version: 66.14
glider: 39
mission: 28
dive: 17
start: 4 10 119 11 24 10
data:
$ID,39
$MISSION,28
$DIVE,17
$N_DIVES,0
$STOP_T,0
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,78557
$MASS_COMP,9201.2998
$NAV_MODE,0
$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,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,1
$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,150
$PITCH_MAX,3910
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$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,-22.48057
$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,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.5
$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,0.0044170879
$SEABIRD_T_H,0.00064670271
$SEABIRD_T_I,2.5769914e-05
$SEABIRD_T_J,3.1384129e-06
$SEABIRD_C_G,-10.057268
$SEABIRD_C_H,1.1616307
$SEABIRD_C_I,-0.0015180854
$SEABIRD_C_J,0.00020613552
$SEABIRD_C_Z,2945.8
$GPS1,100419,111502,4744.5054,-12224.7783,6,1.1,27,16.3,0.3,57.6,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.4
$GPS2,100419,112329,4744.5654,-12224.7236,8,1.0,17,16.3,0.2,0.0,10,4.6
$SPEED_LIMITS,0.173,0.262
$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,158.2,2912,-18.1,-10.000,-20.89,2961
$D_GRID,180
$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,70,-1.39,-194.6,149,2061,545,699,1.0,1.0,12,301,0.00,0.00,-224.95,0.151,16386,0.000,0.000,150,2061,2067,2027,2108,0,0,0,0,0,0,26.50,28.83,26.51,8.22,12.23
$GC,304,-1.39,-194.6,150,2061,2027,2109,3.2,-4.4,50,362,8.43,2.45,-42.50,0.159,19204,0.256,0.072,2408,3642,2672,2632,2712,0,0,0,0,0,0,25.86,26.02,25.92,8.38,12.07
$GC,442,-1.18,-194.6,2407,3642,2632,2712,28.3,-21.0,71,451,0.25,2.33,0.00,0.000,3078,0.196,0.062,2483,2050,2672,2632,2712,0,0,0,0,0,0,26.05,26.21,26.19,8.42,11.80
$GC,570,-1.07,-194.6,2482,2050,2633,2712,50.4,-16.5,84,575,0.12,2.28,0.00,0.000,2564,0.209,0.070,2520,519,2672,2633,2712,0,0,0,0,0,0,26.22,26.34,26.35,8.43,11.64
$GC,694,-0.97,-194.6,2520,518,2632,2712,70.8,-16.0,96,704,0.12,2.25,0.00,0.000,3078,0.181,0.062,2552,2078,2672,2633,2712,0,0,0,0,0,0,26.33,26.46,26.41,8.42,12.39
$GC,823,-0.97,-194.6,2551,2077,2632,2712,89.0,-14.0,109,832,0.00,2.33,0.00,0.000,516,0.000,0.070,2551,519,2672,2632,2712,0,0,0,0,0,0,26.76,26.52,26.77,8.43,12.35
$GC,953,-0.92,-194.6,2551,519,2632,2712,107.5,-14.1,120,961,0.10,2.28,0.00,0.000,3078,0.204,0.062,2573,2090,2672,2632,2712,0,0,0,0,0,0,26.47,26.60,26.59,8.42,12.04
$GC,1081,-0.92,-194.6,2573,2090,2632,2712,123.1,-11.8,133,1090,0.00,2.35,0.00,0.000,260,0.000,0.074,2563,3654,2672,2632,2712,0,0,0,0,0,0,26.87,26.62,26.88,8.43,12.07
$GC,1122,-0.92,-194.6,2562,3654,2632,2712,127.9,-11.5,137,1132,0.00,2.25,0.00,0.000,1030,0.000,0.062,2563,2074,2672,2633,2712,0,0,0,0,0,0,26.72,26.67,26.73,8.43,12.55
$GC,1253,-0.92,-194.6,2563,2074,2633,2712,145.1,-13.2,150,1262,0.00,2.28,0.00,0.000,516,0.000,0.070,2562,525,2672,2633,2712,0,0,0,0,0,0,26.93,26.68,26.94,8.42,12.04
$GC,1316,-0.92,-194.6,2562,526,2632,2712,153.0,-12.2,156,1325,0.00,2.22,0.00,0.000,1030,0.000,0.065,2553,2074,2672,2633,2711,0,0,0,0,0,0,26.75,26.72,26.77,8.42,12.07
$GC,1444,-0.92,-194.6,2552,2074,2632,2712,168.2,-12.5,169,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2075,2672,2633,2712,0,0,0,0,0,0,26.98,26.99,26.99,8.42,12.31
$STATE,1543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1543,begin apogee
$GC,1547,-0.37,0.0,2552,2074,2632,2712,181.1,-13.6,179,1695,0.55,0.00,141.07,1.083,10246,0.156,0.000,2743,2075,2000,1944,2056,0,0,0,0,0,0,26.65,24.84,24.25,8.43,12.23
$STATE,1696,end apogee,CONTROL_FINISHED_OK
$STATE,1696,begin climb
$GC,1698,1.39,194.6,2743,2075,1944,2056,191.3,0.0,194,1856,1.62,0.00,146.02,1.023,10758,0.124,0.000,3297,2075,1328,1286,1371,0,0,0,0,0,0,24.98,24.53,24.11,8.37,12.00
$GC,1975,1.27,194.6,3295,2075,1285,1370,158.2,15.5,222,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2074,1328,1286,1370,0,0,0,0,0,0,25.94,25.96,25.95,8.31,12.39
$GC,2095,1.14,194.6,3296,2075,1286,1370,138.7,16.0,234,2105,0.17,2.40,0.00,0.000,4356,0.194,0.072,3242,3642,1328,1286,1370,0,0,0,0,0,0,25.91,26.01,25.98,8.30,11.84
$GC,2161,1.05,194.6,3242,3642,1284,1370,129.6,14.3,240,2169,0.15,2.30,0.00,0.000,5126,0.191,0.062,3205,2084,1327,1284,1370,0,0,0,0,0,0,26.01,26.16,26.14,8.31,12.31
$GC,2287,1.05,194.6,3205,2084,1284,1370,114.1,10.4,253,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2084,1327,1284,1370,0,0,0,0,0,0,26.52,26.53,26.53,8.30,12.47
$GC,2407,1.05,194.6,3205,2084,1284,1370,101.1,11.0,265,2411,0.00,2.33,0.00,0.000,516,0.000,0.072,3215,521,1327,1284,1370,0,0,0,0,0,0,26.63,26.39,26.64,8.30,12.35
$GC,2439,1.05,194.6,3215,521,1284,1370,97.7,10.7,268,2449,0.00,2.28,0.00,0.000,1030,0.000,0.062,3215,2084,1326,1283,1370,0,0,0,0,0,0,26.48,26.44,26.51,8.30,12.51
$GC,2569,1.05,194.6,3215,2084,1284,1370,84.0,10.0,281,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2083,1327,1284,1370,0,0,0,0,0,0,26.74,26.75,26.75,8.30,12.90
$GC,2689,1.05,194.6,3214,2084,1284,1370,70.6,11.6,293,2698,0.00,2.35,0.00,0.000,516,0.000,0.070,3226,514,1327,1284,1370,0,0,0,0,0,0,26.80,26.55,26.81,8.30,12.43
$GC,2753,1.05,194.6,3226,514,1284,1369,64.0,10.8,299,2761,0.00,2.28,0.00,0.000,1030,0.000,0.062,3226,2087,1327,1284,1370,0,0,0,0,0,0,26.66,26.60,26.67,8.30,12.23
$GC,2881,1.05,194.6,3225,2087,1283,1370,51.1,9.7,312,2890,0.00,2.35,0.00,0.000,516,0.000,0.070,3237,509,1327,1284,1370,0,0,0,0,0,0,26.88,26.63,26.89,8.30,12.31
$GC,2925,1.05,194.6,3237,509,1285,1370,47.1,9.6,316,2933,0.08,2.28,0.00,0.000,5126,0.186,0.060,3200,2086,1327,1284,1370,0,0,0,0,0,0,26.54,26.67,26.66,8.30,12.70
$GC,3053,1.06,253.0,3199,2086,1284,1370,35.9,8.0,329,3104,0.00,2.40,44.50,1.006,8452,0.000,0.079,3200,3641,1129,1078,1180,0,0,0,0,0,0,26.94,25.77,25.19,8.30,12.47
$GC,3177,1.06,253.0,3199,3642,1074,1180,24.3,10.9,341,3186,0.00,2.30,0.00,0.000,1030,0.000,0.062,3210,2073,1127,1074,1180,0,0,0,0,0,0,26.12,26.09,26.13,8.28,12.15
$GC,3308,1.06,253.0,3209,2073,1074,1180,10.0,10.6,363,3315,0.00,2.35,0.00,0.000,516,0.000,0.070,3220,507,1126,1074,1179,0,0,0,0,0,0,26.51,26.27,26.53,8.28,12.59
$GC,3322,1.06,253.0,3219,507,1074,1178,8.5,9.9,365,3329,0.00,2.30,0.00,0.000,1030,0.000,0.062,3220,2080,1126,1074,1178,0,0,0,0,0,0,26.36,26.32,26.38,8.28,12.82
$STATE,3355,end climb,SURFACE_DEPTH_REACHED
$STATE,3355,begin surface coast
$FINISH,0.0,1.000789
$STATE,3401,end surface coast,CONTROL_FINISHED_OK
$STATE,3401,begin surface
$SM_CCo,3416,115.03,0.953,0,0,623,400.00
$SM_GC,1.30,7.90,0.00,115.03,0.067,0.000,0.953,151,2080,623,-8.41,0.00,400.00,0,0,0,0,0,0,26.38,26.63,24.44
$IRIDIUM_FIX,4744.11,-12229.50,100419,111622
$TT8_MAMPS,0.020972,0.227696
$HUMID,12.39
$INTERNAL_PRESSURE,8.184
$TCM_TEMP,9.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,105.4,90.0
$24V_AH,24.11,3.678
$10V_AH,10.54,4.618
$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,19.500,50.900,331.600,115.025,267.450,47.918,57.099,238.405,3.000,0.000,24.261,919.434,1279.672,691.852,1086.819,88.179,0.000,1165.443,0.000,694.015,0.000,24.881,0.000
$DEVICE_MAMPS,255.749,79.456,1082.588,953.472,158.912,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.073,499.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273676
$DATA_FILE_SIZE,24443,380
$CAP_FILE_SIZE,65533,0
$CFSIZE,2047311872,2037940224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$WARN,PPS timeout
$GPS,100419,122357,4744.008,-12224.622,3,0.9,15,16.3,0.0,0.0,11,5.0