version: 66.14
glider: 45
mission: 3
dive: 3
start: 5 27 119 20 45 21
data:
$ID,45
$MISSION,3
$DIVE,3
$N_DIVES,0
$STOP_T,5301919
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,135
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,-15
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80120.602
$MASS_COMP,10859
$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,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,560
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$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,200
$PITCH_MAX,3820
$C_PITCH,2963
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2177
$C_ROLL_CLIMB,2177
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,2304
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$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,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.855844
$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,800
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044369884
$SEABIRD_T_H,0.00066042581
$SEABIRD_T_I,2.7363718e-05
$SEABIRD_T_J,3.4006232e-06
$SEABIRD_C_G,-10.01541
$SEABIRD_C_H,1.1730425
$SEABIRD_C_I,-0.0023542538
$SEABIRD_C_J,0.00025774896
$SEABIRD_C_Z,2927.8301
$GPS1,270519,204021,3219.2285,-6433.7676,5,1.0,44,-14.9,0.6,28.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-39.0
$GPS2,270519,204421,3219.2251,-6433.7329,12,1.1,34,-14.9,0.5,127.5,9,5.0
$SPEED_LIMITS,0.173,0.289
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$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,215.5,18059,-16.1,-10.000,-19.07,3691
$D_GRID,1840
$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,72,-1.33,-244.4,191,2182,369,380,-0.4,0.2,12,233,0.00,0.00,-157.00,0.149,16386,0.000,0.000,192,2183,3069,3059,3079,0,0,0,0,0,0,27.01,28.83,27.02,8.63,26.92
$GC,235,-1.33,-244.4,192,2182,3059,3079,4.1,-9.4,37,257,8.43,3.58,-2.15,0.315,18692,0.251,0.082,2504,3577,3148,3123,3173,0,0,0,0,0,0,26.15,26.41,26.29,8.90,26.25
$GC,384,-1.33,-244.4,2503,3578,3123,3173,29.4,-14.0,59,395,0.10,3.42,0.00,0.000,3078,0.186,0.065,2537,2176,3148,3123,3173,0,0,0,0,0,0,26.44,26.62,26.57,8.92,25.58
$GC,516,-1.33,-244.4,2537,2175,3123,3173,43.0,-10.4,72,525,0.00,3.50,0.00,0.000,516,0.000,0.089,2538,792,3148,3123,3173,0,0,0,0,0,0,26.96,26.59,26.98,8.92,25.82
$GC,580,-1.33,-244.4,2537,792,3123,3173,50.6,-12.9,78,588,0.00,3.35,0.00,0.000,1030,0.000,0.067,2524,2181,3148,3123,3173,0,0,0,0,0,0,26.78,26.72,26.79,8.91,26.13
$GC,707,-1.33,-244.4,2523,2180,3123,3173,65.3,-10.7,91,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2180,3148,3123,3173,0,0,0,0,0,0,27.03,27.05,27.05,8.90,26.29
$GC,827,-1.33,-244.4,2523,2180,3122,3173,78.3,-11.0,103,837,0.00,3.55,0.00,0.000,516,0.000,0.089,2523,781,3147,3122,3173,0,0,0,0,0,0,27.06,26.67,27.08,8.91,26.49
$GC,872,-1.33,-244.4,2523,781,3122,3173,83.2,-11.7,107,880,0.00,3.38,0.00,0.000,1030,0.000,0.067,2507,2179,3147,3122,3173,0,0,0,0,0,0,26.85,26.79,26.86,8.91,26.92
$GC,999,-1.33,-244.4,2506,2179,3122,3173,98.8,-11.6,120,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2179,3147,3122,3173,0,0,0,0,0,0,27.09,27.10,27.10,8.90,26.57
$GC,1119,-1.33,-244.4,2506,2179,3122,3172,112.9,-11.7,132,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2179,3147,3122,3173,0,0,0,0,0,0,27.10,27.12,27.12,8.89,26.45
$GC,1240,-1.33,-244.4,2506,2179,3121,3173,127.2,-11.5,144,1249,0.00,3.53,0.00,0.000,516,0.000,0.089,2506,789,3147,3122,3173,0,0,0,0,0,0,27.12,26.72,27.13,8.89,26.84
$GC,1294,-1.27,-244.4,2506,790,3121,3173,134.5,-13.7,149,1303,0.20,3.35,0.00,0.000,3078,0.171,0.067,2557,2182,3147,3121,3173,0,0,0,0,0,0,26.61,26.84,26.76,8.89,26.41
$GC,1423,-1.27,-244.4,2556,2182,3121,3173,149.9,-11.5,162,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2182,3146,3121,3172,0,0,0,0,0,0,27.13,27.15,27.14,8.88,26.84
$GC,1541,-1.27,-244.4,2557,2182,3121,3172,164.3,-12.4,174,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2182,3146,3121,3172,0,0,0,0,0,0,27.13,27.15,27.15,8.88,26.92
$GC,1661,-1.27,-244.4,2556,2182,3121,3172,179.2,-12.4,186,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2182,3147,3121,3173,0,0,0,0,0,0,27.15,27.15,27.16,8.87,27.00
$GC,1781,-1.27,-244.4,2556,2182,3121,3172,194.3,-12.6,198,1792,0.00,3.53,0.00,0.000,516,0.000,0.089,2557,791,3146,3121,3172,0,0,0,0,0,0,27.15,26.74,27.16,8.87,27.12
$GC,1827,-1.27,-244.4,2557,791,3121,3172,200.5,-14.6,202,1834,0.00,3.35,0.00,0.000,1030,0.000,0.067,2543,2180,3146,3121,3172,0,0,0,0,0,0,26.92,26.86,26.94,8.87,27.12
$GC,1955,-1.27,-244.4,2543,2181,3121,3172,218.7,-14.2,215,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2180,3146,3121,3172,0,0,0,0,0,0,27.15,27.17,27.16,8.86,27.27
$GC,2074,-1.27,-244.4,2543,2180,3121,3172,236.2,-15.0,227,2084,0.00,3.53,0.00,0.000,516,0.000,0.089,2543,795,3146,3121,3172,0,0,0,0,0,0,27.16,26.73,27.17,8.86,27.43
$GC,2139,-1.27,-244.4,2543,795,3120,3171,246.3,-16.8,233,2147,0.00,3.33,0.00,0.000,1030,0.000,0.067,2527,2177,3146,3120,3172,0,0,0,0,0,0,26.93,26.87,26.95,8.86,27.90
$GC,2267,-1.27,-244.4,2526,2177,3120,3172,266.6,-15.6,241,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2177,3146,3120,3172,0,0,0,0,0,0,27.16,27.17,27.17,8.85,28.10
$GC,2566,-1.27,-244.4,2526,2177,3120,3170,314.2,-15.7,256,2573,0.00,3.53,0.00,0.000,516,0.000,0.089,2527,793,3145,3120,3170,0,0,0,0,0,0,27.16,26.74,27.17,8.85,27.79
$GC,2639,-1.27,-244.4,2526,793,3118,3170,324.8,-17.1,259,2648,0.12,3.35,0.00,0.000,3078,0.186,0.067,2552,2180,3145,3119,3171,0,0,0,0,0,0,26.63,26.86,26.79,8.84,28.14
$STATE,2865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2865,begin apogee
$GC,2868,-0.79,0.0,2552,2180,3118,3170,362.0,-15.0,271,3047,0.45,0.00,172.00,0.859,10246,0.146,0.000,2715,2180,2303,2275,2332,0,0,0,0,0,0,26.65,25.46,24.91,8.84,28.85
$STATE,3048,end apogee,CONTROL_FINISHED_OK
$STATE,3048,begin climb
$GC,3050,1.33,244.4,2715,2180,2276,2332,378.4,0.0,280,3235,1.83,3.70,172.90,0.844,10500,0.124,0.087,3371,3568,1462,1442,1482,0,0,0,0,0,0,25.60,25.43,24.87,8.76,27.94
$GC,3275,1.36,346.6,3371,3569,1442,1482,370.9,7.2,291,3355,0.00,3.53,72.85,0.824,9222,0.000,0.067,3389,2180,1110,1094,1126,0,0,0,0,0,0,26.03,25.97,24.94,8.67,26.05
$GC,3668,1.36,346.6,3389,2180,1094,1126,330.5,10.3,311,3674,0.00,3.60,0.00,0.000,516,0.000,0.094,3406,784,1110,1094,1126,0,0,0,0,0,0,26.78,26.44,26.79,8.64,26.80
$GC,3807,1.36,346.6,3406,784,1094,1126,313.9,11.9,318,3814,0.00,3.38,0.00,0.000,1030,0.000,0.070,3406,2167,1110,1094,1126,0,0,0,0,0,0,26.65,26.61,26.66,8.63,27.51
$GC,4127,1.36,346.6,3406,2167,1094,1126,278.5,10.6,334,4135,0.00,3.58,0.00,0.000,516,0.000,0.094,3424,783,1110,1094,1126,0,0,0,0,0,0,27.00,26.63,27.01,8.63,27.63
$GC,4216,1.36,346.6,3423,783,1093,1126,269.0,11.8,338,4221,0.00,3.40,0.00,0.000,1030,0.000,0.070,3424,2179,1109,1093,1126,0,0,0,0,0,0,26.81,26.74,26.83,8.63,28.73
$GC,4523,1.36,346.6,3423,2179,1093,1126,234.7,10.6,360,4533,0.00,3.62,0.00,0.000,516,0.000,0.094,3441,774,1109,1093,1126,0,0,0,0,0,0,27.07,26.69,27.08,8.63,28.73
$GC,4628,1.36,346.6,3441,774,1093,1126,222.8,11.4,370,4636,0.12,3.40,0.00,0.000,5126,0.191,0.070,3400,2178,1109,1093,1126,0,0,0,0,0,0,26.63,26.82,26.77,8.63,29.01
$GC,4756,1.36,346.6,3399,2178,1093,1126,209.3,10.1,383,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2178,1109,1093,1126,0,0,0,0,0,0,27.09,27.11,27.10,8.63,28.73
$GC,4875,1.36,346.6,3399,2178,1093,1126,196.9,11.2,395,4885,0.00,3.60,0.00,0.000,516,0.000,0.094,3415,783,1109,1093,1126,0,0,0,0,0,0,27.10,26.70,27.12,8.63,28.93
$GC,4939,1.36,346.6,3415,783,1092,1126,189.9,11.7,401,4948,0.00,3.40,0.00,0.000,1030,0.000,0.070,3415,2178,1109,1093,1126,0,0,0,0,0,0,26.89,26.84,26.91,8.63,28.73
$GC,5067,1.36,346.6,3415,2178,1093,1126,175.3,11.8,414,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2178,1109,1092,1126,0,0,0,0,0,0,27.12,27.13,27.13,8.63,28.57
$GC,5187,1.36,346.6,3415,2178,1092,1126,161.6,11.6,426,5198,0.00,3.60,0.00,0.000,516,0.000,0.094,3433,782,1109,1092,1126,0,0,0,0,0,0,27.13,26.73,27.14,8.63,28.81
$GC,5250,1.36,346.6,3433,781,1092,1126,153.8,13.2,432,5261,0.10,3.40,0.00,0.000,5126,0.199,0.070,3400,2180,1109,1092,1126,0,0,0,0,0,0,26.66,26.84,26.80,8.63,28.10
$GC,5381,1.36,346.6,3400,2180,1092,1126,138.5,11.9,445,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2180,1109,1092,1126,0,0,0,0,0,0,27.13,27.15,27.15,8.63,28.65
$GC,5500,1.36,346.6,3400,2179,1092,1126,124.9,11.2,457,5510,0.00,3.60,0.00,0.000,516,0.000,0.094,3416,780,1109,1092,1126,0,0,0,0,0,0,27.13,26.74,27.15,8.63,28.85
$GC,5582,1.36,346.6,3415,780,1092,1127,114.3,13.3,465,5592,0.00,3.40,0.00,0.000,1030,0.000,0.070,3416,2179,1109,1092,1126,0,0,0,0,0,0,26.92,26.86,26.94,8.63,29.20
$GC,5713,1.36,346.6,3415,2179,1092,1126,98.3,12.7,478,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2179,1109,1092,1126,0,0,0,0,0,0,27.15,27.16,27.15,8.63,28.38
$GC,5832,1.36,346.6,3415,2179,1092,1126,82.5,12.3,490,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2179,1109,1092,1126,0,0,0,0,0,0,27.15,27.16,27.16,8.62,28.69
$GC,5952,1.36,346.6,3415,2179,1092,1126,67.4,12.0,502,5962,0.00,3.60,0.00,0.000,516,0.000,0.094,3434,782,1109,1092,1126,0,0,0,0,0,0,27.15,26.75,27.17,8.63,28.81
$GC,6037,1.36,346.6,3433,781,1092,1126,57.3,12.0,510,6046,0.10,3.40,0.00,0.000,5126,0.201,0.070,3401,2182,1109,1092,1126,0,0,0,0,0,0,26.67,26.86,26.82,8.64,28.34
$GC,6166,1.36,346.6,3401,2182,1092,1126,43.6,9.9,523,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2182,1108,1091,1126,0,0,0,0,0,0,27.15,27.17,27.16,8.64,28.22
$GC,6284,1.36,346.6,3400,2183,1092,1126,32.0,9.8,535,6295,0.00,3.60,0.00,0.000,516,0.000,0.094,3416,782,1109,1092,1126,0,0,0,0,0,0,27.15,26.75,27.17,8.64,28.26
$GC,6399,1.36,346.6,3416,781,1092,1126,20.3,10.4,546,6408,0.00,3.40,0.00,0.000,1030,0.000,0.070,3417,2181,1109,1092,1126,0,0,0,0,0,0,26.94,26.87,26.96,8.65,28.89
$GC,6531,1.36,346.6,3416,2181,1092,1126,4.9,12.9,571,6538,0.00,3.55,0.00,0.000,260,0.000,0.082,3417,3577,1109,1092,1126,0,0,0,0,0,0,27.16,26.79,27.17,8.65,28.50
$STATE,6550,end climb,SURFACE_DEPTH_REACHED
$STATE,6550,begin surface coast
$FINISH,-0.6,1.024996
$STATE,6572,end surface coast,CONTROL_FINISHED_OK
$STATE,6572,begin surface
$SM_CCo,6590,152.57,0.611,0,0,375,560.08
$SM_GC,0.10,7.93,3.47,152.57,0.074,0.067,0.611,184,2175,375,-8.56,1.02,560.08,0,0,1,0,0,0,26.86,26.86,25.27
$IRIDIUM_FIX,3218.27,-6434.50,270519,203608
$TT8_MAMPS,0.020972,0.175266
$HUMID,27.75
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,23.10
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.7,19.0
$24V_AH,24.87,5.885
$10V_AH,10.64,2.023
$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,19.375,118.475,417.750,152.575,159.150,0.000,0.000,0.000,8.000,0.000,35.328,1662.467,3175.306,792.706,1184.187,57.342,0.000,1479.993,0.000,1119.037,0.000,2.602,0.000
$DEVICE_MAMPS,250.783,94.354,859.118,610.818,315.341,0.000,0.000,0.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.029,752.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320276
$DATA_FILE_SIZE,38290,578
$CAP_FILE_SIZE,129423,0
$CFSIZE,2046525440,2041282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,3,0
$CURRENT,0.160,50.14,1
$GPS,270519,223910,3218.625,-6433.768,7,1.0,47,-14.9,0.4,170.9,9,5.0