,916.227,794.560,950.989,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.150,616.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,34947,466
$CAP_FILE_SIZE,69470,0
$CFSIZE,2047311872,2038890496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,236.02,1
$GPS,260418,112855,4743.441,-12224.449,6,1.0,17,16.3,0.2,274.6,11,4.9