version: 66.14
glider: 38
mission: 12
dive: 16
start: 4 26 118 11 37 19
data:
$ID,38
$MISSION,12
$DIVE,16
$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,46
$R_STBD_OVSHOOT,32
$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
$GPS1,260418,112855,4743.4409,-12224.4492,6,1.0,17,16.3,0.2,274.6,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.7
$GPS2,260418,113641,4743.3945,-12224.4453,5,0.9,19,16.3,0.2,0.0,11,5.0
$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,1.5,2048,-10.7,-8.032,-14.71,6340
$D_GRID,174
$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,-342.1,176,2249,515,509,0.0,0.0,0,157,0.00,0.00,-147.50,0.144,16386,0.000,0.000,176,2249,1535,1562,1508,0,0,0,0,0,0,26.19,28.83,26.20,7.48,30.35
$GC,160,-0.83,-342.1,176,2249,1562,1508,3.6,-3.3,23,289,13.70,2.60,-105.07,0.144,18692,0.310,0.102,3131,3832,3088,3108,3069,0,0,0,0,0,0,24.93,25.46,25.16,7.59,29.68
$GC,354,-0.83,-342.1,3131,3832,3104,3064,23.3,-11.6,53,362,0.00,2.50,0.00,0.000,1030,0.000,0.072,3131,2258,3083,3103,3064,0,0,0,0,0,0,25.77,25.74,25.81,7.72,29.44
$GC,482,-0.77,-342.1,3131,2258,3096,3064,38.8,-12.7,66,487,0.10,2.50,0.00,0.000,2564,0.204,0.084,3167,668,3080,3096,3064,0,0,0,0,0,0,25.72,25.67,25.77,7.71,29.24
$GC,527,-0.77,-342.1,3166,668,3095,3064,43.2,-10.4,70,536,0.00,2.45,-0.28,0.896,17414,0.000,0.077,3157,2252,3091,3107,3075,0,0,0,0,0,0,25.87,25.72,23.67,7.72,29.83
$GC,655,-0.77,-342.1,3156,2252,3106,3075,57.2,-11.2,83,664,0.00,2.58,0.00,0.000,260,0.000,0.107,3145,3830,3091,3107,3075,0,0,0,0,0,0,26.39,25.65,26.40,7.71,29.44
$GC,718,-0.77,-342.1,3144,3829,3107,3075,64.2,-11.3,89,726,0.00,2.50,0.00,0.000,1030,0.000,0.074,3144,2243,3091,3107,3075,0,0,0,0,0,0,25.96,25.92,26.00,7.71,29.72
$GC,846,-0.77,-342.1,3144,2242,3106,3075,78.7,-11.3,102,851,0.00,2.45,0.00,0.000,516,0.000,0.087,3144,682,3090,3106,3075,0,0,0,0,0,0,26.46,25.77,26.47,7.71,29.72
$GC,898,-0.77,-342.1,3144,682,3106,3075,84.7,-12.1,107,907,0.00,2.45,0.00,0.000,1030,0.000,0.082,3136,2261,3089,3105,3074,0,0,0,0,0,0,25.96,25.79,26.01,7.70,29.64
$GC,1028,-0.77,-342.1,3136,2261,3105,3074,100.2,-12.3,120,1033,0.00,2.53,0.00,0.000,260,0.000,0.107,3125,3828,3090,3105,3075,0,0,0,0,0,0,26.51,25.75,26.52,7.71,29.87
$GC,1130,-0.77,-342.1,3125,3828,3105,3073,112.5,-12.1,130,1136,0.12,2.47,0.00,0.000,3078,0.181,0.077,3167,2236,3089,3106,3073,0,0,0,0,0,0,25.73,26.01,25.88,7.71,30.19
$GC,1383,-0.77,-342.1,3166,2235,3105,3073,135.9,-9.1,155,1392,0.00,2.60,0.00,0.000,260,0.000,0.107,3157,3830,3089,3106,3072,0,0,0,0,0,0,26.58,25.78,26.58,7.71,30.19
$GC,1424,-0.77,-342.1,3156,3830,3105,3072,139.8,-9.4,159,1434,0.00,2.45,0.00,0.000,1030,0.000,0.077,3156,2260,3088,3105,3072,0,0,0,0,0,0,26.17,26.06,26.20,7.71,30.15
$STATE,1674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1674,begin apogee
$GC,1678,-0.29,0.0,3156,2259,3104,3071,163.2,-9.7,184,1945,0.47,0.00,257.77,0.916,10246,0.181,0.000,3320,2256,1909,1936,1883,0,0,0,0,0,0,25.47,24.30,23.45,7.70,31.05
$STATE,1946,end apogee,CONTROL_FINISHED_OK
$STATE,1946,begin climb
$GC,1948,0.83,342.1,3319,2256,1936,1883,177.8,0.0,211,2268,0.95,2.72,309.35,0.889,10756,0.127,0.089,3662,671,729,729,730,0,0,0,0,0,0,24.56,24.01,23.13,7.62,29.01
$GC,2412,0.83,342.1,3661,672,718,723,150.4,8.9,257,2422,0.00,2.53,0.00,0.000,1030,0.000,0.082,3662,2259,720,718,723,0,0,0,0,0,0,25.47,25.33,25.51,7.51,28.89
$GC,2662,0.83,342.1,3661,2259,717,718,129.8,8.2,282,2672,0.00,2.58,0.00,0.000,260,0.000,0.107,3662,3833,717,717,718,0,0,0,0,0,0,26.24,25.69,26.25,7.51,30.07
$GC,2856,0.83,342.1,3661,3832,717,716,111.1,10.0,301,2865,0.00,2.47,0.00,0.000,1030,0.000,0.074,3666,2240,716,717,716,0,0,0,0,0,0,26.05,25.94,26.08,7.51,29.87
$GC,3106,0.83,342.1,3666,2239,717,716,89.7,8.1,326,3116,0.00,2.62,0.00,0.000,260,0.000,0.104,3665,3837,716,717,716,0,0,0,0,0,0,26.46,25.84,26.47,7.51,30.62
$GC,3150,0.83,342.1,3666,3837,717,716,85.9,9.1,330,3160,0.00,2.50,0.00,0.000,1030,0.000,0.074,3677,2247,716,717,716,0,0,0,0,0,0,26.06,26.01,26.10,7.50,30.42
$GC,3279,0.83,342.1,3677,2246,717,715,75.8,7.2,343,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,3677,2246,716,717,715,0,0,0,0,0,0,26.51,26.51,26.51,7.51,29.83
$GC,3399,0.83,342.1,3676,2246,717,715,67.2,7.0,355,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,3677,2246,716,717,715,0,0,0,0,0,0,26.53,26.54,26.54,7.50,30.27
$GC,3519,0.83,342.1,3676,2246,717,715,58.4,7.4,367,3528,0.00,2.47,0.00,0.000,516,0.000,0.092,3677,666,716,717,715,0,0,0,0,0,0,26.55,25.90,26.56,7.51,30.50
$GC,3550,0.83,342.1,3677,666,716,715,56.0,7.9,370,3561,0.00,2.45,0.00,0.000,1030,0.000,0.084,3677,2261,715,716,715,0,0,0,0,0,0,26.08,25.92,26.15,7.50,30.54
$GC,3681,0.83,342.1,3677,2261,716,715,45.6,8.3,383,3690,0.00,2.55,0.00,0.000,260,0.000,0.109,3677,3828,715,716,715,0,0,0,0,0,0,26.57,25.82,26.58,7.50,30.27
$GC,3737,0.83,342.1,3676,3828,716,715,40.7,9.9,388,3745,0.00,2.45,0.00,0.000,1030,0.000,0.077,3685,2251,715,716,715,0,0,0,0,0,0,26.19,26.08,26.23,7.50,30.19
$GC,3864,0.83,342.1,3685,2250,716,715,28.8,8.6,401,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,3685,2250,715,716,715,0,0,0,0,0,0,26.59,26.60,26.60,7.50,30.07
$GC,3984,0.83,342.1,3684,2250,716,715,18.0,8.6,415,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,3685,2250,715,715,715,0,0,0,0,0,0,26.60,26.61,26.61,7.50,30.19
$GC,4052,0.83,342.1,3684,2250,716,715,13.2,6.8,428,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,3684,2250,715,716,715,0,0,0,0,0,0,26.60,26.62,26.62,7.50,30.82
$GC,4122,0.93,510.6,3684,2250,716,715,9.3,5.3,441,4249,0.00,0.00,124.28,0.800,8450,0.000,0.000,3684,2250,265,255,276,0,0,0,0,0,0,26.61,28.83,26.62,7.50,30.31
$STATE,4250,end climb,SURFACE_DEPTH_REACHED
$STATE,4250,begin surface coast
$FINISH,0.6,1.012999
$STATE,4282,end surface coast,CONTROL_FINISHED_OK
$STATE,4283,begin surface
$SM_CCo,4359,0.00,0.000,0,0,260,479.31
$SM_GC,1.66,9.30,0.00,0.00,0.072,0.000,0.000,130,2250,260,-10.19,-0.03,479.31,0,0,0,0,0,0,25.35,25.64,25.41
$IRIDIUM_FIX,4744.97,-12226.80,260418,100948
$TT8_MAMPS,0.02247,0.199983
$HUMID,29.56
$INTERNAL_PRESSURE,7.42094
$TCM_TEMP,9.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.4
$ALTIM_BOTTOM_PING,90.5,92.4
$24V_AH,23.13,21.140
$10V_AH,10.29,11.847
$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,24.650,55.425,691.400,0.000,252.850,23.361,42.375,306.927,1.250,0.000,20.664,1088.266,1563.879,861.754,1270.054,67.135,0.000,1452.055,0.000,863.930,0.000,7.324,0.000
$DEVICE_MAMPS,310.375,109.252,916.227,0.000,896.363,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.987,617.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,34841,467
$CAP_FILE_SIZE,67684,0
$CFSIZE,2047311872,2038792192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,334.94,1
$GPS,260418,125102,4744.023,-12224.120,5,1.2,27,16.3,0.0,283.0,10,4.8