version: 66.14
glider: 40
mission: 18
dive: 23
start: 9 10 118 17 40 59
data:
$ID,40
$MISSION,18
$DIVE,23
$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,113
$R_STBD_OVSHOOT,80
$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
$GPS1,100918,173446,3141.9827,-6404.5527,16,0.8,29,-14.9,0.4,165.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-54.1
$GPS2,100918,174023,3142.0273,-6404.5195,5,0.8,37,-14.9,0.4,136.6,9,5.0
$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,231.2,9419,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,70,-1.47,-146.6,186,2185,752,825,2.2,0.1,6,213,0.00,0.00,-139.07,0.161,16390,0.000,0.000,186,2185,3016,2975,3058,0,0,0,0,0,0,26.49,25.89,25.71,9.21,20.15
$GC,215,-1.47,-146.6,186,2185,2976,3058,4.3,-2.6,20,230,8.35,2.25,0.00,0.000,2564,0.273,0.072,2275,682,3017,2976,3058,0,0,0,0,0,0,25.50,25.89,25.77,9.44,20.03
$GC,450,-1.32,-146.6,2274,682,2979,3057,40.6,-9.5,43,455,0.20,2.17,0.00,0.000,3078,0.214,0.067,2323,2218,3017,2978,3056,0,0,0,0,0,0,25.88,26.32,26.10,9.46,19.16
$GC,763,-1.24,-146.6,2323,2218,2980,3057,58.2,-3.9,74,772,0.00,2.22,0.00,0.000,516,0.000,0.074,2324,685,3018,2980,3057,0,0,0,0,0,0,26.76,26.44,26.77,9.44,18.85
$GC,828,-1.13,-146.6,2323,685,2980,3057,61.4,-5.3,80,836,0.22,2.15,0.00,0.000,3078,0.191,0.067,2383,2226,3018,2980,3057,0,0,0,0,0,0,26.11,26.52,26.30,9.44,18.97
$GC,1136,-1.13,-146.6,2383,2226,2981,3057,74.5,-5.0,111,1145,0.00,2.22,0.00,0.000,260,0.000,0.084,2375,3748,3019,2981,3057,0,0,0,0,0,0,26.87,26.48,26.88,9.42,18.77
$GC,1402,-1.13,-146.6,2374,3748,2982,3057,89.1,-5.4,137,1409,0.00,2.10,0.00,0.000,1030,0.000,0.067,2374,2170,3019,2982,3057,0,0,0,0,0,0,26.72,26.72,26.73,9.40,18.45
$GC,1710,-1.13,-146.6,2374,2169,2982,3056,109.6,-7.4,168,1719,0.00,2.33,0.00,0.000,260,0.000,0.084,2363,3754,3019,2981,3057,0,0,0,0,0,0,26.96,26.56,26.97,9.38,18.61
$GC,1752,-1.13,-146.6,2361,3754,2982,3057,113.0,-7.8,172,1756,0.00,2.03,0.00,0.000,1030,0.000,0.067,2362,2279,3019,2982,3056,0,0,0,0,0,0,26.79,26.76,26.79,9.38,18.53
$GC,2064,-1.13,-146.6,2362,2207,2982,3057,141.3,-9.2,203,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2207,3019,2982,3057,0,0,0,0,0,0,26.99,27.01,27.01,9.36,19.01
$GC,2375,-1.13,-146.6,2362,2207,2982,3057,173.4,-10.8,223,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2207,3019,2982,3056,0,0,0,0,0,0,27.01,27.03,27.03,9.34,19.28
$GC,2673,-1.13,-146.6,2362,2207,2982,3056,206.5,-11.1,238,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2207,3019,2982,3056,0,0,0,0,0,0,27.03,27.05,27.04,9.33,19.87
$GC,2973,-1.13,-146.6,2362,2207,2982,3055,240.3,-11.4,253,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2208,3018,2982,3055,0,0,0,0,0,0,27.04,27.05,27.05,9.33,19.95
$GC,3273,-1.13,-146.6,2362,2207,2982,3054,276.5,-12.0,268,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2207,3018,2982,3054,0,0,0,0,0,0,27.05,27.06,27.06,9.32,21.21
$GC,3593,-1.13,-146.6,2362,2207,2982,3053,314.1,-11.5,282,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2207,3017,2982,3053,0,0,0,0,0,0,27.06,27.07,27.07,9.31,20.93
$GC,3893,-1.13,-146.6,2362,2207,2982,3052,351.0,-12.5,292,3899,0.00,2.28,0.00,0.000,260,0.000,0.084,2351,3754,3017,2982,3052,0,0,0,0,0,0,27.06,26.63,27.07,9.30,20.78
$GC,3961,-1.13,-146.6,2350,3754,2981,3051,358.8,-12.6,294,3967,0.08,2.03,0.00,0.000,3078,0.196,0.065,2384,2209,3017,2982,3052,0,0,0,0,0,0,26.42,26.85,26.56,9.31,21.13
$GC,4284,-1.13,-146.6,2384,2209,2981,3050,398.5,-12.0,305,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2209,3016,2982,3050,0,0,0,0,0,0,27.07,27.08,27.08,9.30,20.86
$GC,4584,-1.13,-146.6,2383,2209,2982,3049,434.1,-11.7,315,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2209,3015,2982,3049,0,0,0,0,0,0,27.07,27.08,27.08,9.29,21.41
$GC,4884,-1.13,-146.6,2383,2209,2982,3048,469.6,-11.9,325,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2208,3014,2982,3047,0,0,0,0,0,0,27.07,27.09,27.08,9.28,21.53
$GC,5184,-1.13,-146.6,2383,2209,2982,3047,504.2,-11.6,335,5188,0.00,2.28,0.00,0.000,260,0.000,0.084,2375,3753,3014,2982,3047,0,0,0,0,0,0,27.08,26.62,27.08,9.27,21.41
$GC,5233,-1.13,-146.6,2374,3753,2982,3047,508.2,-11.8,336,5238,0.00,2.03,0.00,0.000,1030,0.000,0.065,2375,2238,3014,2981,3047,0,0,0,0,0,0,26.86,26.86,26.88,9.27,21.13
$STATE,5484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5484,begin apogee
$GC,5489,-0.31,0.0,2374,2031,2982,3046,541.3,-12.3,345,5606,0.82,0.00,110.22,0.914,10246,0.164,0.000,2647,2029,2510,2500,2521,0,0,0,0,0,0,26.20,24.77,24.30,9.26,21.17
$STATE,5607,end apogee,CONTROL_FINISHED_OK
$STATE,5608,begin climb
$GC,5609,1.47,146.6,2647,2029,2500,2521,545.6,0.0,349,5727,1.60,0.00,111.80,0.901,10246,0.117,0.000,3207,2030,2004,2002,2007,0,0,0,0,0,0,25.21,24.82,24.20,9.21,20.58
$GC,6027,1.38,146.6,3207,2029,2002,2006,505.1,11.2,363,6032,0.00,2.20,0.00,0.000,516,0.000,0.077,3219,553,2004,2002,2006,0,0,0,0,0,0,26.50,26.17,26.51,9.15,20.74
$GC,6169,1.28,146.6,3218,554,2002,2006,491.4,11.4,367,6177,0.20,2.10,0.00,0.000,5126,0.211,0.065,3162,2044,2004,2002,2006,0,0,0,0,0,0,25.94,26.37,26.16,9.15,21.72
$GC,6477,1.30,166.5,3161,2044,2002,2004,461.3,9.1,378,6494,0.00,0.00,15.85,0.795,8198,0.000,0.000,3162,2044,1936,1934,1938,0,0,0,0,0,0,26.78,25.97,25.32,9.14,21.09
$GC,6776,1.30,166.5,3161,2044,1934,1937,432.3,10.2,388,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2044,1935,1934,1937,0,0,0,0,0,0,26.70,26.72,26.72,9.14,21.17
$GC,7076,1.30,166.5,3161,2044,1934,1937,400.1,10.9,398,7080,0.00,2.20,0.00,0.000,516,0.000,0.079,3172,551,1935,1934,1937,0,0,0,0,0,0,26.83,26.47,26.84,9.14,21.41
$GC,7146,1.25,166.5,3171,550,1934,1936,392.9,11.2,400,7150,0.00,2.10,0.00,0.000,1030,0.000,0.065,3172,2039,1935,1934,1936,0,0,0,0,0,0,26.62,26.57,26.64,9.14,21.37
$GC,7468,1.18,166.5,3170,2040,1934,1935,354.2,11.9,411,7475,0.12,2.20,0.00,0.000,4612,0.214,0.074,3142,552,1934,1934,1935,0,0,0,0,0,0,26.29,26.45,26.37,9.14,21.72
$GC,7541,1.13,166.5,3141,552,1934,1935,347.2,11.9,413,7546,0.10,2.10,0.00,0.000,5126,0.211,0.065,3113,2058,1934,1934,1935,0,0,0,0,0,0,26.32,26.64,26.46,9.14,21.56
$GC,7859,1.13,167.0,3112,2058,1934,1935,313.7,10.0,424,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2058,1934,1934,1935,0,0,0,0,0,0,26.96,26.98,26.97,9.15,22.51
$GC,8169,1.13,167.0,3112,2058,1934,1934,281.3,10.4,437,8173,0.00,2.22,0.00,0.000,516,0.000,0.077,3122,549,1933,1933,1934,0,0,0,0,0,0,26.99,26.60,27.00,9.15,22.27
$GC,8278,1.13,167.0,3122,549,1934,1934,270.5,11.0,442,8287,0.00,2.08,0.00,0.000,1030,0.000,0.065,3122,2038,1934,1934,1934,0,0,0,0,0,0,26.76,26.71,26.77,9.15,22.08
$GC,8585,1.13,167.0,3121,2038,1934,1934,234.5,11.6,458,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2038,1934,1934,1934,0,0,0,0,0,0,27.01,27.03,27.03,9.16,22.19
$GC,8885,1.13,167.0,3121,2038,1934,1934,199.2,12.4,473,8889,0.00,2.20,0.00,0.000,516,0.000,0.077,3133,545,1934,1934,1934,0,0,0,0,0,0,27.03,26.62,27.04,9.16,21.68
$GC,8984,1.13,167.0,3133,545,1934,1934,187.2,12.8,478,8989,0.00,2.12,0.00,0.000,1030,0.000,0.065,3133,2044,1934,1934,1934,0,0,0,0,0,0,26.75,26.73,26.77,9.16,21.88
$GC,9293,1.13,167.0,3133,2044,1934,1934,148.2,12.6,494,9303,0.00,2.17,0.00,0.000,516,0.000,0.079,3145,558,1934,1934,1934,0,0,0,0,0,0,27.04,26.62,27.05,9.16,21.72
$GC,9376,1.13,167.0,3144,558,1934,1933,137.6,12.4,502,9386,0.10,2.10,0.00,0.000,5126,0.216,0.065,3116,2062,1933,1934,1933,0,0,0,0,0,0,26.37,26.73,26.51,9.16,21.53
$GC,9686,1.13,167.0,3116,2062,1933,1934,100.8,11.8,533,9690,0.00,2.22,0.00,0.000,516,0.000,0.077,3125,549,1934,1934,1934,0,0,0,0,0,0,27.05,26.62,27.06,9.17,21.56
$GC,9729,1.13,167.0,3125,549,1933,1934,96.3,11.0,537,9738,0.00,2.10,0.00,0.000,1030,0.000,0.065,3125,2038,1934,1934,1934,0,0,0,0,0,0,26.77,26.74,26.79,9.17,21.45
$GC,10038,1.13,170.3,3125,2038,1934,1934,60.8,9.8,568,10047,0.00,0.00,4.18,0.422,8198,0.000,0.000,3125,2038,1922,1921,1923,0,0,0,0,0,0,27.05,26.31,25.58,9.18,21.80
$GC,10347,1.24,254.0,3125,2037,1921,1922,33.4,6.2,599,10417,0.00,2.28,59.28,0.586,8708,0.000,0.077,3135,549,1634,1629,1639,0,0,0,0,0,0,27.03,25.55,25.20,9.20,21.49
$GC,10614,1.24,254.0,3134,549,1629,1638,11.0,10.6,625,10622,0.00,2.15,0.00,0.000,1030,0.000,0.065,3135,2045,1634,1629,1639,0,0,0,0,0,0,26.30,26.27,26.32,9.22,22.04
$STATE,10670,end climb,SURFACE_DEPTH_REACHED
$STATE,10670,begin surface coast
$FINISH,2.0,1.006840
$STATE,10711,end surface coast,CONTROL_FINISHED_OK
$STATE,10711,begin surface
$SM_CCo,10726,175.65,0.554,0,0,787,500.22
$SM_GC,2.88,7.50,0.20,175.65,0.074,0.094,0.554,176,2262,787,-7.93,-1.98,500.22,0,0,0,0,0,0,26.36,26.41,24.71
$IRIDIUM_FIX,3143.04,-6402.35,100918,142751
$TT8_MAMPS,0.02247,0.220206
$HUMID,21.01
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,24.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.3
$24V_AH,24.20,16.571
$10V_AH,10.53,8.652
$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,19.300,60.950,301.325,175.650,139.075,25.386,39.073,160.105,0.250,0.000,38.555,1910.222,7054.995,676.878,1551.462,68.247,0.000,1354.872,0.000,1250.737,0.000,5.863,0.000
$DEVICE_MAMPS,273.130,109.252,913.744,553.709,161.395,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.542,839.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342432
$DATA_FILE_SIZE,45146,635
$CAP_FILE_SIZE,97709,0
$CFSIZE,2047311872,2034696192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151,22.93,1
$GPS,100918,204405,3141.958,-6405.100,41,0.8,44,-14.9,0.5,41.4,9,5.0