version: 66.14
glider: 40
mission: 18
dive: 25
start: 9 11 118 0 1 43
data:
$ID,40
$MISSION,18
$DIVE,25
$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,137
$R_STBD_OVSHOOT,75
$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
$GPS1,100918,235534,3141.8208,-6405.8403,38,1.0,41,-14.9,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-50.2
$GPS2,110918,000106,3141.8708,-6405.8467,5,0.9,17,-14.9,0.5,320.5,9,4.8
$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,233.5,7407,-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,71,-1.47,-146.6,173,2302,755,823,2.0,-0.4,6,213,0.00,0.00,-137.95,0.161,16390,0.000,0.000,173,2302,3015,2971,3059,0,0,0,0,0,0,26.52,25.91,25.72,9.23,20.62
$GC,215,-1.47,-146.6,173,2303,2971,3059,4.0,-2.2,20,230,8.75,2.38,0.00,0.000,2564,0.286,0.074,2274,714,3015,2972,3059,0,0,0,0,0,0,25.52,25.91,25.80,9.46,19.87
$GC,544,-1.33,-146.6,2273,714,2975,3056,49.4,-6.7,52,552,0.17,2.12,0.00,0.000,3078,0.211,0.067,2315,2230,3016,2975,3057,0,0,0,0,0,0,25.94,26.41,26.15,9.48,19.52
$GC,851,-1.24,-146.6,2314,2229,2977,3057,61.7,-3.6,83,855,0.10,2.22,0.00,0.000,2308,0.223,0.082,2341,3723,3017,2977,3057,0,0,0,0,0,0,26.29,26.40,26.34,9.46,19.32
$GC,1582,-1.16,-146.6,2340,3752,2979,3057,98.5,-8.3,155,1590,0.10,2.03,0.00,0.000,3078,0.209,0.065,2370,2177,3018,2979,3057,0,0,0,0,0,0,26.36,26.75,26.49,9.41,19.67
$GC,1888,-1.16,-146.6,2369,2177,2979,3057,124.4,-8.2,186,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2177,3018,2979,3057,0,0,0,0,0,0,27.00,27.01,27.01,9.38,19.32
$GC,2189,-1.16,-146.6,2369,2177,2979,3057,151.9,-8.6,215,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2177,3018,2979,3057,0,0,0,0,0,0,27.03,27.03,27.03,9.37,19.95
$GC,2490,-1.16,-146.6,2369,2177,2979,3056,178.6,-9.5,230,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2177,3017,2978,3056,0,0,0,0,0,0,27.03,27.05,27.05,9.35,19.91
$GC,2788,-1.16,-146.6,2369,2178,2979,3055,210.1,-11.6,245,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2177,3017,2979,3055,0,0,0,0,0,0,27.05,27.06,27.06,9.35,20.15
$GC,3088,-1.16,-146.6,2369,2177,2979,3055,245.9,-12.3,260,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2177,3017,2979,3055,0,0,0,0,0,0,27.05,27.07,27.07,9.34,20.86
$GC,3388,-1.16,-146.6,2369,2177,2979,3053,283.5,-12.7,275,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2177,3016,2979,3053,0,0,0,0,0,0,27.06,27.08,27.08,9.34,21.09
$GC,3708,-1.16,-146.6,2369,2177,2979,3052,323.9,-13.0,288,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2177,3015,2979,3052,0,0,0,0,0,0,27.07,27.08,27.08,9.33,21.05
$GC,4008,-1.16,-146.6,2369,2177,2979,3051,362.0,-12.6,298,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2177,3014,2979,3050,0,0,0,0,0,0,27.08,27.08,27.08,9.32,20.93
$GC,4308,-1.16,-146.6,2368,2177,2979,3049,399.0,-12.3,308,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2177,3014,2979,3049,0,0,0,0,0,0,27.08,27.08,27.08,9.31,21.09
$GC,4608,-1.16,-146.6,2369,2177,2979,3048,436.3,-12.5,318,4615,0.00,2.33,0.00,0.000,260,0.000,0.084,2360,3755,3013,2979,3048,0,0,0,0,0,0,27.08,26.57,27.08,9.31,21.68
$GC,4671,-1.16,-146.6,2359,3755,2979,3048,444.1,-12.8,320,4676,0.00,2.00,0.00,0.000,1030,0.000,0.065,2360,2254,3013,2979,3048,0,0,0,0,0,0,26.85,26.84,26.86,9.30,21.56
$GC,4998,-1.16,-146.6,2359,2253,2979,3046,488.1,-13.6,331,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2253,3013,2979,3047,0,0,0,0,0,0,27.08,27.09,27.09,9.29,21.13
$GC,5299,-1.16,-146.6,2359,2253,2979,3045,531.1,-14.8,341,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2253,3011,2978,3045,0,0,0,0,0,0,27.08,27.09,27.09,9.28,21.01
$STATE,5387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5387,begin apogee
$GC,5391,-0.31,0.0,2359,2022,2979,3045,544.2,-14.5,344,5509,0.88,0.00,110.30,0.916,10246,0.169,0.000,2644,2020,2509,2498,2520,0,0,0,0,0,0,26.03,24.79,24.32,9.27,21.72
$STATE,5510,end apogee,CONTROL_FINISHED_OK
$STATE,5510,begin climb
$GC,5512,1.47,146.6,2643,2020,2498,2521,551.0,0.0,348,5629,1.58,0.00,110.82,0.904,10758,0.119,0.000,3201,2019,2004,2002,2007,0,0,0,0,0,0,25.25,24.86,24.22,9.23,20.97
$GC,5929,1.39,146.6,3200,2020,2002,2006,512.1,11.9,362,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2020,2004,2002,2006,0,0,0,0,0,0,26.53,26.55,26.54,9.16,20.82
$GC,6229,1.31,146.6,3200,2019,2002,2005,475.9,12.0,372,6231,0.12,0.00,0.00,0.000,4102,0.214,0.000,3166,2019,2003,2002,2005,0,0,0,0,0,0,26.17,26.38,26.31,9.16,21.13
$GC,6528,1.31,146.6,3165,2020,2002,2003,442.4,11.1,382,6532,0.00,2.15,0.00,0.000,516,0.000,0.079,3176,559,2002,2002,2003,0,0,0,0,0,0,26.85,26.47,26.86,9.16,21.49
$GC,6603,1.25,146.6,3175,559,2002,2004,435.7,11.3,384,6607,0.00,2.08,0.00,0.000,1030,0.000,0.062,3176,2042,2003,2002,2004,0,0,0,0,0,0,26.63,26.58,26.65,9.16,22.08
$GC,6910,1.19,146.6,3175,2042,2002,2003,401.3,10.2,394,6912,0.15,0.00,0.00,0.000,4102,0.204,0.000,3132,2044,2002,2002,2003,0,0,0,0,0,0,26.26,26.48,26.41,9.16,22.51
$GC,7210,1.23,177.9,3132,2044,2002,2002,375.0,8.6,404,7241,0.00,2.22,23.58,0.777,8708,0.000,0.079,3141,565,1896,1893,1899,0,0,0,0,0,0,26.96,25.84,25.39,9.16,22.79
$GC,7371,1.23,177.9,3141,565,1893,1899,359.5,10.3,409,7375,0.00,2.12,0.00,0.000,1030,0.000,0.065,3141,2047,1895,1892,1899,0,0,0,0,0,0,26.41,26.35,26.43,9.16,21.56
$GC,7693,1.23,177.9,3141,2047,1892,1899,322.1,11.9,420,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2047,1896,1893,1899,0,0,0,0,0,0,26.82,26.83,26.82,9.16,22.51
$GC,7993,1.23,177.9,3141,2047,1892,1898,283.6,13.2,432,7997,0.00,2.20,0.00,0.000,516,0.000,0.077,3153,559,1895,1893,1898,0,0,0,0,0,0,26.90,26.49,26.91,9.16,21.88
$GC,8082,1.23,177.9,3152,559,1893,1898,272.1,14.3,436,8086,0.00,2.08,0.00,0.000,1030,0.000,0.065,3153,2043,1895,1892,1898,0,0,0,0,0,0,26.67,26.62,26.68,9.16,21.72
$GC,8394,1.23,177.9,3152,2044,1893,1898,226.7,14.1,452,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2043,1895,1893,1898,0,0,0,0,0,0,26.96,26.98,26.98,9.17,22.51
$GC,8694,1.23,177.9,3152,2043,1892,1898,185.4,13.3,467,8698,0.00,2.20,0.00,0.000,516,0.000,0.079,3164,552,1895,1893,1898,0,0,0,0,0,0,26.99,26.55,27.01,9.16,21.49
$GC,8812,1.17,177.9,3163,552,1893,1898,169.2,14.0,473,8819,0.10,2.10,0.00,0.000,5126,0.221,0.065,3130,2055,1895,1893,1898,0,0,0,0,0,0,26.28,26.68,26.36,9.17,22.16
$GC,9121,1.17,177.9,3130,2055,1893,1898,129.9,12.8,496,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2055,1895,1893,1898,0,0,0,0,0,0,27.02,27.03,27.03,9.17,21.76
$GC,9422,1.17,177.9,3129,2055,1893,1898,94.1,11.1,526,9431,0.00,2.20,0.00,0.000,516,0.000,0.077,3139,561,1895,1893,1898,0,0,0,0,0,0,27.03,26.58,27.05,9.17,21.68
$GC,9537,1.17,177.9,3139,561,1893,1898,81.3,11.4,537,9545,0.00,2.10,0.00,0.000,1030,0.000,0.065,3139,2044,1895,1893,1898,0,0,0,0,0,0,26.74,26.71,26.78,9.18,21.53
$GC,9844,1.21,213.0,3139,2045,1893,1898,49.6,8.4,568,9874,0.00,0.00,25.62,0.588,8198,0.000,0.000,3138,2045,1775,1772,1779,0,0,0,0,0,0,27.05,26.17,25.65,9.20,21.96
$GC,10174,1.28,272.1,3139,2045,1772,1779,21.9,7.3,601,10225,0.00,0.00,42.35,0.569,8198,0.000,0.000,3139,2044,1572,1566,1579,0,0,0,0,0,0,26.82,25.77,25.29,9.22,21.88
$STATE,10352,end climb,SURFACE_DEPTH_REACHED
$STATE,10353,begin surface coast
$FINISH,1.9,1.014566
$STATE,10395,end surface coast,CONTROL_FINISHED_OK
$STATE,10395,begin surface
$SM_CCo,10409,163.30,0.554,0,0,787,500.22
$SM_GC,2.39,7.53,0.20,163.30,0.077,0.104,0.554,194,2223,787,-7.88,-2.04,500.22,0,0,0,0,0,0,26.25,26.27,24.74
$IRIDIUM_FIX,3140.67,-6405.74,100918,204517
$TT8_MAMPS,0.021721,0.245672
$HUMID,21.60
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,24.22,16.808
$10V_AH,10.54,8.769
$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,19.475,34.875,312.675,163.300,137.950,19.783,37.517,174.952,0.250,0.000,18.172,1863.675,6839.798,621.411,1536.207,67.103,0.000,1284.237,0.000,1244.662,0.000,6.127,0.000
$DEVICE_MAMPS,285.545,104.286,916.227,553.709,161.395,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.932,824.304,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342384
$DATA_FILE_SIZE,41739,623
$CAP_FILE_SIZE,90020,0
$CFSIZE,2047311872,2034499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,17.93,1
$GPS,110918,025942,3141.840,-6406.602,26,1.1,66,-14.9,1.2,337.0,7,3.0