version: 66.14
glider: 44
mission: 1
dive: 15
start: 8 9 118 10 0 31
data:
$ID,44
$MISSION,1
$DIVE,15
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,88223
$MASS_COMP,9181
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,330
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$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,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3850
$ROLL_DEG,65
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,1792
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.121443
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,147
$DEVICE3,134
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,133
$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,0.004418781
$SEABIRD_T_H,0.00065043365
$SEABIRD_T_I,2.7219096e-05
$SEABIRD_T_J,3.3677927e-06
$SEABIRD_C_G,-10.022557
$SEABIRD_C_H,1.1226208
$SEABIRD_C_I,-0.0034578526
$SEABIRD_C_J,0.00032751268
$SEABIRD_C_Z,2997.8701
$RS_RECORDABOVE,250.0
$RS_PROFILE,3.0
$RS_XMITPROFILE,0.0
$RS_UPLOADMAX,0.0
$RS_STARTS,27.0
$GPS1,090818,094219,4743.3047,-12224.5586,5,1.1,35,16.3,0.0,137.1,8,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-56.2
$GPS2,090818,095910,4743.3403,-12224.5205,6,1.1,15,16.3,0.0,33.7,8,9.7
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.010926,0.257442
$KALMAN_X,128.399200,16.964260,10.658585,-200.493668,-25.206284
$KALMAN_Y,-3755.014648,-219.724075,85.212341,4262.387207,-154.127777
$MHEAD_RNG_PITCHd_Wd,346.1,2148,-17.6,-10.000,-21.21,2209
$D_GRID,176
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-146.6,174,1948,672,635,0.0,0.0,0,144,0.00,0.00,-123.55,0.132,16386,0.000,0.000,175,1949,2061,2017,2105,0,0,0,0,0,0,26.56,28.83,26.58,8.71,49.09
$GC,146,-1.35,-146.6,174,1949,2017,2105,3.1,-4.8,16,180,8.00,3.72,-13.52,0.161,18948,0.268,0.087,2176,540,2297,2226,2368,0,0,1,0,0,0,25.93,26.08,26.05,8.85,48.22
$GC,318,-1.35,-146.6,2176,540,2233,2361,27.1,-13.8,41,325,0.00,3.50,0.00,0.000,1030,0.000,0.060,2162,1955,2298,2234,2362,0,0,0,0,0,0,26.41,26.34,26.43,8.87,47.20
$GC,404,-1.35,-146.6,2161,1955,2235,2359,38.6,-14.1,54,414,0.00,3.70,0.00,0.000,260,0.000,0.082,2150,3360,2300,2243,2358,0,0,0,0,0,0,26.67,26.35,26.68,8.88,47.24
$GC,468,-1.35,-146.6,2143,3360,2238,2356,46.7,-14.0,63,476,0.12,3.50,0.00,0.000,3078,0.186,0.060,2181,1950,2297,2238,2357,0,0,1,0,0,0,26.31,26.44,26.46,8.88,47.40
$GC,549,-1.35,-146.6,2181,1950,2239,2356,55.8,-10.5,72,561,0.00,3.65,0.00,0.000,516,0.000,0.087,2181,537,2297,2238,2356,0,0,0,0,0,0,26.75,26.43,26.77,8.87,47.67
$GC,655,-1.35,-146.6,2181,537,2238,2356,68.8,-12.6,80,667,0.00,3.47,0.00,0.000,1030,0.000,0.060,2167,1946,2297,2238,2356,0,0,1,0,0,0,26.58,26.56,26.61,8.87,48.07
$GC,787,-1.35,-146.6,2166,1946,2238,2356,83.0,-10.6,93,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,1945,2297,2239,2356,0,0,0,0,0,0,26.86,26.87,26.87,8.86,47.44
$GC,918,-1.35,-146.6,2167,1945,2239,2355,96.3,-10.0,106,930,0.00,3.65,0.00,0.000,260,0.000,0.082,2149,3361,2297,2239,2355,0,0,0,0,0,0,26.90,26.58,26.91,8.86,47.36
$GC,947,-1.35,-146.6,2149,3362,2239,2355,99.3,-10.6,108,960,0.10,3.50,0.00,0.000,3078,0.179,0.062,2179,1956,2296,2238,2355,0,0,1,0,0,0,26.51,26.63,26.59,8.85,47.51
$GC,1080,-1.35,-146.6,2178,1956,2238,2355,112.9,-10.0,121,1093,0.00,3.62,0.00,0.000,516,0.000,0.087,2179,541,2297,2239,2355,0,0,0,0,0,0,26.94,26.61,26.95,8.85,47.20
$GC,1134,-1.35,-146.6,2178,541,2239,2355,119.4,-12.1,125,1151,0.00,3.42,0.00,0.000,1030,0.000,0.060,2164,1951,2297,2239,2355,0,0,0,0,0,0,26.72,26.69,26.74,8.86,47.24
$GC,1271,-1.35,-146.6,2163,1951,2239,2355,133.5,-10.1,138,1284,0.00,3.60,0.00,0.000,260,0.000,0.082,2147,3353,2296,2239,2354,0,0,0,0,0,0,26.97,26.65,26.98,8.85,47.40
$GC,1350,-1.35,-146.6,2145,3353,2238,2354,142.2,-11.2,144,1364,0.10,3.45,0.00,0.000,3078,0.179,0.062,2178,1953,2296,2239,2354,0,0,0,0,0,0,26.58,26.72,26.67,8.85,47.55
$STATE,1443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1443,begin apogee
$GC,1447,-0.33,0.0,2177,2100,2239,2354,151.0,-9.7,153,1565,0.98,0.00,106.78,0.700,10246,0.164,0.000,2504,2099,1793,1789,1798,0,0,0,0,0,0,26.60,25.33,24.99,8.85,47.91
$STATE,1567,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1568,1.35,146.6,2504,2100,1790,1799,155.0,0.0,165,1684,1.50,0.00,110.03,0.680,10246,0.104,0.000,3042,2100,1287,1286,1289,0,0,0,0,0,0,25.57,25.14,24.69,8.80,46.41
$GC,1805,1.35,146.6,3040,2099,1288,1295,133.5,11.6,188,1817,0.00,3.75,0.00,0.000,260,0.000,0.084,3042,3507,1288,1281,1295,0,0,0,0,0,0,26.16,25.86,26.17,8.75,46.49
$GC,1871,1.35,146.6,3041,3507,1281,1295,124.8,12.9,193,1883,0.00,3.53,0.00,0.000,1030,0.000,0.062,3060,2106,1288,1280,1296,0,0,1,0,0,0,26.10,26.06,26.13,8.75,46.85
$GC,2003,1.35,146.6,3059,2106,1278,1297,109.9,10.9,206,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2106,1288,1279,1297,0,0,0,0,0,0,26.51,26.53,26.53,8.75,47.71
$GC,2134,1.35,146.6,3059,2106,1278,1298,95.1,11.1,219,2146,0.00,3.65,0.00,0.000,260,0.000,0.084,3060,3502,1288,1278,1298,0,0,1,0,0,0,26.64,26.33,26.65,8.75,47.48
$GC,2176,1.35,146.6,3059,3502,1278,1298,89.9,12.8,222,2188,0.00,3.50,0.00,0.000,1030,0.000,0.062,3082,2104,1288,1278,1298,0,0,1,0,0,0,26.44,26.41,26.46,8.75,47.91
$GC,2308,1.35,146.6,3077,2103,1277,1298,74.0,11.7,235,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2103,1288,1277,1299,0,0,0,0,0,0,26.75,26.77,26.76,8.75,47.95
$GC,2438,1.35,146.6,3077,2103,1277,1299,60.1,10.1,248,2451,0.00,3.67,0.00,0.000,260,0.000,0.084,3078,3508,1288,1278,1298,0,0,0,0,0,0,26.82,26.50,26.82,8.75,48.50
$GC,2493,1.35,146.6,3077,3509,1276,1299,54.5,10.6,252,2506,0.12,3.50,0.00,0.000,5126,0.184,0.060,3057,2104,1287,1276,1299,0,0,1,0,0,0,26.43,26.56,26.53,8.75,48.11
$GC,2650,1.39,175.3,3057,2104,1276,1298,42.1,8.7,273,2682,0.00,3.75,22.15,0.601,8708,0.000,0.089,3072,685,1187,1182,1193,0,0,0,0,0,0,26.89,26.17,25.84,8.74,48.34
$GC,2737,1.39,175.3,3072,685,1180,1195,31.6,14.6,285,2744,0.00,3.50,0.00,0.000,1030,0.000,0.060,3072,2096,1191,1186,1196,0,0,0,0,0,0,26.48,26.41,26.50,8.73,47.95
$GC,2822,1.39,175.3,3072,2097,1179,1196,20.0,11.9,298,2832,0.00,3.70,0.00,0.000,516,0.000,0.087,3090,688,1187,1178,1196,0,0,1,0,0,0,26.73,26.41,26.74,8.74,47.95
$GC,2860,1.39,175.3,3090,688,1178,1197,16.3,11.0,303,2867,0.00,3.50,0.00,0.000,1030,0.000,0.060,3090,2101,1187,1177,1197,0,0,0,0,0,0,26.56,26.49,26.58,8.74,47.79
$GC,2946,1.55,303.4,3090,2102,1177,1197,9.7,4.1,316,3049,0.00,3.83,93.47,0.601,8964,0.000,0.087,3108,684,746,759,734,0,0,1,0,0,0,26.79,25.47,25.17,8.74,48.46
$STATE,3080,end climb,SURFACE_DEPTH_REACHED
$STATE,3080,begin surface coast
$FINISH,-0.4,1.001549
$STATE,3103,end surface coast,CONTROL_FINISHED_OK
$STATE,3103,begin surface
$SM_CCo,3121,20.25,0.556,0,0,655,330.01
$SM_GC,1.89,7.53,3.25,20.25,0.060,0.060,0.556,200,1951,655,-7.48,-1.14,330.01,0,0,1,0,0,0,25.95,25.92,25.31
$IRIDIUM_FIX,4745.33,-12219.67,090818,083930
$TT8_MAMPS,0.020972,0.566993
$HUMID,47.40
$INTERNAL_PRESSURE,8.66519
$TCM_TEMP,13.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,120.7,71.3
$24V_AH,24.69,2.084
$10V_AH,10.08,6.991
$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,18.450,86.250,332.425,20.250,137.075,25.729,45.204,323.613,1.250,0.000,16.075,833.995,476.626,417.165,2330.023,137.387,33.441,1012.810,0.000,1125.992,0.000,5.627,0.000
$DEVICE_MAMPS,268.164,89.388,700.206,556.192,161.395,34.760,160.000,223.000,420.000,0.000,13.480,10.720,2.190,9.970,33.940,54.160,55.660,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,chl_700_470,velo,nil,nil,nil,RSIMT,nil,nil,nil
$SENSOR_SECS,223.976,412.568,1219.074,0.000,0.000,0.000,3550.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,45.690,93.630,0.000,0.000,0.000,195.000,0.000,0.000,0.000
$MEM,311300
$DATA_FILE_SIZE,24426,337
$CAP_FILE_SIZE,60574,0
$CFSIZE,2046525440,2039873536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,1,0
$GPS,090818,105401,4743.676,-12224.410,5,1.0,30,16.3,0.4,107.6,8,5.0