version: 66.14
glider: 40
mission: 18
dive: 10
start: 9 6 118 4 28 9
data:
$ID,40
$MISSION,18
$DIVE,10
$N_DIVES,0
$STOP_T,9131819
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,210
$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,500
$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,0
$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,2779
$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,42
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2649
$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
$GPS1,060918,042229,3217.4939,-6433.9028,39,1.0,42,-14.9,0.3,280.0,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-53.5
$GPS2,060918,042731,3217.4578,-6433.9395,5,0.8,17,-14.9,0.5,225.5,10,4.4
$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,137.2,78971,-16.1,-10.000,-19.07,3691
$D_GRID,540
$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,-244.4,176,2132,891,964,0.0,0.0,0,112,0.00,0.00,-102.93,0.161,16386,0.000,0.000,176,2133,2556,2513,2599,0,0,0,0,0,0,26.40,28.83,26.41,9.24,22.00
$GC,115,-1.29,-244.4,175,2133,2513,2599,3.1,-2.1,10,182,8.68,0.00,-54.10,0.166,18694,0.271,0.000,2351,2133,3491,3474,3509,0,0,0,0,0,0,25.53,25.79,25.61,9.41,21.64
$GC,480,-1.21,-244.4,2351,2133,3474,3509,48.2,-11.3,47,482,0.12,0.00,0.00,0.000,2054,0.199,0.000,2391,2133,3492,3475,3509,0,0,0,0,0,0,26.08,26.25,26.19,9.52,21.13
$GC,782,-1.21,-244.4,2390,2133,3474,3509,74.2,-10.0,77,791,0.00,2.28,0.00,0.000,260,0.000,0.084,2382,3685,3492,3474,3510,0,0,0,0,0,0,26.78,26.32,26.79,9.50,20.54
$GC,826,-1.15,-244.4,2381,3685,3474,3510,79.1,-10.9,81,842,0.00,2.25,0.00,0.000,1030,0.000,0.067,2382,2063,3492,3475,3510,0,0,0,0,0,0,26.54,26.53,26.56,9.50,20.19
$GC,1300,-1.08,-244.4,2381,2063,3474,3511,130.1,-11.0,112,1320,0.12,2.38,0.00,0.000,2308,0.194,0.084,2415,3685,3492,3474,3511,0,0,0,0,0,0,26.24,26.35,26.29,9.45,19.95
$GC,1408,-1.08,-244.4,2414,3685,3474,3511,141.8,-10.5,117,1427,0.00,2.20,0.00,0.000,1030,0.000,0.067,2415,2061,3492,3474,3511,0,0,0,0,0,0,26.58,26.56,26.60,9.44,19.60
$GC,1749,-1.08,-244.4,2414,2061,3474,3511,178.3,-11.3,135,1754,0.00,2.40,0.00,0.000,260,0.000,0.084,2403,3693,3492,3474,3511,0,0,0,0,0,0,26.82,26.38,26.83,9.42,19.71
$GC,1811,-1.08,-244.4,2402,3694,3474,3511,185.8,-11.8,137,1815,0.00,2.25,0.00,0.000,1030,0.000,0.067,2403,2066,3492,3474,3511,0,0,0,0,0,0,26.60,26.59,26.62,9.42,19.60
$GC,2129,-1.08,-244.4,2402,2066,3474,3511,229.3,-13.0,153,2135,0.00,2.40,0.00,0.000,260,0.000,0.084,2391,3685,3492,3474,3511,0,0,0,0,0,0,26.91,26.39,26.91,9.40,19.91
$GC,2171,-1.08,-244.4,2390,3685,3473,3511,234.7,-13.2,155,2176,0.10,2.25,0.00,0.000,3078,0.171,0.067,2425,2047,3492,3474,3511,0,0,0,0,0,0,26.25,26.64,26.30,9.40,19.83
$GC,2489,-1.08,-244.4,2424,2047,3474,3511,272.7,-11.9,171,2493,0.00,2.42,0.00,0.000,260,0.000,0.084,2416,3685,3492,3474,3511,0,0,0,0,0,0,26.96,26.40,26.97,9.39,20.38
$GC,2538,-1.08,-244.4,2415,3685,3474,3511,277.7,-11.9,173,2542,0.00,2.22,0.00,0.000,1030,0.000,0.067,2416,2052,3492,3474,3511,0,0,0,0,0,0,26.72,26.67,26.72,9.39,20.46
$GC,2851,-1.08,-244.4,2415,2052,3474,3510,317.2,-12.7,187,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2052,3491,3474,3509,0,0,0,0,0,0,26.99,27.01,27.01,9.38,20.58
$GC,3150,-1.08,-244.4,2415,2053,3473,3509,356.6,-13.0,197,3157,0.00,2.42,0.00,0.000,260,0.000,0.084,2404,3686,3491,3474,3509,0,0,0,0,0,0,27.02,26.38,27.03,9.38,20.93
$GC,3219,-1.08,-244.4,2403,3686,3474,3509,364.9,-13.1,199,3223,0.00,2.22,0.00,0.000,1030,0.000,0.065,2404,2087,3491,3474,3509,0,0,0,0,0,0,26.74,26.70,26.75,9.37,21.53
$GC,3540,-1.08,-244.4,2403,2059,3474,3507,409.3,-13.3,210,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2059,3490,3474,3507,0,0,0,0,0,0,27.04,27.05,27.05,9.37,21.60
$GC,3841,-1.08,-244.4,2403,2059,3473,3508,450.5,-13.7,220,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2059,3490,3473,3507,0,0,0,0,0,0,27.05,27.06,27.06,9.35,20.97
$GC,4140,-1.08,-244.4,2403,2059,3472,3507,491.5,-13.8,230,4147,0.00,2.42,0.00,0.000,260,0.000,0.084,2392,3689,3489,3471,3507,0,0,0,0,0,0,27.05,26.34,27.07,9.34,21.45
$GC,4193,-1.08,-244.4,2392,3688,3472,3507,495.6,-13.7,231,4202,0.12,2.20,0.00,0.000,3078,0.184,0.067,2433,2075,3489,3471,3507,0,0,0,0,0,0,26.26,26.71,26.34,9.34,21.80
$GC,4501,-1.08,-244.4,2432,2075,3471,3506,536.4,-12.5,242,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2075,3488,3471,3506,0,0,0,0,0,0,27.06,27.08,27.07,9.33,21.21
$STATE,4529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4529,begin apogee
$GC,4533,-0.31,0.0,2433,2075,3471,3506,540.1,-12.4,243,4721,0.73,0.00,183.90,0.916,10246,0.149,0.000,2680,2074,2649,2645,2653,0,0,0,0,0,0,25.79,24.75,24.06,9.33,21.84
$STATE,4722,end apogee,CONTROL_FINISHED_OK
$STATE,4722,begin climb
$GC,4724,1.29,244.4,2680,2074,2645,2653,547.6,0.0,249,4922,1.40,2.35,186.27,0.899,10756,0.114,0.082,3192,590,1807,1806,1808,0,0,0,0,0,0,24.99,24.72,24.06,9.24,20.74
$GC,4998,1.14,244.4,3191,590,1806,1808,533.9,10.8,258,5003,0.15,2.28,0.00,0.000,5126,0.206,0.067,3149,2126,1807,1806,1808,0,0,0,0,0,0,25.42,25.69,25.60,9.15,20.66
$GC,5311,1.03,244.4,3150,2126,1806,1807,495.7,11.3,269,5318,0.10,2.30,0.00,0.000,4612,0.219,0.074,3125,591,1806,1806,1807,0,0,0,0,0,0,26.04,26.17,26.11,9.14,20.90
$GC,5411,0.93,244.4,3125,592,1806,1806,485.7,11.4,272,5417,0.15,2.22,0.00,0.000,5126,0.191,0.065,3079,2142,1806,1806,1807,0,0,0,0,0,0,26.01,26.33,26.18,9.15,21.05
$GC,5731,1.00,297.6,3079,2143,1806,1805,457.5,8.5,283,5778,0.00,2.45,39.88,0.839,8708,0.000,0.079,3089,585,1624,1620,1629,0,0,0,0,0,0,26.76,25.43,24.77,9.14,22.00
$GC,5880,1.00,297.6,3089,585,1620,1628,442.2,10.9,288,5885,0.00,2.25,0.00,0.000,1030,0.000,0.067,3089,2128,1624,1620,1628,0,0,0,0,0,0,26.07,26.01,26.09,9.13,21.13
$GC,6207,1.00,297.6,3089,2129,1620,1628,403.4,11.8,299,6213,0.00,2.30,0.00,0.000,516,0.000,0.077,3101,594,1623,1619,1627,0,0,0,0,0,0,26.65,26.28,26.65,9.13,22.12
$GC,6280,1.00,297.6,3100,594,1620,1627,396.0,12.1,301,6285,0.00,2.20,0.00,0.000,1030,0.000,0.065,3101,2126,1623,1620,1627,0,0,0,0,0,0,26.45,26.39,26.46,9.14,22.19
$GC,6598,0.95,297.6,3100,2126,1620,1627,354.2,12.8,312,6604,0.00,2.30,0.00,0.000,516,0.000,0.077,3112,583,1623,1620,1627,0,0,0,0,0,0,26.81,26.41,26.82,9.13,22.27
$GC,6680,0.89,297.6,3112,583,1620,1626,346.2,13.3,314,6688,0.15,2.20,0.00,0.000,5126,0.191,0.067,3065,2128,1623,1620,1626,0,0,0,0,0,0,26.13,26.50,26.29,9.14,22.12
$GC,6988,0.89,297.6,3064,2128,1620,1626,308.0,11.3,325,6993,0.00,2.30,0.00,0.000,516,0.000,0.077,3074,583,1623,1620,1626,0,0,0,0,0,0,26.89,26.45,26.90,9.14,22.23
$GC,7060,0.89,297.6,3075,583,1620,1625,300.4,11.7,327,7065,0.00,2.20,0.00,0.000,1030,0.000,0.065,3075,2129,1623,1621,1626,0,0,0,0,0,0,26.62,26.56,26.64,9.14,22.04
$GC,7378,0.89,297.6,3074,2130,1620,1626,259.7,12.6,343,7384,0.00,2.28,0.00,0.000,516,0.000,0.077,3087,589,1623,1620,1626,0,0,0,0,0,0,26.94,26.47,26.95,9.14,21.92
$GC,7445,0.89,297.6,3086,589,1620,1626,252.1,12.8,346,7450,0.00,2.20,0.00,0.000,1030,0.000,0.067,3087,2117,1623,1620,1626,0,0,0,0,0,0,26.61,26.58,26.62,9.14,22.16
$GC,7758,0.89,297.6,3086,2117,1620,1626,210.4,13.0,362,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2117,1623,1620,1626,0,0,0,0,0,0,26.97,26.98,26.98,9.14,21.96
$GC,8057,0.89,297.6,3087,2117,1620,1626,171.6,12.9,377,8062,0.00,2.28,0.00,0.000,516,0.000,0.079,3098,586,1623,1620,1626,0,0,0,0,0,0,26.99,26.46,27.01,9.14,22.08
$GC,8141,0.89,297.6,3097,585,1619,1626,160.6,13.6,381,8146,0.10,2.20,0.00,0.000,5126,0.204,0.067,3067,2134,1623,1620,1626,0,0,0,0,0,0,26.26,26.59,26.38,9.14,21.56
$GC,8449,0.89,297.6,3066,2134,1620,1626,122.1,12.3,407,8458,0.00,2.30,0.00,0.000,516,0.000,0.077,3077,583,1623,1620,1626,0,0,0,0,0,0,27.01,26.46,27.02,9.14,22.08
$GC,8513,0.89,297.6,3077,583,1620,1626,114.3,12.9,413,8521,0.00,2.20,0.00,0.000,1030,0.000,0.067,3077,2117,1623,1620,1626,0,0,0,0,0,0,26.65,26.61,26.66,9.15,21.92
$GC,8823,0.89,297.6,3077,2117,1620,1626,73.4,12.8,444,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2117,1623,1620,1626,0,0,0,0,0,0,27.03,27.04,27.04,9.15,21.45
$GC,9121,0.99,379.8,3077,2117,1620,1626,42.5,7.7,474,9185,0.00,2.40,58.20,0.593,8452,0.000,0.087,3076,3679,1340,1333,1348,0,0,0,0,0,0,27.04,25.53,25.20,9.17,21.60
$GC,9255,0.99,379.8,3077,3679,1333,1348,30.1,10.9,487,9263,0.00,2.20,0.00,0.000,1030,0.000,0.065,3085,2133,1340,1333,1348,0,0,0,0,0,0,26.11,26.09,26.13,9.15,21.17
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$FINISH,0.9,1.023615
$STATE,9573,end surface coast,CONTROL_FINISHED_OK
$STATE,9573,begin surface
$SM_CCo,9587,86.55,0.559,0,0,927,500.22
$SM_GC,2.52,7.45,0.00,86.55,0.079,0.000,0.559,180,2131,927,-8.03,0.25,500.22,0,0,0,0,0,0,26.32,26.67,24.77
$IRIDIUM_FIX,3220.60,-6436.80,060918,013704
$TT8_MAMPS,0.021721,0.215712
$HUMID,21.96
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,16.5
$24V_AH,24.06,12.534
$10V_AH,10.54,6.945
$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,19.375,77.725,468.250,86.550,157.025,23.226,35.721,149.643,90.250,0.000,19.070,1580.406,5602.539,702.423,2033.499,76.946,0.000,1410.526,0.000,1127.516,0.000,1007.619,0.000
$DEVICE_MAMPS,270.647,86.905,916.227,558.675,166.361,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.749,685.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342516
$DATA_FILE_SIZE,34877,519
$CAP_FILE_SIZE,126498,0
$CFSIZE,2047311872,2036826112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.166,241.67,1
$GPS,060918,071031,3215.985,-6433.539,13,0.8,29,-14.9,0.6,298.1,10,4.5