version: 66.14
glider: 40
mission: 18
dive: 22
start: 9 10 118 14 32 17
data:
$ID,40
$MISSION,18
$DIVE,22
$N_DIVES,0
$STOP_T,9111806
$D_SURF,5
$D_FLARE,5
$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,1860
$T_ABORT,1920
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$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,150
$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,2748
$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,2216
$C_ROLL_CLIMB,2044
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,95
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2510
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$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
$GPS1,100918,142637,3142.0918,-6404.1011,36,0.9,40,-14.9,0.6,75.2,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-55.8
$GPS2,100918,143141,3142.1475,-6404.0786,6,0.8,17,-14.9,0.5,40.1,10,4.5
$SPEED_LIMITS,0.173,0.230
$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,226.6,10145,-20.9,-10.000,-23.48,2226
$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,70,-1.47,-146.6,181,2242,753,823,2.2,0.3,6,212,0.00,0.00,-138.00,0.161,16390,0.000,0.000,182,2242,3016,2975,3057,0,0,0,0,0,0,26.38,25.80,25.63,9.19,19.87
$GC,214,-1.47,-146.6,182,2242,2974,3057,4.9,-3.9,20,229,8.45,2.45,0.00,0.000,2564,0.276,0.074,2269,634,3016,2976,3057,0,0,0,0,0,0,25.45,25.80,25.70,9.41,19.04
$GC,540,-1.32,-146.6,2267,634,2977,3056,53.8,-9.1,52,551,0.17,2.22,0.00,0.000,3078,0.211,0.067,2314,2201,3017,2978,3056,0,0,0,0,0,0,25.91,26.31,26.03,9.43,18.65
$GC,849,-1.25,-146.6,2314,2201,2979,3056,69.4,-5.3,83,851,0.10,0.00,0.00,0.000,2054,0.211,0.000,2346,2201,3017,2979,3056,0,0,0,0,0,0,26.26,26.42,26.37,9.41,19.08
$GC,1150,-1.19,-146.6,2345,2201,2980,3056,81.3,-3.6,113,1159,0.00,2.25,0.00,0.000,260,0.000,0.087,2337,3749,3018,2980,3056,0,0,0,0,0,0,26.82,26.44,26.82,9.39,17.98
$GC,1325,-1.11,-146.6,2336,3749,2980,3056,91.8,-6.9,130,1334,0.17,2.15,0.00,0.000,3078,0.194,0.065,2390,2104,3018,2981,3056,0,0,0,0,0,0,26.22,26.65,26.39,9.37,17.98
$GC,1632,-1.11,-146.6,2389,2104,2981,3056,112.8,-8.2,161,1636,0.00,2.12,0.00,0.000,516,0.000,0.077,2390,640,3018,2981,3056,0,0,0,0,0,0,26.90,26.56,26.91,9.35,18.65
$GC,1725,-1.11,-146.6,2390,640,2981,3056,121.1,-8.9,170,1734,0.00,2.22,0.00,0.000,1030,0.000,0.067,2381,2228,3018,2981,3056,0,0,0,0,0,0,26.69,26.64,26.71,9.35,18.22
$GC,2037,-1.11,-146.6,2381,2228,2981,3056,148.7,-8.7,201,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2228,3018,2981,3056,0,0,0,0,0,0,26.95,26.96,26.96,9.33,18.41
$GC,2355,-1.11,-146.6,2381,2228,2981,3056,179.2,-9.9,218,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2228,3018,2981,3056,0,0,0,0,0,0,26.98,26.99,26.98,9.32,19.24
$GC,2655,-1.11,-146.6,2381,2228,2981,3055,210.4,-10.6,233,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2228,3018,2981,3055,0,0,0,0,0,0,27.00,27.01,27.01,9.31,18.97
$GC,2956,-1.11,-146.6,2380,2227,2981,3055,242.7,-10.8,248,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2228,3018,2981,3055,0,0,0,0,0,0,27.01,27.03,27.02,9.30,19.36
$GC,3254,-1.11,-146.6,2381,2228,2981,3053,276.5,-11.6,263,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2227,3017,2981,3053,0,0,0,0,0,0,27.03,27.03,27.03,9.29,19.87
$GC,3565,-1.11,-146.6,2381,2227,2981,3052,313.0,-12.0,277,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2228,3016,2981,3052,0,0,0,0,0,0,27.03,27.05,27.04,9.29,20.23
$GC,3864,-1.11,-146.6,2381,2228,2980,3051,349.4,-12.3,287,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2228,3015,2980,3051,0,0,0,0,0,0,27.04,27.05,27.05,9.29,21.13
$GC,4165,-1.11,-146.6,2381,2228,2981,3050,386.1,-12.1,297,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2228,3015,2981,3050,0,0,0,0,0,0,27.05,27.06,27.05,9.28,21.21
$GC,4464,-1.11,-146.6,2381,2228,2980,3049,422.5,-12.2,307,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2228,3015,2981,3049,0,0,0,0,0,0,27.05,27.07,27.06,9.28,20.93
$GC,4765,-1.11,-146.6,2381,2228,2980,3048,458.1,-11.7,317,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2228,3014,2981,3048,0,0,0,0,0,0,27.06,27.07,27.07,9.27,20.74
$GC,5064,-1.11,-146.6,2381,2228,2981,3047,494.0,-12.0,327,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2227,3014,2981,3047,0,0,0,0,0,0,27.06,27.08,27.07,9.25,21.29
$GC,5365,-1.11,-146.6,2381,2228,2981,3046,531.0,-12.6,337,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2228,3013,2981,3046,0,0,0,0,0,0,27.06,27.08,27.08,9.24,21.01
$STATE,5453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5453,begin apogee
$GC,5457,-0.31,0.0,2381,1943,2981,3045,542.3,-12.6,340,5576,0.80,0.05,109.62,0.921,10246,0.164,0.097,2646,2037,2510,2500,2521,0,0,0,0,0,0,26.27,24.72,24.25,9.24,21.09
$STATE,5577,end apogee,CONTROL_FINISHED_OK
$STATE,5577,begin climb
$GC,5579,1.47,146.6,2646,2037,2500,2521,547.6,0.0,344,5696,1.60,0.00,111.78,0.906,10246,0.117,0.000,3207,2037,2005,2002,2008,0,0,0,0,0,0,25.18,24.74,24.11,9.19,20.19
$GC,5995,1.38,146.6,3206,2037,2002,2006,507.4,12.0,358,6001,0.00,2.38,0.00,0.000,516,0.000,0.079,3219,462,2004,2003,2006,0,0,0,0,0,0,26.44,26.11,26.45,9.14,21.53
$GC,6104,1.28,146.6,3218,462,2003,2005,495.9,12.7,361,6109,0.20,2.28,0.00,0.000,5126,0.209,0.065,3162,2055,2004,2002,2006,0,0,0,0,0,0,25.91,26.29,26.12,9.14,21.25
$GC,6409,1.28,146.6,3161,2055,2002,2005,460.6,10.4,371,6413,0.00,2.38,0.00,0.000,516,0.000,0.077,3173,495,2003,2002,2004,0,0,0,0,0,0,26.72,26.38,26.74,9.14,21.17
$GC,6484,1.22,146.6,3172,468,2002,2004,453.9,10.8,373,6489,0.10,2.25,0.00,0.000,5126,0.214,0.065,3144,2053,2003,2002,2004,0,0,0,0,0,0,26.19,26.48,26.34,9.14,21.13
$GC,6797,1.23,150.2,3143,2053,2002,2004,421.0,9.8,384,6802,0.00,0.00,3.62,0.492,8198,0.000,0.000,3144,2053,1993,1992,1994,0,0,0,0,0,0,26.84,26.22,25.41,9.14,21.96
$GC,7096,1.25,167.0,3144,2053,1992,1994,392.4,9.2,394,7115,0.00,2.40,14.00,0.760,8708,0.000,0.079,3154,462,1934,1931,1937,0,0,0,0,0,0,26.86,25.92,25.43,9.14,21.01
$GC,7281,1.20,167.0,3154,462,1931,1936,374.2,10.8,400,7285,0.00,2.25,0.00,0.000,1030,0.000,0.065,3154,2045,1933,1931,1936,0,0,0,0,0,0,26.48,26.42,26.48,9.14,21.05
$GC,7602,1.20,167.0,3154,2045,1931,1936,339.6,10.4,411,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2045,1933,1931,1935,0,0,0,0,0,0,26.82,26.84,26.83,9.14,21.60
$GC,7902,1.20,167.0,3154,2045,1931,1935,307.2,11.1,421,7907,0.00,2.35,0.00,0.000,516,0.000,0.079,3166,465,1933,1931,1935,0,0,0,0,0,0,26.89,26.52,26.90,9.14,21.33
$GC,7972,1.15,167.0,3166,465,1931,1935,299.7,11.6,423,7978,0.17,2.25,0.00,0.000,5126,0.199,0.065,3113,2058,1932,1931,1934,0,0,0,0,0,0,26.22,26.61,26.41,9.14,21.17
$GC,8279,1.15,167.0,3113,2058,1931,1935,266.9,10.8,438,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2058,1932,1931,1934,0,0,0,0,0,0,26.94,26.96,26.95,9.14,21.45
$GC,8579,1.15,167.0,3113,2058,1930,1934,233.5,11.7,453,8586,0.00,2.35,0.00,0.000,516,0.000,0.079,3123,471,1932,1931,1934,0,0,0,0,0,0,26.98,26.58,26.98,9.14,21.21
$GC,8700,1.15,167.0,3123,471,1931,1934,218.8,12.5,459,8706,0.00,2.22,0.00,0.000,1030,0.000,0.065,3123,2049,1932,1931,1934,0,0,0,0,0,0,26.74,26.69,26.76,9.14,20.93
$GC,9020,1.15,167.0,3123,2049,1931,1934,180.1,12.1,475,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2050,1932,1931,1934,0,0,0,0,0,0,27.00,27.01,27.01,9.14,20.90
$GC,9320,1.15,167.0,3123,2050,1931,1934,143.8,12.4,492,9330,0.00,2.35,0.00,0.000,516,0.000,0.079,3135,461,1932,1931,1934,0,0,0,0,0,0,27.02,26.62,27.03,9.15,21.01
$GC,9383,1.15,167.0,3135,461,1931,1934,136.2,12.9,498,9392,0.00,2.25,0.00,0.000,1030,0.000,0.065,3135,2061,1932,1931,1934,0,0,0,0,0,0,26.77,26.72,26.79,9.15,21.53
$GC,9693,1.15,167.0,3135,2061,1931,1934,95.3,13.3,529,9702,0.00,2.35,0.00,0.000,516,0.000,0.079,3148,473,1932,1931,1934,0,0,0,0,0,0,27.03,26.62,27.04,9.16,21.49
$GC,9815,1.15,167.0,3147,473,1931,1934,79.9,13.3,541,9825,0.10,2.22,0.00,0.000,5126,0.214,0.065,3119,2064,1932,1930,1934,0,0,0,0,0,0,26.39,26.73,26.54,9.16,21.21
$GC,10125,1.15,167.0,3118,2064,1931,1934,50.6,10.6,572,10129,0.00,2.25,0.00,0.000,260,0.000,0.084,3119,3599,1932,1931,1934,0,0,0,0,0,0,27.04,26.60,27.05,9.18,21.09
$GC,10177,1.16,179.2,3119,3599,1931,1934,46.0,9.4,577,10192,0.00,2.17,10.02,0.544,9222,0.000,0.065,3127,2006,1892,1890,1895,0,0,0,0,0,0,26.82,26.77,25.76,9.19,21.17
$GC,10499,1.29,285.4,3126,2006,1890,1895,26.1,5.1,609,10582,0.05,2.45,74.62,0.581,10500,0.189,0.084,3171,3591,1527,1521,1533,0,0,0,0,0,0,26.74,25.51,25.01,9.22,21.45
$STATE,10694,end climb,SURFACE_DEPTH_REACHED
$STATE,10694,begin surface coast
$FINISH,3.6,1.023677
$STATE,10708,end surface coast,CONTROL_FINISHED_OK
$STATE,10708,begin surface
$SM_CCo,10725,153.77,0.554,0,0,788,500.22
$SM_GC,3.30,7.75,1.98,153.77,0.079,0.062,0.554,187,2191,788,-7.89,2.63,500.22,0,0,0,0,0,0,26.09,26.15,24.66
$IRIDIUM_FIX,3143.04,-6402.35,100918,112005
$TT8_MAMPS,0.021721,0.212716
$HUMID,21.05
$INTERNAL_PRESSURE,9.13508
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,16.3
$24V_AH,24.11,16.454
$10V_AH,10.59,8.594
$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,19.675,54.850,323.675,153.775,138.000,24.259,37.968,152.329,0.250,0.000,17.831,1883.474,7106.059,651.157,1497.898,66.821,0.000,1323.432,0.000,1231.558,0.000,6.555,0.000
$DEVICE_MAMPS,275.613,96.837,921.193,553.709,161.395,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,425.620,831.630,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342380
$DATA_FILE_SIZE,41562,629
$CAP_FILE_SIZE,95304,0
$CFSIZE,2047311872,2034794496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152,16.60,1
$GPS,100918,173446,3141.983,-6404.553,16,0.8,29,-14.9,0.4,165.2,9,5.0