version: 66.14
glider: 40
mission: 18
dive: 24
start: 9 10 118 20 49 52
data:
$ID,40
$MISSION,18
$DIVE,24
$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,145
$R_STBD_OVSHOOT,111
$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
$GPS1,100918,204405,3141.9578,-6405.1001,41,0.8,44,-14.9,0.5,41.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-53.1
$GPS2,100918,204914,3141.9985,-6405.0952,5,0.8,15,-14.9,0.0,329.3,9,4.9
$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,233.7,8571,-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,4,begin dive
$GC,70,-1.47,-146.6,169,2265,756,821,0.7,3.8,6,212,0.00,0.00,-138.10,0.161,16390,0.000,0.000,169,2265,3016,2977,3056,0,0,0,0,0,0,26.51,25.89,25.71,9.23,20.90
$GC,214,-1.47,-146.6,169,2265,2977,3057,4.2,-2.5,20,229,8.48,2.30,0.00,0.000,2564,0.276,0.072,2270,723,3017,2978,3057,0,0,0,0,0,0,25.51,25.90,25.79,9.46,20.42
$GC,853,-1.32,-146.6,2269,723,2981,3056,59.9,-3.9,83,862,0.17,2.05,0.00,0.000,3078,0.211,0.067,2316,2199,3019,2981,3057,0,0,0,0,0,0,26.04,26.53,26.16,9.45,19.16
$GC,1163,-1.23,-146.6,2316,2199,2982,3056,73.6,-3.4,114,1167,0.10,2.15,0.00,0.000,2564,0.219,0.074,2352,730,3019,2982,3056,0,0,0,0,0,0,26.37,26.48,26.43,9.43,19.44
$GC,1397,-1.16,-146.6,2351,710,2982,3056,87.7,-7.1,137,1408,0.10,2.10,0.00,0.000,3078,0.206,0.067,2373,2231,3019,2982,3056,0,0,0,0,0,0,26.33,26.64,26.47,9.41,19.36
$GC,1707,-1.16,-146.6,2373,2231,2982,3056,111.2,-8.5,168,1711,0.00,2.20,0.00,0.000,260,0.000,0.084,2364,3743,3019,2982,3056,0,0,0,0,0,0,26.98,26.55,26.98,9.39,19.04
$GC,1801,-1.11,-146.6,2363,3743,2982,3056,120.0,-9.8,177,1809,0.00,2.00,0.00,0.000,1030,0.000,0.067,2364,2204,3019,2982,3056,0,0,0,0,0,0,26.80,26.77,26.81,9.39,18.69
$GC,2111,-1.11,-146.6,2363,2204,2983,3056,149.5,-9.5,208,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2204,3019,2982,3056,0,0,0,0,0,0,27.01,27.02,27.02,9.37,19.08
$GC,2419,-1.11,-146.6,2363,2204,2982,3056,179.5,-10.3,224,2425,0.00,2.12,0.00,0.000,516,0.000,0.074,2364,720,3019,2982,3056,0,0,0,0,0,0,27.03,26.65,27.04,9.35,19.83
$GC,2502,-1.05,-146.6,2363,720,2982,3055,187.9,-10.5,228,2507,0.15,2.08,0.00,0.000,3078,0.189,0.065,2411,2198,3019,2982,3056,0,0,0,0,0,0,26.25,26.73,26.43,9.35,19.56
$GC,2820,-1.05,-146.6,2410,2198,2982,3055,218.9,-9.9,244,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2199,3018,2982,3055,0,0,0,0,0,0,27.04,27.06,27.05,9.34,19.95
$GC,3119,-1.05,-146.6,2410,2198,2982,3054,249.2,-10.2,259,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2199,3018,2982,3054,0,0,0,0,0,0,27.05,27.07,27.07,9.33,21.09
$GC,3419,-1.05,-146.6,2410,2198,2982,3053,280.2,-10.5,274,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2198,3017,2982,3053,0,0,0,0,0,0,27.06,27.08,27.07,9.33,21.17
$GC,3739,-1.05,-146.6,2410,2198,2982,3052,313.9,-10.6,288,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2198,3016,2982,3051,0,0,0,0,0,0,27.07,27.08,27.08,9.32,21.05
$GC,4039,-1.05,-146.6,2410,2198,2982,3050,346.7,-11.1,298,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2199,3016,2982,3050,0,0,0,0,0,0,27.07,27.08,27.08,9.32,21.64
$GC,4339,-1.05,-146.6,2410,2198,2982,3049,380.7,-11.3,308,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2198,3015,2981,3049,0,0,0,0,0,0,27.08,27.09,27.08,9.31,21.60
$GC,4639,-1.05,-146.6,2410,2198,2982,3048,413.6,-10.8,318,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2198,3015,2982,3048,0,0,0,0,0,0,27.08,27.09,27.09,9.30,21.21
$GC,4939,-1.05,-146.6,2410,2198,2982,3047,446.1,-10.9,328,4944,0.00,2.28,0.00,0.000,260,0.000,0.084,2402,3753,3014,2982,3047,0,0,0,0,0,0,27.08,26.58,27.09,9.29,21.33
$GC,4994,-1.05,-146.6,2401,3753,2982,3048,449.8,-11.0,329,5001,0.00,2.03,0.00,0.000,1030,0.000,0.065,2402,2231,3014,2982,3047,0,0,0,0,0,0,26.86,26.85,26.86,9.29,21.37
$GC,5301,-1.05,-146.6,2401,2231,2982,3046,487.9,-11.5,340,5305,0.00,2.25,0.00,0.000,260,0.000,0.084,2390,3758,3014,2982,3046,0,0,0,0,0,0,27.08,26.58,27.09,9.28,21.41
$GC,5345,-1.05,-146.6,2389,3758,2982,3046,491.2,-11.5,341,5349,0.00,2.08,0.00,0.000,1030,0.000,0.065,2390,2211,3014,2983,3045,0,0,0,0,0,0,26.89,26.84,26.86,9.28,21.37
$GC,5657,-1.05,-146.6,2390,2210,2982,3044,531.7,-12.4,352,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2210,3013,2982,3044,0,0,0,0,0,0,27.08,27.09,27.09,9.26,21.88
$STATE,5746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5746,begin apogee
$GC,5750,-0.31,0.0,2390,2031,2982,3044,542.6,-12.2,355,5868,0.77,0.00,110.20,0.916,10246,0.161,0.000,2647,2029,2509,2499,2520,0,0,0,0,0,0,26.13,24.79,24.30,9.27,21.53
$STATE,5869,end apogee,CONTROL_FINISHED_OK
$STATE,5869,begin climb
$GC,5871,1.47,146.6,2647,2029,2499,2521,547.6,0.0,359,5988,1.60,0.00,111.72,0.904,10246,0.114,0.000,3210,2029,2005,2002,2008,0,0,0,0,0,0,25.24,24.84,24.22,9.21,21.01
$GC,6288,1.38,146.6,3210,2029,2002,2006,508.6,11.4,373,6292,0.00,2.22,0.00,0.000,516,0.000,0.077,3221,538,2004,2002,2006,0,0,0,0,0,0,26.52,26.18,26.53,9.16,21.37
$GC,6470,1.26,146.6,3221,538,2002,2005,487.5,11.4,379,6475,0.22,2.15,0.00,0.000,5126,0.206,0.065,3156,2067,2003,2002,2005,0,0,0,0,0,0,25.94,26.41,26.16,9.15,21.05
$GC,6802,1.31,185.5,3156,2066,2002,2004,458.7,8.2,390,6834,0.00,0.00,29.48,0.832,8198,0.000,0.000,3156,2066,1871,1868,1874,0,0,0,0,0,0,26.82,25.71,25.07,9.16,21.45
$GC,7132,1.31,185.5,3156,2066,1868,1873,425.8,10.2,401,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2066,1871,1868,1874,0,0,0,0,0,0,26.65,26.66,26.66,9.14,21.56
$GC,7432,1.31,185.5,3156,2066,1868,1873,392.8,11.1,411,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2067,1870,1868,1873,0,0,0,0,0,0,26.80,26.82,26.82,9.14,21.60
$GC,7732,1.31,185.5,3156,2066,1868,1873,359.4,11.3,421,7736,0.00,2.25,0.00,0.000,516,0.000,0.079,3167,548,1870,1868,1872,0,0,0,0,0,0,26.89,26.50,26.89,9.14,21.92
$GC,7836,1.25,185.5,3165,548,1868,1872,349.2,11.7,424,7841,0.00,2.10,0.00,0.000,1030,0.000,0.065,3166,2049,1870,1868,1872,0,0,0,0,0,0,26.67,26.62,26.68,9.14,21.96
$GC,8149,1.20,185.5,3166,2049,1868,1871,309.3,12.2,435,8154,0.10,2.22,0.00,0.000,4612,0.223,0.077,3145,544,1870,1868,1872,0,0,0,0,0,0,26.36,26.48,26.42,9.15,21.64
$GC,8211,1.20,185.5,3144,545,1868,1872,301.8,12.1,437,8216,0.00,2.10,0.00,0.000,1030,0.000,0.065,3144,2048,1870,1868,1872,0,0,0,0,0,0,26.72,26.66,26.73,9.15,21.92
$GC,8523,1.20,185.5,3144,2048,1868,1872,263.1,13.0,452,8527,0.00,2.22,0.00,0.000,516,0.000,0.079,3156,542,1870,1868,1872,0,0,0,0,0,0,26.98,26.57,27.00,9.16,21.84
$GC,8584,1.20,185.5,3156,542,1868,1872,254.9,13.4,455,8589,0.00,2.10,0.00,0.000,1030,0.000,0.065,3156,2044,1870,1868,1872,0,0,0,0,0,0,26.74,26.69,26.76,9.15,21.92
$GC,8907,1.20,185.5,3155,2044,1868,1872,211.7,13.3,471,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2044,1869,1867,1872,0,0,0,0,0,0,27.01,27.03,27.02,9.16,21.53
$GC,9206,1.20,185.5,3155,2044,1868,1872,170.9,13.5,486,9210,0.00,2.20,0.00,0.000,516,0.000,0.079,3167,545,1869,1867,1871,0,0,0,0,0,0,27.02,26.58,27.04,9.16,21.68
$GC,9306,1.14,185.5,3167,545,1868,1871,158.0,13.9,491,9311,0.15,2.12,0.00,0.000,5126,0.194,0.065,3109,2061,1870,1868,1872,0,0,0,0,0,0,26.16,26.72,26.36,9.16,21.41
$GC,9613,1.14,185.5,3109,2062,1868,1871,121.7,11.7,518,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2061,1870,1868,1872,0,0,0,0,0,0,27.04,27.05,27.05,9.16,21.72
$GC,9914,1.14,185.5,3109,2062,1868,1872,87.5,10.7,548,9923,0.00,2.25,0.00,0.000,516,0.000,0.077,3119,534,1869,1868,1871,0,0,0,0,0,0,27.05,26.59,27.06,9.17,21.49
$GC,9986,1.14,185.5,3118,534,1868,1872,80.0,10.5,555,9990,0.00,2.10,0.00,0.000,1030,0.000,0.065,3119,2038,1870,1868,1872,0,0,0,0,0,0,26.78,26.73,26.80,9.17,22.23
$GC,10291,1.18,222.2,3118,2038,1868,1872,51.8,8.3,585,10325,0.00,2.22,26.60,0.591,8708,0.000,0.079,3129,546,1744,1741,1748,0,0,0,0,0,0,27.06,26.20,25.63,9.19,21.72
$GC,10364,1.18,222.2,3129,546,1741,1748,44.7,10.0,592,10368,0.00,2.12,0.00,0.000,1030,0.000,0.065,3129,2045,1744,1741,1748,0,0,0,0,0,0,26.44,26.39,26.45,9.18,21.49
$GC,10676,1.23,261.2,3129,2045,1741,1748,20.3,8.2,623,10706,0.00,0.00,28.52,0.566,8198,0.000,0.000,3129,2045,1609,1604,1615,0,0,0,0,0,0,26.83,25.96,25.46,9.23,22.04
$STATE,10834,end climb,SURFACE_DEPTH_REACHED
$STATE,10834,begin surface coast
$FINISH,1.8,1.010701
$STATE,10876,end surface coast,CONTROL_FINISHED_OK
$STATE,10876,begin surface
$SM_CCo,10891,170.40,0.551,0,0,788,500.22
$SM_GC,2.41,7.47,0.20,170.40,0.074,0.104,0.551,183,2300,788,-7.92,-1.98,500.22,0,0,0,0,0,0,26.34,26.36,24.74
$IRIDIUM_FIX,3140.67,-6405.74,100918,173557
$TT8_MAMPS,0.02247,0.244174
$HUMID,21.05
$INTERNAL_PRESSURE,9.16438
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,16.9
$24V_AH,24.22,16.690
$10V_AH,10.52,8.711
$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,19.325,56.325,306.525,170.400,138.100,20.978,20.353,177.440,0.250,0.000,17.343,1958.812,7137.246,652.707,1574.641,71.309,0.000,1344.508,0.000,1302.585,0.000,6.124,0.000
$DEVICE_MAMPS,275.613,121.667,916.227,551.226,161.395,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.819,850.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342376
$DATA_FILE_SIZE,45185,643
$CAP_FILE_SIZE,98787,0
$CFSIZE,2047311872,2034565120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.127,15.79,1
$GPS,100918,235534,3141.821,-6405.840,38,1.0,41,-14.9,0.0,0.0,9,4.8