version: 66.12
glider: 38
mission: 7
dive: 11
start: 3 9 117 4 22 22
data:
$ID,38
$MISSION,7
$DIVE,11
$N_DIVES,0
$STOP_T,3101715
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$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,80
$T_MISSION,100
$T_ABORT,4120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,30
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,80211.703
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-15
$N_GPS,50840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$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,2253
$C_ROLL_CLIMB,2253
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2070
$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,-20.787497
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$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
$GPS1,090317,041459,4745.3569,-12224.3330,3,1.0,21,16.3,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.5
$GPS2,090317,042155,4745.4248,-12224.3535,4,1.2,16,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.206,0.236
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$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,162.8,4494,-14.2,-7.500,-17.62,2973
$D_GRID,195
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,49,-0.75,-146.6,171,2260,1054,1011,1.4,-1.1,6,228,0.00,0.00,-175.18,0.142,16386,0.000,0.000,171,2260,2141,2181,2101,0,0,0,0,0,0,26.17,28.83,26.17,8.53,6.52
$GC,230,-0.75,-146.6,171,2260,2181,2101,3.4,-6.0,34,289,11.18,2.62,-36.92,0.151,18692,0.271,0.104,2991,3837,2575,2613,2538,0,0,0,0,0,0,25.54,25.69,25.64,8.65,6.21
$GC,363,-0.69,-146.6,2990,3837,2611,2538,14.9,-9.6,57,372,0.12,2.47,0.00,0.000,3078,0.189,0.082,3031,2243,2574,2611,2537,0,0,0,0,0,0,25.77,25.86,25.89,8.68,6.52
$GC,434,-0.69,-146.6,3030,2242,2609,2538,20.9,-7.7,69,439,0.00,2.45,0.00,0.000,516,0.000,0.094,3031,672,2573,2609,2538,0,0,0,0,0,0,26.22,25.93,26.24,8.69,6.33
$GC,549,-0.69,-146.6,3031,672,2605,2538,31.0,-8.7,80,556,0.00,2.47,0.00,0.000,1030,0.000,0.087,3021,2262,2572,2606,2538,0,0,0,0,0,0,26.13,26.03,26.15,8.69,6.33
$GC,676,-0.69,-146.6,3021,2261,2606,2538,43.2,-9.3,93,677,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2262,2572,2606,2538,0,0,0,0,0,0,26.43,26.44,26.44,8.69,6.68
$GC,796,-0.69,-146.6,3020,2262,2605,2538,54.1,-8.4,105,797,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2262,2571,2605,2538,0,0,0,0,0,0,26.50,26.51,26.51,8.69,6.25
$GC,916,-0.69,-146.6,3021,2262,2605,2538,64.9,-8.6,117,917,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2262,2571,2604,2538,0,0,0,0,0,0,26.56,26.57,26.57,8.69,6.64
$GC,1036,-0.69,-146.6,3021,2262,2604,2538,75.4,-9.0,129,1041,0.00,2.50,0.00,0.000,260,0.000,0.104,3009,3846,2570,2603,2538,0,0,0,0,0,0,26.61,26.29,26.62,8.70,6.60
$GC,1088,-0.69,-146.6,3009,3846,2604,2538,79.7,-8.5,134,1097,0.00,2.42,0.00,0.000,1030,0.000,0.082,3009,2248,2571,2604,2538,0,0,0,0,0,0,26.43,26.34,26.44,8.69,6.72
$GC,1218,-0.69,-146.6,3009,2249,2603,2538,91.4,-9.4,147,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2248,2570,2603,2538,0,0,0,0,0,0,26.66,26.67,26.67,8.69,6.40
$GC,1338,-0.69,-146.6,3008,2248,2603,2538,101.8,-8.8,159,1342,0.00,2.42,0.00,0.000,516,0.000,0.094,3009,665,2569,2602,2537,0,0,0,0,0,0,26.70,26.39,26.71,8.69,6.88
$GC,1423,-0.69,-146.6,3009,665,2602,2538,109.2,-8.3,167,1428,0.00,2.45,0.00,0.000,1030,0.000,0.087,2999,2262,2570,2603,2538,0,0,0,0,0,0,26.51,26.41,26.53,8.69,6.68
$GC,1555,-0.69,-146.6,2998,2262,2602,2538,119.1,-6.6,180,1564,0.00,2.50,0.00,0.000,260,0.000,0.112,2987,3844,2570,2602,2538,0,0,0,0,0,0,26.74,26.42,26.75,8.69,6.72
$GC,1638,-0.69,-146.6,2986,3844,2602,2538,125.4,-7.8,188,1647,0.12,2.42,0.00,0.000,3078,0.176,0.084,3029,2253,2570,2602,2538,0,0,0,0,0,0,26.39,26.48,26.47,8.70,7.19
$GC,1766,-0.69,-146.6,3029,2253,2602,2538,134.3,-6.4,201,1771,0.00,2.45,0.00,0.000,516,0.000,0.097,3029,672,2570,2602,2538,0,0,0,0,0,0,26.78,26.47,26.79,8.69,7.31
$GC,1838,-0.69,-146.6,3029,672,2601,2538,139.8,-8.0,208,1847,0.00,2.42,0.00,0.000,1030,0.000,0.089,3020,2250,2569,2601,2538,0,0,0,0,0,0,26.58,26.48,26.60,8.69,7.35
$GC,1968,-0.69,-146.6,3019,2250,2601,2537,149.4,-7.8,221,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2250,2569,2601,2538,0,0,0,0,0,0,26.82,26.83,26.82,8.69,6.56
$GC,2088,-0.69,-146.6,3019,2249,2601,2538,158.6,-7.2,233,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2250,2569,2601,2538,0,0,0,0,0,0,26.83,26.85,26.84,8.69,6.84
$GC,2208,-0.69,-146.6,3019,2249,2601,2538,167.3,-7.7,245,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2250,2569,2600,2538,0,0,0,0,0,0,26.84,26.86,26.86,8.69,7.15
$GC,2328,-0.69,-146.6,3019,2250,2600,2538,176.0,-7.5,257,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2250,2569,2600,2538,0,0,0,0,0,0,26.86,26.88,26.88,8.70,6.68
$STATE,2397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2397,begin apogee
$GC,2401,-0.25,0.0,3019,2250,2600,2538,180.6,-6.5,264,2509,0.45,0.00,103.70,0.968,10246,0.159,0.000,3176,2250,2070,2084,2056,0,0,0,0,0,0,26.50,24.92,24.35,8.69,6.60
$STATE,2510,end apogee,CONTROL_FINISHED_OK
$STATE,2510,begin climb
$GC,2512,0.75,146.6,3175,2250,2084,2055,183.9,0.0,275,2629,0.82,0.00,113.95,0.921,10246,0.132,0.000,3460,2250,1565,1565,1565,0,0,0,0,0,0,24.99,24.58,24.03,8.64,6.48
$GC,2749,0.82,146.6,3459,2250,1565,1564,172.2,5.8,299,2751,0.08,0.00,0.00,0.000,2054,0.146,0.000,3503,2250,1564,1565,1564,0,0,0,0,0,0,25.51,25.58,25.56,8.61,6.25
$GC,2868,0.82,146.6,3503,2250,1565,1564,163.5,6.9,311,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2250,1564,1565,1564,0,0,0,0,0,0,26.02,26.03,26.03,8.60,6.48
$GC,2988,0.82,146.6,3502,2250,1565,1564,154.8,7.5,323,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2250,1564,1565,1564,0,0,0,0,0,0,26.20,26.21,26.20,8.60,7.07
$GC,3108,0.82,146.6,3503,2250,1565,1564,145.3,8.1,335,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2249,1564,1565,1564,0,0,0,0,0,0,26.32,26.33,26.32,8.61,6.48
$GC,3228,0.82,146.6,3503,2250,1565,1564,135.2,8.4,347,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2250,1564,1565,1563,0,0,0,0,0,0,26.41,26.42,26.42,8.60,6.44
$GC,3348,0.82,146.6,3503,2250,1565,1564,126.2,7.5,359,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2250,1564,1565,1564,0,0,0,0,0,0,26.48,26.50,26.49,8.60,6.68
$GC,3468,0.82,146.6,3503,2250,1565,1564,117.2,7.5,371,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2250,1564,1565,1564,0,0,0,0,0,0,26.54,26.56,26.55,8.60,6.44
$GC,3588,0.82,146.6,3503,2250,1565,1564,107.9,8.3,383,3597,0.00,2.50,0.00,0.000,260,0.000,0.104,3503,3839,1564,1565,1564,0,0,0,0,0,0,26.59,26.29,26.60,8.60,6.68
$GC,3642,0.82,146.6,3503,3838,1565,1564,103.2,9.0,388,3650,0.00,2.42,0.00,0.000,1030,0.000,0.084,3514,2251,1564,1565,1564,0,0,0,0,0,0,26.41,26.34,26.44,8.60,6.76
$GC,3769,0.82,146.6,3513,2251,1565,1564,92.1,8.7,401,3779,0.00,2.45,0.00,0.000,516,0.000,0.097,3525,665,1564,1565,1564,0,0,0,0,0,0,26.65,26.34,26.66,8.60,6.52
$GC,3824,0.82,146.6,3525,665,1565,1564,87.6,8.4,406,3831,0.00,2.45,0.00,0.000,1030,0.000,0.089,3525,2251,1564,1565,1564,0,0,0,0,0,0,26.46,26.36,26.48,8.60,6.72
$GC,3951,0.82,146.6,3524,2251,1564,1564,77.2,7.8,419,3960,0.00,2.53,0.00,0.000,260,0.000,0.107,3525,3851,1564,1565,1564,0,0,0,0,0,0,26.70,26.39,26.71,8.60,6.48
$GC,4012,0.82,146.6,3524,3851,1565,1564,71.6,9.7,425,4022,0.00,2.45,0.00,0.000,1030,0.000,0.087,3536,2248,1564,1565,1564,0,0,0,0,0,0,26.51,26.43,26.53,8.60,6.76
$GC,4143,0.82,146.6,3535,2248,1565,1564,61.7,7.1,438,4147,0.00,2.42,0.00,0.000,516,0.000,0.099,3547,673,1565,1566,1564,0,0,0,0,0,0,26.74,26.44,26.75,8.60,6.68
$GC,4254,0.82,146.6,3546,673,1565,1564,52.7,7.9,449,4265,0.10,2.45,0.00,0.000,5126,0.189,0.089,3514,2266,1564,1565,1564,0,0,0,0,0,0,25.68,26.46,26.40,8.59,6.52
$GC,4384,0.82,146.6,3513,2266,1565,1564,43.2,7.5,462,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2266,1564,1565,1564,0,0,0,0,0,0,26.78,26.80,26.79,8.60,6.48
$GC,4504,0.82,146.6,3513,2266,1565,1564,34.8,7.2,474,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2266,1563,1563,1564,0,0,0,0,0,0,26.81,26.82,26.82,8.60,6.60
$GC,4624,0.82,146.6,3513,2266,1565,1564,26.5,6.8,486,4629,0.00,2.47,0.00,0.000,516,0.000,0.097,3523,667,1564,1565,1564,0,0,0,0,0,0,26.83,26.52,26.84,8.60,6.72
$GC,4696,0.82,146.6,3523,667,1565,1564,21.4,6.7,493,4705,0.00,2.45,0.00,0.000,1030,0.000,0.089,3524,2263,1564,1565,1564,0,0,0,0,0,0,26.63,26.53,26.65,8.59,6.48
$GC,4827,0.84,206.3,3523,2263,1565,1564,13.5,5.4,516,4880,0.00,2.65,45.83,0.859,8452,0.000,0.112,3523,3843,1358,1358,1358,0,0,0,0,0,0,26.85,25.75,25.22,8.60,6.84
$STATE,4936,end climb,SURFACE_DEPTH_REACHED
$STATE,4936,begin surface coast
$FINISH,2.3,1.022082
$STATE,4968,end surface coast,CONTROL_FINISHED_OK
$STATE,4968,begin surface
$SM_CCo,4986,71.70,0.817,0,0,1037,300.08
$SM_GC,1.05,9.10,2.53,71.70,0.099,0.082,0.817,177,2248,1037,-9.56,1.19,300.08,0,0,0,0,0,0,25.94,25.97,24.56
$IRIDIUM_FIX,4726.11,-12219.67,090317,025614
$TT8_MAMPS,0.02247,0.170772
$HUMID,6.52
$INTERNAL_PRESSURE,8.50497
$TCM_TEMP,7.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.9
$ALTIM_BOTTOM_PING,110.1,7.8
$24V_AH,24.03,57.188
$10V_AH,10.61,37.111
$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,21.975,59.400,263.475,71.700,212.100,26.086,38.911,262.352,1.500,0.000,17.661,1468.739,2098.277,576.574,1275.219,72.430,0.000,1153.630,0.000,928.216,0.000,10.420,0.000
$DEVICE_MAMPS,270.647,111.735,968.370,816.907,151.463,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.502,717.294,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322960
$DATA_FILE_SIZE,34813,541
$CAP_FILE_SIZE,81295,0
$CFSIZE,2047311872,2040070144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,133.47,1
$GPS,090317,054732,4744.703,-12224.119,2,0.9,16,16.3,0.0,0.0,8,4.9