version: 66.14
glider: 40
mission: 18
dive: 5
start: 9 5 118 18 46 44
data:
$ID,40
$MISSION,18
$DIVE,5
$N_DIVES,0
$STOP_T,9131819
$D_SURF,3
$D_FLARE,3
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,720
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80783.898
$MASS_COMP,11448
$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,590
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3845
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16.200001
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,2122
$C_ROLL_CLIMB,2122
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2402
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$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,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.149458
$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,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,2927.6299
$GPS1,050918,184235,3219.8137,-6434.2681,7,0.8,17,-14.9,0.3,310.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-36.2
$GPS2,050918,184607,3219.8315,-6434.2822,8,0.9,17,-14.9,0.4,305.6,9,4.9
$SPEED_LIMITS,0.173,0.289
$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,141.8,83107,-16.1,-10.000,-19.07,3691
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.29,-244.4,201,2114,345,392,0.0,0.0,0,180,0.00,0.00,-164.65,0.164,16390,0.000,0.000,201,2115,3245,3208,3282,0,0,0,0,0,0,26.87,26.09,25.90,9.36,20.03
$GC,182,-1.29,-244.4,200,2114,3208,3282,2.6,-4.0,17,201,8.80,2.33,0.00,0.000,2308,0.278,0.084,2368,3699,3246,3210,3282,0,0,0,0,0,0,25.75,26.02,25.91,9.65,20.34
$GC,931,-1.17,-244.4,2367,3699,3209,3281,60.0,-6.2,91,942,0.17,2.17,0.00,0.000,3078,0.191,0.070,2422,2072,3245,3210,3280,0,0,0,0,0,0,26.10,26.68,26.25,9.59,19.95
$GC,1241,-1.11,-244.4,2421,2072,3210,3279,78.4,-6.0,122,1245,0.00,2.12,0.00,0.000,516,0.000,0.082,2422,617,3244,3210,3279,0,0,0,0,0,0,27.02,26.49,27.03,9.56,20.42
$GC,1331,-1.02,-244.4,2422,617,3210,3278,84.3,-7.5,127,1350,0.17,2.15,0.00,0.000,3078,0.181,0.070,2470,2155,3244,3210,3279,0,0,0,0,0,0,26.16,26.63,26.30,9.56,19.91
$GC,1800,-1.02,-244.4,2469,2156,3210,3275,123.4,-9.2,158,1820,0.00,2.22,0.00,0.000,260,0.000,0.089,2461,3675,3242,3210,3275,0,0,0,0,0,0,26.92,26.49,26.93,9.51,20.30
$GC,1880,-1.02,-244.4,2460,3675,3210,3274,131.3,-9.8,162,1899,0.00,2.08,0.00,0.000,1030,0.000,0.070,2461,2135,3242,3210,3274,0,0,0,0,0,0,26.72,26.69,26.74,9.51,21.33
$GC,2260,-1.02,-244.4,2460,2135,3209,3271,167.8,-9.2,184,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2135,3240,3209,3271,0,0,0,0,0,0,26.92,26.94,26.94,9.48,20.78
$GC,2560,-1.02,-244.4,2460,2136,3209,3268,196.9,-9.8,199,2567,0.00,2.28,0.00,0.000,260,0.000,0.089,2449,3679,3238,3209,3268,0,0,0,0,0,0,26.93,26.45,26.94,9.47,21.09
$GC,2602,-1.02,-244.4,2448,3679,3209,3268,202.4,-10.4,201,2607,0.00,2.12,0.00,0.000,1030,0.000,0.067,2449,2117,3238,3209,3268,0,0,0,0,0,0,26.72,26.68,26.73,9.47,21.64
$GC,2919,-1.02,-244.4,2448,2116,3209,3265,238.1,-11.1,217,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2117,3237,3209,3265,0,0,0,0,0,0,27.02,27.04,27.03,9.45,21.76
$GC,3220,-1.02,-244.4,2448,2116,3209,3262,269.9,-10.0,232,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2117,3236,3209,3263,0,0,0,0,0,0,27.05,27.07,27.06,9.44,22.19
$GC,3519,-1.02,-244.4,2448,2117,3209,3260,298.8,-9.4,247,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2117,3234,3208,3260,0,0,0,0,0,0,27.07,27.08,27.08,9.43,22.35
$GC,3839,-1.02,-244.4,2447,2116,3209,3257,328.4,-9.3,258,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2116,3233,3209,3257,0,0,0,0,0,0,27.08,27.10,27.10,9.42,22.82
$GC,4140,-1.02,-244.4,2448,2117,3209,3255,357.9,-10.2,268,4144,0.00,2.30,0.00,0.000,260,0.000,0.087,2438,3668,3232,3209,3255,0,0,0,0,0,0,27.09,26.36,27.10,9.40,22.59
$STATE,4169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4169,begin apogee
$GC,4176,-0.31,0.0,2437,2121,3209,3255,361.3,-10.5,269,4358,0.77,0.00,178.68,0.777,10246,0.154,0.000,2695,2119,2401,2399,2404,0,0,0,0,0,0,25.70,24.98,24.35,9.40,22.51
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4360,begin climb
$GC,4361,1.29,244.4,2696,2120,2399,2405,366.4,0.0,275,4551,1.45,2.40,181.82,0.755,11012,0.117,0.082,3218,591,1560,1555,1566,0,0,0,0,0,0,25.21,24.80,24.39,9.32,21.53
$GC,4606,1.12,244.4,3218,591,1555,1565,337.7,16.6,283,4612,0.20,2.25,0.00,0.000,5126,0.204,0.072,3162,2106,1560,1555,1566,0,0,0,0,0,0,25.46,25.77,25.66,9.23,21.45
$GC,4930,1.02,244.4,3162,2107,1555,1564,280.7,16.7,296,4936,0.10,2.30,0.00,0.000,4612,0.221,0.082,3139,583,1559,1555,1564,0,0,0,0,0,0,26.15,26.27,26.20,9.22,22.19
$GC,5030,0.94,244.4,3138,583,1556,1564,264.7,15.8,301,5037,0.12,2.22,0.00,0.000,5126,0.201,0.070,3102,2131,1559,1555,1564,0,0,0,0,0,0,26.09,26.41,26.25,9.23,22.98
$GC,5351,0.94,244.4,3102,2131,1555,1562,220.8,13.9,317,5357,0.00,2.30,0.00,0.000,516,0.000,0.082,3112,585,1558,1555,1562,0,0,0,0,0,0,26.86,26.42,26.87,9.22,22.71
$GC,5432,0.94,244.4,3111,585,1555,1561,209.1,14.2,321,5436,0.00,2.22,0.00,0.000,1030,0.000,0.070,3111,2121,1558,1555,1561,0,0,0,0,0,0,26.55,26.53,26.58,9.22,22.39
$GC,5751,0.89,244.4,3111,2121,1555,1560,162.9,14.3,337,5756,0.00,2.30,0.00,0.000,516,0.000,0.082,3122,578,1557,1555,1560,0,0,0,0,0,0,26.94,26.46,26.96,9.20,22.86
$GC,5833,0.84,244.4,3123,579,1555,1560,150.4,15.0,341,5839,0.17,2.22,0.00,0.000,5126,0.189,0.070,3068,2138,1557,1555,1560,0,0,0,0,0,0,26.13,26.58,26.29,9.21,22.39
$GC,6146,0.84,244.4,3068,2138,1555,1559,113.8,12.6,371,6155,0.00,2.33,0.00,0.000,516,0.000,0.079,3079,580,1557,1555,1559,0,0,0,0,0,0,26.99,26.47,27.01,9.21,22.47
$GC,6208,0.84,244.4,3078,580,1555,1559,106.6,11.1,377,6218,0.00,2.20,0.00,0.000,1030,0.000,0.070,3079,2126,1557,1555,1559,0,0,0,0,0,0,26.66,26.60,26.69,9.21,22.98
$GC,6518,0.84,244.4,3078,2126,1555,1559,69.9,11.8,408,6527,0.00,2.33,0.00,0.000,260,0.000,0.089,3079,3682,1557,1555,1559,0,0,0,0,0,0,27.03,26.42,27.03,9.21,22.71
$GC,6560,0.84,244.4,3078,3682,1554,1559,64.6,12.7,412,6569,0.00,2.15,0.00,0.000,1030,0.000,0.067,3088,2117,1557,1555,1559,0,0,0,0,0,0,26.76,26.72,26.77,9.21,23.26
$GC,6870,0.90,297.5,3087,2118,1554,1558,31.7,8.5,443,6914,0.00,2.33,37.30,0.566,8708,0.000,0.084,3097,590,1377,1371,1384,0,0,0,0,0,0,27.05,26.02,25.48,9.23,22.71
$GC,6953,1.00,374.8,3096,590,1371,1383,25.9,7.9,451,7016,0.00,2.22,55.60,0.554,9222,0.000,0.070,3097,2127,1110,1104,1117,0,0,0,0,0,0,26.31,26.25,24.98,9.22,22.75
$STATE,7192,end climb,SURFACE_DEPTH_REACHED
$STATE,7192,begin surface coast
$FINISH,1.3,1.023092
$STATE,7214,end surface coast,CONTROL_FINISHED_OK
$STATE,7214,begin surface
$SM_CCo,7228,166.35,0.534,0,0,370,590.28
$SM_GC,2.10,7.47,0.00,166.35,0.079,0.000,0.534,182,2128,370,-8.08,0.17,590.28,0,0,0,0,0,0,26.22,26.55,24.70
$IRIDIUM_FIX,3221.15,-6433.41,050918,183919
$TT8_MAMPS,0.020972,0.221704
$HUMID,21.76
$INTERNAL_PRESSURE,9.16438
$TCM_TEMP,30.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,17.7
$24V_AH,24.35,11.801
$10V_AH,10.53,6.658
$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,19.450,53.725,453.400,166.350,164.650,0.000,0.000,0.000,114.250,0.000,18.361,1403.771,3409.820,799.360,1812.290,58.987,0.000,1385.558,0.000,979.635,0.000,1247.450,0.000
$DEVICE_MAMPS,278.096,89.388,777.179,533.845,163.878,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.090,630.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342504
$DATA_FILE_SIZE,31324,477
$CAP_FILE_SIZE,152918,0
$CFSIZE,2047311872,2037448704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,301.18,1
$GPS,050918,205119,3219.231,-6433.669,24,0.9,41,-14.9,0.3,342.3,8,3.0