version: 66.14
glider: 38
mission: 12
dive: 7
start: 4 26 118 2 19 42
data:
$ID,38
$MISSION,12
$DIVE,7
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$T_ABORT,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80313
$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,-1
$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,360
$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,-15
$N_GPS,50840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3330
$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,200
$C_ROLL_CLIMB,200
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00059000001
$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,-21.153936
$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,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,2
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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,0.0043154242
$SEABIRD_T_H,0.00062410574
$SEABIRD_T_I,2.302181e-05
$SEABIRD_T_J,2.4339581e-06
$SEABIRD_C_G,-9.7676115
$SEABIRD_C_H,1.1309991
$SEABIRD_C_I,-0.0018490348
$SEABIRD_C_J,0.00021460596
$SEABIRD_C_Z,2943.3999
$GPS1,260418,021217,4744.1455,-12224.6377,8,1.1,17,16.3,0.0,0.0,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.8
$GPS2,260418,021914,4744.1675,-12224.5928,5,1.2,45,16.3,0.2,63.0,7,3.0
$SPEED_LIMITS,0.373,0.373
$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,176.5,2165,-11.5,-10.000,-15.00,6699
$D_GRID,175
$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,7,-0.85,-293.3,168,211,182,200,0.0,0.0,0,213,0.00,0.00,-202.70,0.144,16386,0.000,0.000,168,211,1536,1559,1513,0,0,0,0,0,0,26.22,28.83,26.23,7.47,31.05
$GC,216,-0.85,-293.3,167,211,1558,1513,3.0,-2.0,33,320,13.27,0.00,-85.38,0.146,18438,0.313,0.000,3050,210,2962,2979,2945,0,0,0,0,0,0,24.94,25.53,25.19,7.60,29.52
$GC,384,-0.73,-293.3,3049,210,2966,2944,28.2,-14.4,56,386,0.15,0.00,0.00,0.000,2054,0.196,0.000,3096,210,2955,2966,2944,0,0,0,0,0,0,25.48,25.71,25.64,7.70,29.52
$GC,504,-0.67,-293.3,3096,210,2961,2941,44.8,-13.4,68,506,0.00,0.00,-0.30,0.906,16390,0.000,0.000,3097,210,2963,2975,2952,0,0,0,0,0,0,26.29,24.94,23.77,7.71,29.64
$GC,624,-0.60,-293.3,3096,210,2974,2952,60.9,-13.9,80,626,0.12,0.00,0.00,0.000,2054,0.191,0.000,3138,210,2963,2974,2952,0,0,0,0,0,0,25.79,25.94,25.89,7.71,30.74
$GC,744,-0.60,-293.3,3137,210,2973,2951,75.2,-11.4,92,745,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,210,2963,2973,2953,0,0,0,0,0,0,26.43,26.44,26.44,7.71,31.05
$GC,864,-0.60,-293.3,3137,210,2971,2952,89.2,-11.7,104,865,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,210,2961,2971,2952,0,0,0,0,0,0,26.48,26.48,26.48,7.71,30.98
$GC,984,-0.60,-293.3,3137,210,2970,2952,103.3,-11.3,116,985,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,210,2961,2971,2952,0,0,0,0,0,0,26.51,26.51,26.51,7.71,31.45
$GC,1224,-0.60,-293.3,3137,210,2969,2951,129.2,-10.0,140,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,210,2960,2969,2951,0,0,0,0,0,0,26.55,26.57,26.57,7.70,30.90
$STATE,1432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1432,begin apogee
$GC,1436,-0.29,0.0,3137,210,2968,2950,150.5,-9.5,161,1665,0.30,0.00,218.60,0.919,10246,0.156,0.000,3241,210,1949,1965,1934,0,0,0,0,0,0,25.69,24.47,23.66,7.70,31.17
$STATE,1666,end apogee,CONTROL_FINISHED_OK
$STATE,1666,begin climb
$GC,1667,0.85,293.3,3240,210,1965,1933,165.4,0.0,184,1928,0.98,0.00,255.15,0.896,10246,0.144,0.000,3565,210,940,926,954,0,0,0,0,0,0,24.68,24.15,23.38,7.63,29.83
$GC,2166,1.19,475.1,3564,209,913,938,139.8,7.2,234,2336,0.40,0.00,166.05,0.869,10246,0.107,0.000,3720,210,313,301,326,0,0,0,0,0,0,25.62,24.53,23.77,7.54,30.11
$GC,2575,1.24,475.1,3719,210,295,317,100.1,10.4,275,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,3720,210,306,295,317,0,0,0,0,0,0,26.14,26.15,26.15,7.47,29.99
$GC,2816,1.30,475.1,3719,210,294,316,75.9,9.3,299,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,3720,210,305,294,316,0,0,0,0,0,0,26.35,26.36,26.36,7.47,30.78
$GC,2935,1.35,475.1,3719,210,293,316,63.9,9.9,311,2937,0.00,0.00,0.00,0.000,2054,0.000,0.000,3720,210,304,293,316,0,0,0,0,0,0,26.42,26.43,26.43,7.47,30.50
$GC,3055,1.42,475.1,3719,210,293,316,51.8,9.7,323,3057,0.10,0.00,0.00,0.000,2054,0.124,0.000,3785,209,304,293,316,0,0,0,0,0,0,26.20,26.25,26.24,7.47,31.02
$GC,3175,1.42,475.1,3784,210,293,316,36.1,13.7,335,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,3785,210,304,293,316,0,0,0,0,0,0,26.49,26.51,26.51,7.47,31.65
$GC,3295,1.42,475.1,3784,210,292,316,20.3,13.0,347,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,3785,210,304,292,316,0,0,0,0,0,0,26.52,26.53,26.53,7.47,30.82
$GC,3418,1.48,475.1,3784,210,293,315,6.5,9.1,370,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,3785,210,303,292,315,0,0,0,0,0,0,26.54,26.55,26.55,7.46,31.02
$STATE,3470,end climb,SURFACE_DEPTH_REACHED
$STATE,3470,begin surface coast
$FINISH,0.4,1.000925
$STATE,3492,end surface coast,CONTROL_FINISHED_OK
$STATE,3492,begin surface
$SM_CCo,3568,0.00,0.000,0,0,303,478.15
$SM_GC,1.86,9.18,0.00,0.00,0.070,0.000,0.000,167,210,303,-9.81,0.28,478.15,0,0,0,0,0,0,26.03,26.57,26.12
$IRIDIUM_FIX,4743.51,-12226.80,260418,010236
$TT8_MAMPS,0.021721,0.185003
$HUMID,31.09
$INTERNAL_PRESSURE,7.42094
$TCM_TEMP,9.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,18.8
$ALTIM_BOTTOM_PING,101.0,85.7
$24V_AH,23.38,19.488
$10V_AH,10.23,11.597
$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,24.500,3.250,639.800,0.000,288.375,26.039,15.124,259.925,1.000,0.000,46.897,837.829,1368.119,810.963,923.167,53.831,0.000,1196.432,0.000,575.243,0.000,7.305,0.000
$DEVICE_MAMPS,312.858,76.973,918.710,0.000,906.295,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.850,508.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312624
$DATA_FILE_SIZE,27898,384
$CAP_FILE_SIZE,47409,0
$CFSIZE,2047311872,2039742464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,356.34,1
$GPS,260418,031953,4744.317,-12224.510,8,0.9,15,16.3,0.4,124.0,9,4.8