version: 66.14
glider: 40
mission: 18
dive: 15
start: 9 6 118 18 48 31
data:
$ID,40
$MISSION,18
$DIVE,15
$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,110
$R_STBD_OVSHOOT,66
$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
$GPS1,060918,184311,3211.2393,-6431.8530,40,1.0,61,-14.9,0.0,229.9,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-52.7
$GPS2,060918,184754,3211.2471,-6431.8706,5,1.0,19,-14.9,0.2,291.5,8,4.6
$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,130.6,67360,-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,-244.4,174,2131,893,961,0.0,0.0,0,102,0.00,0.00,-92.25,0.164,16386,0.000,0.000,174,2131,2404,2358,2451,0,0,0,0,0,0,26.34,28.83,26.35,9.21,21.92
$GC,104,-1.29,-244.4,174,2131,2358,2451,3.3,-1.3,9,202,8.73,2.33,-76.88,0.164,18948,0.271,0.072,2358,597,3491,3474,3509,0,0,0,0,0,0,25.46,25.66,25.56,9.37,21.29
$GC,245,-1.13,-244.4,2358,598,3473,3509,12.7,-17.0,23,251,0.20,2.22,0.00,0.000,3078,0.184,0.067,2410,2132,3491,3474,3509,0,0,0,0,0,0,25.65,25.98,25.83,9.50,20.38
$GC,558,-1.13,-244.4,2409,2132,3473,3509,47.8,-10.0,54,563,0.00,2.30,0.00,0.000,260,0.000,0.084,2400,3682,3491,3473,3509,0,0,0,0,0,0,26.60,26.20,26.62,9.50,19.83
$GC,960,-1.13,-244.4,2400,3681,3473,3511,83.5,-8.6,91,978,0.00,2.15,0.00,0.000,1030,0.000,0.067,2400,2112,3492,3473,3511,0,0,0,0,0,0,26.58,26.54,26.57,9.47,19.79
$GC,1438,-1.13,-244.4,2400,2112,3473,3512,130.4,-11.6,122,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2113,3492,3473,3512,0,0,0,0,0,0,26.74,26.76,26.76,9.42,18.69
$GC,1807,-1.13,-244.4,2399,2112,3473,3512,175.5,-12.7,143,1813,0.00,2.30,0.00,0.000,260,0.000,0.084,2389,3679,3492,3473,3512,0,0,0,0,0,0,26.77,26.36,26.77,9.41,18.93
$GC,1871,-1.08,-244.4,2388,3680,3473,3512,183.7,-13.3,145,1877,0.12,2.12,0.00,0.000,3078,0.169,0.067,2431,2105,3492,3473,3512,0,0,0,0,0,0,26.17,26.57,26.25,9.40,18.73
$GC,2189,-1.08,-244.4,2431,2105,3473,3512,222.2,-11.0,161,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2105,3492,3473,3512,0,0,0,0,0,0,26.86,26.88,26.88,9.39,19.20
$GC,2489,-1.08,-244.4,2430,2105,3473,3512,256.3,-11.1,176,2495,0.00,2.35,0.00,0.000,260,0.000,0.084,2421,3691,3492,3473,3512,0,0,0,0,0,0,26.92,26.42,26.93,9.38,19.67
$GC,2537,-1.08,-244.4,2421,3691,3473,3512,260.9,-11.5,178,2541,0.00,2.10,0.00,0.000,1030,0.000,0.065,2421,2129,3492,3473,3512,0,0,0,0,0,0,26.71,26.67,26.72,9.37,19.79
$GC,2849,-1.08,-244.4,2420,2129,3473,3511,299.0,-12.3,194,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2129,3492,3473,3511,0,0,0,0,0,0,26.96,26.98,26.98,9.37,20.03
$GC,3169,-1.08,-244.4,2420,2129,3473,3510,338.4,-12.5,205,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2129,3491,3473,3510,0,0,0,0,0,0,26.98,27.01,27.00,9.36,21.05
$GC,3469,-1.08,-244.4,2420,2129,3473,3509,376.9,-13.1,215,3475,0.00,2.30,0.00,0.000,260,0.000,0.084,2410,3683,3491,3473,3509,0,0,0,0,0,0,27.01,26.44,27.02,9.35,20.62
$GC,3522,-1.08,-244.4,2410,3684,3473,3509,381.0,-13.2,216,3530,0.00,2.15,0.00,0.000,1030,0.000,0.065,2410,2114,3490,3473,3508,0,0,0,0,0,0,26.76,26.74,26.77,9.35,21.53
$GC,3829,-1.08,-244.4,2409,2114,3473,3507,427.2,-14.0,227,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2114,3490,3473,3507,0,0,0,0,0,0,27.02,27.04,27.03,9.34,20.78
$GC,4129,-1.08,-244.4,2409,2114,3473,3507,467.3,-13.0,237,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2113,3490,3473,3507,0,0,0,0,0,0,27.03,27.05,27.05,9.32,21.60
$GC,4429,-1.08,-244.4,2410,2114,3471,3506,506.0,-12.9,247,4436,0.00,2.33,0.00,0.000,260,0.000,0.082,2399,3684,3488,3471,3506,0,0,0,0,0,0,27.05,26.43,27.05,9.32,20.93
$GC,4472,-1.08,-244.4,2398,3684,3470,3507,510.1,-13.2,248,4477,0.10,2.15,0.00,0.000,3078,0.189,0.065,2432,2090,3488,3470,3507,0,0,0,0,0,0,26.39,26.75,26.47,9.32,21.05
$STATE,4698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4698,begin apogee
$GC,4702,-0.31,0.0,2431,2090,3469,3506,540.3,-12.5,256,4890,0.73,0.00,184.62,0.914,10246,0.146,0.000,2681,2088,2649,2645,2653,0,0,0,0,0,0,25.98,24.72,24.08,9.31,21.76
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4893,1.29,244.4,2681,2088,2645,2653,547.9,0.0,262,5092,1.42,2.33,187.45,0.899,10756,0.109,0.077,3196,608,1807,1806,1809,0,0,0,0,0,0,24.94,24.49,24.03,9.22,20.07
$GC,5217,1.13,244.4,3195,608,1806,1809,527.3,12.8,273,5222,0.17,2.22,0.00,0.000,5126,0.199,0.065,3145,2124,1807,1806,1809,0,0,0,0,0,0,25.54,25.82,25.72,9.14,20.34
$GC,5540,1.03,244.4,3145,2124,1806,1808,491.6,10.5,284,5547,0.10,2.28,0.00,0.000,4612,0.211,0.074,3121,596,1807,1806,1808,0,0,0,0,0,0,26.06,26.20,26.13,9.13,20.86
$GC,5683,0.95,244.4,3121,596,1806,1806,479.0,10.3,288,5691,0.12,2.20,0.00,0.000,5126,0.189,0.065,3083,2137,1806,1806,1806,0,0,0,0,0,0,26.09,26.36,26.24,9.13,20.90
$GC,5991,0.96,254.6,3082,2137,1806,1806,447.6,9.7,299,6005,0.00,2.35,8.95,0.725,8708,0.000,0.077,3092,594,1771,1771,1771,0,0,0,0,0,0,26.76,26.14,25.41,9.13,21.76
$GC,6095,0.96,254.6,3092,594,1771,1771,438.7,10.1,302,6099,0.00,2.17,0.00,0.000,1030,0.000,0.065,3092,2121,1771,1772,1771,0,0,0,0,0,0,26.44,26.38,26.45,9.13,21.53
$GC,6407,0.91,254.6,3091,2121,1771,1771,403.9,10.7,313,6411,0.00,2.25,0.00,0.000,516,0.000,0.077,3104,598,1771,1771,1771,0,0,0,0,0,0,26.78,26.41,26.79,9.13,21.56
$GC,6493,0.85,254.6,3104,594,1771,1771,397.2,10.9,315,6501,0.15,2.17,0.00,0.000,5126,0.189,0.065,3056,2126,1771,1771,1771,0,0,0,0,0,0,26.16,26.51,26.33,9.13,21.60
$GC,6798,0.89,285.3,3056,2126,1771,1770,365.2,9.1,326,6829,0.00,2.33,23.45,0.772,8708,0.000,0.077,3065,594,1666,1663,1669,0,0,0,0,0,0,26.86,25.70,25.27,9.13,21.80
$GC,6875,0.94,326.3,3065,594,1663,1669,359.7,8.9,328,6914,0.00,2.22,31.23,0.770,9222,0.000,0.065,3066,2129,1525,1520,1530,0,0,0,0,0,0,26.22,26.17,24.79,9.12,21.56
$GC,7222,0.94,326.3,3065,2129,1520,1530,319.7,11.3,340,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2129,1525,1520,1530,0,0,0,0,0,0,26.52,26.53,26.53,9.11,21.33
$GC,7522,0.94,326.3,3065,2129,1520,1530,283.7,12.5,352,7526,0.00,2.30,0.00,0.000,516,0.000,0.077,3077,592,1525,1520,1530,0,0,0,0,0,0,26.71,26.34,26.72,9.12,21.37
$GC,7623,0.94,326.3,3076,592,1520,1530,270.7,12.6,357,7628,0.00,2.20,0.00,0.000,1030,0.000,0.065,3077,2127,1525,1520,1530,0,0,0,0,0,0,26.50,26.44,26.52,9.12,21.96
$GC,7946,0.94,326.3,3076,2127,1520,1530,229.0,13.0,373,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2127,1525,1521,1530,0,0,0,0,0,0,26.84,26.85,26.84,9.12,21.80
$GC,8245,0.94,326.3,3075,2127,1520,1530,190.2,13.5,388,8251,0.00,2.28,0.00,0.000,516,0.000,0.077,3088,596,1525,1520,1530,0,0,0,0,0,0,26.89,26.47,26.90,9.12,21.45
$GC,8318,0.94,326.3,3087,596,1520,1529,182.3,13.0,391,8325,0.00,2.17,0.00,0.000,1030,0.000,0.065,3088,2123,1525,1520,1530,0,0,0,0,0,0,26.63,26.56,26.65,9.12,21.45
$GC,8625,0.94,326.3,3087,2123,1520,1530,137.0,14.6,411,8635,0.00,2.25,0.00,0.000,516,0.000,0.077,3098,604,1525,1520,1530,0,0,0,0,0,0,26.94,26.50,26.95,9.13,21.53
$GC,8677,0.94,326.3,3097,604,1520,1530,129.2,15.1,416,8687,0.00,2.17,0.00,0.000,1030,0.000,0.065,3098,2130,1525,1520,1530,0,0,0,0,0,0,26.65,26.59,26.67,9.13,21.21
$GC,8987,0.94,326.3,3097,2130,1520,1530,84.7,14.3,447,8991,0.00,2.28,0.00,0.000,516,0.000,0.077,3108,594,1525,1520,1530,0,0,0,0,0,0,26.96,26.51,26.98,9.13,21.41
$GC,9036,0.94,326.3,3108,594,1520,1529,78.3,13.8,451,9043,0.00,2.20,0.00,0.000,1030,0.000,0.067,3109,2123,1525,1520,1530,0,0,0,0,0,0,26.64,26.61,26.69,9.13,21.13
$GC,9343,0.94,326.3,3108,2123,1520,1530,39.8,11.9,482,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2123,1525,1520,1530,0,0,0,0,0,0,26.98,27.01,27.00,9.14,21.53
$GC,9644,1.02,387.1,3108,2123,1520,1530,16.0,8.3,512,9693,0.00,0.00,43.90,0.569,8198,0.000,0.000,3108,2123,1315,1307,1324,0,0,0,0,0,0,27.01,25.73,25.41,9.19,22.08
$STATE,9762,end climb,SURFACE_DEPTH_REACHED
$STATE,9762,begin surface coast
$FINISH,2.0,1.023591
$STATE,9783,end surface coast,CONTROL_FINISHED_OK
$STATE,9783,begin surface
$SM_CCo,9797,81.90,0.556,0,0,926,500.22
$SM_GC,2.45,7.45,0.00,81.90,0.074,0.000,0.556,203,2125,926,-7.97,0.08,500.22,0,0,0,0,0,0,26.20,26.48,24.75
$IRIDIUM_FIX,3211.24,-6433.29,060918,154858
$TT8_MAMPS,0.021721,0.246421
$HUMID,21.80
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,16.8
$24V_AH,24.03,13.329
$10V_AH,10.46,7.289
$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,19.300,67.175,479.600,81.900,169.125,23.460,16.103,150.650,94.750,0.000,20.606,1594.664,5720.924,730.252,2062.794,75.428,0.000,1422.812,0.000,1144.589,0.000,1053.969,0.000
$DEVICE_MAMPS,270.647,84.422,913.744,556.192,163.878,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.254,695.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342436
$DATA_FILE_SIZE,38274,526
$CAP_FILE_SIZE,126698,0
$CFSIZE,2047311872,2036170752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165,271.04,1
$GPS,060918,213506,3210.319,-6431.578,35,1.0,76,-14.9,0.0,272.2,7,3.0