version: 66.12
glider: 38
mission: 9
dive: 31
start: 4 12 117 19 14 0
data:
$ID,38
$MISSION,9
$DIVE,31
$N_DIVES,0
$STOP_T,0
$D_SURF,5
$D_FLARE,3
$D_TGT,1080
$D_ABORT,6000
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$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,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,80833
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,90
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3037
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,1767
$C_ROLL_CLIMB,1712
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,97
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2348
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,2
$UNCOM_BLEED,50
$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,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.293694
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004410191
$SEABIRD_T_H,0.00064652628
$SEABIRD_T_I,2.6235177e-05
$SEABIRD_T_J,3.227025e-06
$SEABIRD_C_G,-9.5423679
$SEABIRD_C_H,1.1030561
$SEABIRD_C_I,-0.0018197452
$SEABIRD_C_J,0.00021177332
$SEABIRD_C_Z,2945.9399
$GPS1,120417,190836,2816.2827,-7730.2510,40,1.0,44,-8.4,0.9,125.1,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-42.9
$GPS2,120417,191329,2816.2534,-7730.2441,6,1.0,16,-8.4,0.0,348.5,8,5.0
$SPEED_LIMITS,0.100,0.370
$TGT_NAME,HEADING
$TGT_LATLONG,2816.253,-7616.674
$TGT_RADIUS,1852.000
$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,53.4,120000,-11.6,-10.000,-15.12,6583
$D_GRID,1080
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.82,-438.0,128,1712,193,200,0.0,0.0,0,300,0.00,0.00,-281.45,0.146,16386,0.000,0.000,126,1712,2807,2834,2780,0,0,0,0,0,0,26.86,28.83,26.87,8.84,8.26
$GC,302,-0.82,-438.0,127,1711,2834,2780,3.9,-5.3,28,360,10.00,0.00,-44.35,0.156,18950,0.266,0.000,2767,1710,3857,3894,3820,0,0,0,0,0,0,26.03,26.24,26.12,9.11,8.02
$GC,660,-0.88,-438.0,2767,1710,3889,3817,40.9,-9.5,64,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1710,3853,3889,3817,0,0,0,0,0,0,26.79,26.80,26.80,9.23,8.57
$GC,960,-0.94,-438.0,2766,1710,3889,3815,67.3,-8.5,94,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1710,3851,3888,3815,0,0,0,0,0,0,26.91,26.94,26.93,9.24,7.78
$GC,1260,-1.00,-438.0,2767,1710,3887,3815,94.0,-8.5,124,1262,0.08,0.00,0.00,0.000,4102,0.149,0.000,2706,1710,3851,3887,3815,0,0,0,0,0,0,26.77,26.82,26.80,9.24,8.29
$GC,1559,-1.00,-438.0,2706,1710,3887,3814,134.1,-14.3,154,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1710,3850,3887,3814,0,0,0,0,0,0,27.03,27.05,27.05,9.24,8.45
$GC,1859,-1.00,-438.0,2705,1710,3887,3814,173.9,-12.2,175,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1710,3850,3887,3814,0,0,0,0,0,0,27.06,27.08,27.08,9.25,8.29
$GC,2160,-1.00,-438.0,2706,1710,3887,3814,207.7,-11.3,190,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1710,3850,3886,3814,0,0,0,0,0,0,27.09,27.10,27.10,9.24,8.14
$GC,2459,-1.00,-438.0,2705,1710,3887,3813,240.6,-11.6,205,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1710,3850,3886,3814,0,0,0,0,0,0,27.10,27.11,27.11,9.23,8.73
$GC,2759,-1.00,-438.0,2706,1710,3886,3813,279.6,-13.4,220,2765,0.00,2.38,0.00,0.000,260,0.000,0.074,2696,3309,3850,3886,3814,0,0,0,0,0,0,27.11,26.84,27.13,9.24,8.69
$GC,2799,-1.00,-438.0,2695,3309,3886,3813,284.9,-13.2,222,2805,0.00,2.17,0.00,0.000,1030,0.000,0.060,2696,1757,3849,3886,3813,0,0,0,0,0,0,26.93,26.88,26.94,9.23,8.22
$GC,3130,-0.94,-438.0,2695,1757,3886,3813,331.5,-14.2,235,3137,0.10,2.28,0.00,0.000,2564,0.191,0.077,2733,199,3849,3886,3813,0,0,0,0,0,0,26.77,26.84,26.84,9.22,8.37
$GC,3191,-0.94,-438.0,2733,199,3886,3813,339.4,-13.8,237,3196,0.00,2.15,0.00,0.000,1030,0.000,0.060,2724,1765,3849,3886,3813,0,0,0,0,0,0,26.92,26.90,26.94,9.21,7.94
$GC,3520,-0.94,-438.0,2723,1766,3886,3813,382.8,-13.8,248,3525,0.00,2.22,0.00,0.000,260,0.000,0.074,2713,3308,3849,3885,3813,0,0,0,0,0,0,27.13,26.84,27.13,9.21,8.06
$GC,3558,-0.94,-438.0,2712,3308,3886,3812,387.1,-14.1,249,3562,0.00,2.15,0.00,0.000,1030,0.000,0.060,2713,1762,3849,3886,3812,0,0,0,0,0,0,26.94,26.89,26.95,9.22,8.18
$GC,3874,-0.94,-438.0,2712,1762,3885,3812,433.8,-14.3,260,3878,0.00,2.30,0.00,0.000,516,0.000,0.079,2713,217,3849,3885,3813,0,0,0,0,0,0,27.13,26.84,27.14,9.21,8.02
$GC,3938,-0.94,-438.0,2712,203,3885,3812,442.9,-14.7,262,3942,0.00,2.15,0.00,0.000,1030,0.000,0.060,2704,1751,3848,3884,3812,0,0,0,0,0,0,26.96,26.91,26.96,9.20,8.37
$GC,4265,-0.88,-438.0,2703,1751,3884,3811,488.4,-13.2,273,4267,0.15,0.00,0.00,0.000,2054,0.184,0.000,2755,1752,3848,3884,3812,0,0,0,0,0,0,26.76,26.92,26.88,9.19,7.98
$GC,4565,-0.88,-438.0,2754,1752,3884,3811,516.2,-9.1,283,4570,0.00,2.28,0.00,0.000,260,0.000,0.074,2744,3314,3847,3884,3811,0,0,0,0,0,0,27.13,26.85,27.15,9.19,8.02
$GC,4597,-0.88,-438.0,2743,3314,3884,3811,519.1,-9.1,284,4600,0.00,2.15,0.00,0.000,1030,0.000,0.060,2744,1766,3847,3884,3811,0,0,0,0,0,0,26.96,26.90,26.96,9.19,8.33
$GC,4927,-0.88,-438.0,2744,1767,3884,3811,553.6,-10.8,295,4933,0.00,2.33,0.00,0.000,516,0.000,0.079,2743,203,3847,3883,3811,0,0,0,0,0,0,27.13,26.85,27.15,9.18,8.57
$GC,5005,-0.88,-438.0,2743,203,3883,3811,560.8,-11.2,297,5010,0.00,2.17,0.00,0.000,1030,0.000,0.060,2733,1769,3847,3883,3811,0,0,0,0,0,0,26.96,26.92,26.98,9.19,8.33
$GC,5318,-0.88,-438.0,2733,1770,3882,3810,604.9,-13.8,308,5323,0.00,2.25,0.00,0.000,260,0.000,0.074,2723,3317,3846,3883,3810,0,0,0,0,0,0,27.14,26.86,27.15,9.18,8.92
$GC,5350,-0.88,-438.0,2722,3317,3883,3810,609.0,-13.8,309,5354,0.00,2.20,0.00,0.000,1030,0.000,0.060,2723,1752,3846,3883,3810,0,0,0,0,0,0,26.96,26.91,26.96,9.18,8.18
$GC,5677,-0.88,-438.0,2723,1752,3883,3810,658.1,-14.7,320,5682,0.00,2.30,0.00,0.000,516,0.000,0.079,2723,203,3846,3883,3810,0,0,0,0,0,0,27.14,26.85,27.15,9.17,8.53
$GC,5742,-0.88,-438.0,2723,203,3882,3810,667.6,-15.2,322,5747,0.12,2.17,0.00,0.000,3078,0.186,0.060,2760,1766,3846,3882,3810,0,0,0,0,0,0,26.77,26.92,26.89,9.17,8.45
$GC,6064,-0.88,-438.0,2760,1767,3882,3809,706.4,-11.9,333,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1767,3845,3881,3809,0,0,0,0,0,0,27.15,27.15,27.15,9.16,8.49
$GC,6365,-0.88,-438.0,2759,1766,3881,3808,744.6,-13.2,343,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1767,3845,3881,3809,0,0,0,0,0,0,27.14,27.15,27.15,9.16,8.06
$GC,6664,-0.88,-438.0,2759,1767,3881,3808,778.8,-10.1,353,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1767,3844,3881,3808,0,0,0,0,0,0,27.14,27.15,27.15,9.14,8.29
$GC,6965,-0.88,-438.0,2759,1768,3880,3807,808.3,-10.4,363,6971,0.00,2.35,0.00,0.000,516,0.000,0.077,2760,203,3843,3880,3807,0,0,0,0,0,0,27.15,26.86,27.16,9.13,8.61
$GC,7018,-0.88,-438.0,2759,203,3880,3807,812.1,-11.1,364,7026,0.00,2.20,0.00,0.000,1030,0.000,0.060,2750,1767,3843,3880,3807,0,0,0,0,0,0,26.97,26.93,26.98,9.13,8.29
$GC,7327,-0.88,-438.0,2750,1767,3880,3806,861.9,-15.2,375,7334,0.00,2.22,0.00,0.000,260,0.000,0.077,2739,3311,3843,3880,3807,0,0,0,0,0,0,27.13,26.86,27.13,9.11,8.26
$GC,7364,-0.88,-438.0,2739,3311,3880,3806,866.2,-14.6,376,7368,0.00,2.17,0.00,0.000,1030,0.000,0.060,2739,1765,3843,3880,3806,0,0,0,0,0,0,26.96,26.91,26.97,9.11,8.29
$GC,7686,-0.88,-438.0,2739,1765,3878,3806,907.2,-12.1,387,7692,0.00,2.33,0.00,0.000,516,0.000,0.079,2739,206,3842,3878,3806,0,0,0,0,0,0,27.14,26.86,27.15,9.08,8.89
$GC,7760,-0.83,-438.0,2739,206,3877,3806,915.6,-13.3,389,7765,0.12,2.20,0.00,0.000,3078,0.186,0.060,2774,1767,3841,3877,3805,0,0,0,0,0,0,26.77,26.92,26.89,9.08,8.26
$GC,8079,-0.83,-438.0,2773,1768,3876,3805,962.2,-15.8,400,8083,0.00,2.25,0.00,0.000,260,0.000,0.077,2763,3319,3840,3876,3805,0,0,0,0,0,0,27.13,26.86,27.13,9.06,8.45
$GC,8125,-0.83,-438.0,2762,3320,3876,3805,967.2,-15.5,401,8129,0.00,2.20,0.00,0.000,1030,0.000,0.060,2763,1764,3840,3876,3805,0,0,0,0,0,0,26.96,26.90,26.97,9.05,8.26
$GC,8466,-0.83,-438.0,2762,1764,3874,3803,1017.5,-13.4,411,8470,0.00,2.33,0.00,0.000,516,0.000,0.079,2763,217,3839,3875,3803,0,0,0,0,0,0,27.14,26.85,27.15,9.03,8.22
$GC,8515,-0.83,-438.0,2762,202,3874,3803,1017.5,-13.4,411,8519,0.00,2.22,0.00,0.000,1030,0.000,0.060,2754,1769,3838,3874,3803,0,0,0,0,0,0,26.97,26.92,26.98,9.03,8.33
$STATE,8527,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8527,begin apogee
$GC,8530,-0.29,0.0,2754,1769,3874,3803,1025.2,-12.9,412,8862,0.55,0.00,328.35,1.472,10246,0.149,0.000,2948,1770,2348,2383,2313,0,0,0,0,0,0,26.77,24.83,24.10,9.02,8.06
$STATE,8863,end apogee,CONTROL_FINISHED_OK
$STATE,8863,begin climb
$GC,8864,0.82,438.0,2947,1770,2383,2311,1050.8,0.0,417,9295,0.88,2.65,398.73,1.430,10756,0.122,0.082,3262,184,837,822,852,0,0,0,0,4,0,24.97,24.63,23.90,8.88,7.82
$GC,9836,1.12,438.0,3262,184,809,841,1009.4,10.1,433,9842,0.38,2.20,0.00,0.000,3078,0.119,0.060,3406,1731,825,809,842,0,0,0,0,0,0,26.36,26.46,26.46,8.67,8.61
$GC,10144,1.27,614.3,3405,1731,809,839,978.3,7.2,442,10310,0.00,0.00,160.18,1.408,10758,0.000,0.000,3406,1731,232,226,239,0,0,0,0,0,0,26.84,24.94,24.23,8.66,8.29
$GC,10624,1.47,614.3,3406,1731,223,236,940.8,8.1,458,10631,0.15,2.40,0.00,0.000,2564,0.119,0.077,3482,170,229,223,236,0,0,0,0,0,0,26.27,26.27,26.32,8.60,8.81
$GC,10686,1.62,614.3,3481,170,222,235,935.1,8.9,460,10691,0.12,2.20,0.00,0.000,3078,0.117,0.060,3554,1702,229,223,235,0,0,0,0,0,0,26.35,26.39,26.41,8.60,8.53
$GC,11014,1.48,614.3,3553,1705,222,235,877.8,19.2,471,11016,0.15,0.00,0.00,0.000,4102,0.181,0.000,3507,1710,229,223,235,0,0,0,0,0,0,26.44,26.60,26.56,8.61,9.20
$GC,11315,1.37,614.3,3506,1709,222,234,828.5,17.1,481,11320,0.00,2.35,0.00,0.000,516,0.000,0.082,3518,169,228,223,234,0,0,0,0,0,0,26.90,26.62,26.91,8.62,9.24
$GC,11352,1.27,614.3,3517,169,223,234,822.8,17.7,482,11357,0.22,2.20,0.00,0.000,5126,0.179,0.060,3442,1714,229,223,235,0,0,0,0,0,0,26.55,26.69,26.67,8.62,8.65
$GC,11670,1.27,614.3,3442,1714,223,234,780.0,11.4,493,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1714,228,223,234,0,0,0,0,0,0,26.96,26.98,26.97,8.63,8.89
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$STATE,18190,end climb,SURFACE_DEPTH_REACHED
$STATE,18190,begin surface coast
$FINISH,-0.1,1.025375
$STATE,18231,end surface coast,CONTROL_FINISHED_OK
$STATE,18232,begin surface
$SM_CCo,18306,0.00,0.000,0,0,229,615.84
$SM_GC,0.39,7.90,0.00,0.00,0.070,0.000,0.000,123,1708,229,-9.01,-1.67,615.84,0,0,0,0,0,0,26.87,27.14,26.91
$IRIDIUM_FIX,2806.51,-7739.95,120417,140030
$TT8_MAMPS,0.021721,0.227696
$HUMID,8.49
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,993.3,78.9
$24V_AH,23.90,13.710
$10V_AH,10.67,2.535
$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,21.300,143.100,887.250,0.000,325.800,23.095,18.544,152.281,5.500,0.000,17.455,2549.384,12571.951,1124.747,2248.693,111.074,0.000,2316.611,0.000,1974.898,0.000,43.182,0.000
$DEVICE_MAMPS,265.681,81.939,1472.419,0.000,156.429,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.749,1092.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284224
$DATA_FILE_SIZE,59007,821
$CAP_FILE_SIZE,157380,0
$CFSIZE,2047311872,2037612544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$INTR,0,16533.01,0x213daa,1,24
$CURRENT,0.378,156.92,1
$GPS,130417,002009,2815.245,-7725.085,23,1.0,30,-8.4,0.5,100.3,9,4.9