version: 66.14
glider: 46
mission: 3
dive: 20
start: 4 10 119 11 13 6
data:
$ID,46
$MISSION,3
$DIVE,20
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$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,80
$T_MISSION,90
$T_ABORT,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79232.797
$MASS_COMP,10878
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.8500004e-06
$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,400
$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,2
$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,3025
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2047
$C_ROLL_CLIMB,2047
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2703
$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,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,5
$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,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.010625
$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,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,100419,110532,4744.0562,-12224.6504,18,0.9,29,16.3,0.0,0.0,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-55.8
$GPS2,100419,110532,4744.0562,-12224.6504,18,0.9,29,16.3,0.0,0.0,11,9.4
$SPEED_LIMITS,0.130,0.267
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.188646,-0.189624
$KALMAN_X,12205.858398,363.629578,-722.488770,-12486.862305,1576.864380
$KALMAN_Y,-2662.883057,-3008.931641,1370.940918,5602.249512,-552.461914
$MHEAD_RNG_PITCHd_Wd,158.2,1965,-11.8,-7.500,-15.66,3954
$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,7,-1.18,-194.6,187,2052,1231,1419,0.0,0.0,0,172,0.00,0.00,-161.82,0.144,16386,0.000,0.000,187,2052,2933,2838,3028,0,0,0,0,0,0,26.58,28.83,26.59,8.06,19.64
$GC,174,-1.18,-194.6,186,2052,2838,3028,3.1,-2.7,27,218,9.82,0.00,-29.98,0.156,18950,0.261,0.000,2641,2052,3374,3257,3492,0,0,0,0,0,0,25.96,26.20,26.06,8.21,19.52
$GC,281,-1.05,-194.6,2641,2052,3257,3492,15.1,-14.1,46,288,0.12,2.25,0.00,0.000,2308,0.191,0.074,2675,2913,3374,3256,3492,0,0,0,0,0,0,26.18,26.29,26.27,8.25,19.44
$GC,368,-0.96,-194.6,2674,2913,3256,3492,23.5,-8.9,59,376,0.12,2.17,0.00,0.000,3078,0.181,0.062,2712,2044,3374,3257,3492,0,0,0,0,0,0,26.29,26.44,26.43,8.25,19.56
$GC,496,-0.90,-194.6,2711,2044,3256,3492,34.5,-9.1,72,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2044,3374,3257,3492,0,0,0,0,0,0,26.82,26.84,26.84,8.25,19.16
$GC,616,-0.84,-194.6,2711,2044,3257,3492,44.5,-8.7,84,618,0.12,0.00,0.00,0.000,2054,0.179,0.000,2751,2044,3374,3257,3492,0,0,0,0,0,0,26.52,26.68,26.64,8.24,19.01
$GC,735,-0.84,-194.6,2751,2044,3256,3492,52.9,-6.8,96,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2044,3374,3256,3492,0,0,0,0,0,0,26.97,26.98,26.98,8.24,19.28
$GC,855,-0.84,-194.6,2751,2044,3257,3492,61.3,-8.1,108,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2044,3374,3256,3492,0,0,0,0,0,0,27.02,27.04,27.04,8.24,19.28
$GC,975,-0.84,-194.6,2751,2043,3256,3492,69.6,-6.9,120,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2044,3374,3256,3492,0,0,0,0,0,0,27.07,27.09,27.08,8.23,19.28
$GC,1095,-0.84,-194.6,2750,2044,3256,3492,78.3,-7.0,132,1099,0.00,2.22,0.00,0.000,516,0.000,0.082,2751,1185,3374,3256,3492,0,0,0,0,0,0,27.11,26.79,27.13,8.24,19.36
$GC,1216,-0.84,-194.6,2751,1186,3256,3492,86.8,-7.7,143,1224,0.00,2.17,0.00,0.000,1030,0.000,0.065,2751,2048,3374,3256,3492,0,0,0,0,0,0,26.91,26.88,26.93,8.23,19.75
$GC,1344,-0.84,-194.6,2751,2048,3256,3492,95.6,-6.6,156,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2048,3374,3256,3492,0,0,0,0,0,0,27.17,27.18,27.18,8.23,19.44
$GC,1464,-0.84,-194.6,2751,2048,3256,3492,103.8,-6.8,168,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2048,3374,3256,3492,0,0,0,0,0,0,27.20,27.21,27.20,8.23,19.71
$GC,1584,-0.84,-194.6,2751,2048,3256,3492,110.7,-5.7,180,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2048,3374,3256,3492,0,0,0,0,0,0,27.22,27.23,27.23,8.23,19.16
$GC,1704,-0.84,-194.6,2751,2048,3256,3492,118.8,-6.8,192,1708,0.00,2.25,0.00,0.000,516,0.000,0.082,2752,1184,3374,3256,3492,0,0,0,0,0,0,27.24,26.91,27.25,8.23,19.71
$GC,1800,-0.84,-194.6,2751,1184,3257,3492,126.1,-7.9,201,1804,0.00,2.15,0.00,0.000,1030,0.000,0.067,2752,2050,3374,3256,3492,0,0,0,0,0,0,27.05,26.98,27.06,8.23,19.48
$GC,1931,-0.84,-194.6,2751,2051,3256,3491,135.7,-6.8,214,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2051,3374,3256,3492,0,0,0,0,0,0,27.27,27.29,27.28,8.23,19.79
$GC,2051,-0.84,-194.6,2751,2051,3256,3492,143.5,-5.8,226,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2051,3374,3256,3492,0,0,0,0,0,0,27.28,27.30,27.29,8.23,19.87
$STATE,2120,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2120,begin apogee
$GC,2123,-0.40,0.0,2751,2051,3256,3492,147.0,-5.3,233,2271,0.45,0.00,139.23,1.040,10246,0.146,0.000,2900,2051,2702,2590,2815,0,0,0,0,0,0,26.89,25.22,24.64,8.23,19.67
$STATE,2272,end apogee,CONTROL_FINISHED_OK
$STATE,2272,begin climb
$GC,2273,1.18,194.6,2900,2051,2590,2815,149.9,0.0,248,2422,1.48,0.00,140.68,0.976,10246,0.124,0.000,3386,2051,2031,1920,2142,0,0,0,0,0,0,25.39,25.03,24.46,8.18,19.20
$GC,2541,1.10,194.6,3385,2051,1921,2143,125.5,12.0,275,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2051,2032,1921,2143,0,0,0,0,0,0,26.19,26.20,26.20,8.13,18.85
$GC,2661,1.02,194.6,3385,2051,1921,2143,113.3,10.2,287,2671,0.10,2.33,0.00,0.000,4612,0.176,0.082,3359,1185,2031,1921,2142,0,0,0,0,0,0,26.12,26.17,26.19,8.12,19.36
$GC,2745,1.02,194.6,3359,1185,1921,2143,105.8,8.6,295,2753,0.00,2.22,0.00,0.000,1030,0.000,0.065,3359,2046,2032,1921,2143,0,0,0,0,0,0,26.41,26.35,26.39,8.12,19.24
$GC,2873,1.02,194.6,3359,2047,1921,2143,92.5,10.7,308,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2047,2031,1921,2142,0,0,0,0,0,0,26.73,26.74,26.74,8.13,19.56
$GC,2993,0.97,194.6,3358,2047,1921,2143,80.8,10.2,320,3003,0.00,2.28,0.00,0.000,516,0.000,0.084,3368,1185,2031,1920,2143,0,0,0,0,0,0,26.83,26.52,26.84,8.12,19.79
$GC,3047,0.90,194.6,3367,1185,1921,2143,75.5,10.3,325,3056,0.15,2.20,0.00,0.000,5126,0.151,0.065,3320,2051,2032,1921,2143,0,0,0,0,0,0,26.48,26.62,26.63,8.12,19.67
$GC,3175,0.90,194.6,3319,2051,1921,2143,64.2,8.2,338,3179,0.00,2.28,0.00,0.000,516,0.000,0.082,3327,1185,2032,1921,2143,0,0,0,0,0,0,26.94,26.63,26.95,8.12,19.99
$GC,3270,0.90,194.6,3327,1185,1921,2143,56.2,8.3,347,3274,0.00,2.15,0.00,0.000,1030,0.000,0.065,3327,2047,2032,1921,2143,0,0,0,0,0,0,26.79,26.73,26.80,8.12,19.60
$GC,3396,0.90,194.6,3327,2047,1921,2143,44.8,8.6,359,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2047,2032,1921,2143,0,0,0,0,0,0,27.04,27.05,27.05,8.12,19.44
$GC,3516,0.90,194.6,3327,2047,1920,2143,35.4,7.7,371,3520,0.00,2.25,0.00,0.000,516,0.000,0.084,3336,1185,2032,1921,2143,0,0,0,0,0,0,27.08,26.76,27.09,8.12,20.23
$GC,3645,0.90,194.6,3335,1185,1921,2143,25.3,7.9,383,3652,0.00,2.15,0.00,0.000,1030,0.000,0.065,3336,2051,2032,1921,2143,0,0,0,0,0,0,26.92,26.86,26.94,8.11,19.60
$GC,3774,0.90,194.6,3335,2051,1921,2143,15.0,7.8,402,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2051,2031,1921,2142,0,0,0,0,0,0,27.15,27.16,27.16,8.12,20.23
$GC,3842,0.90,194.6,3335,2051,1921,2143,9.8,7.8,415,3849,0.00,2.28,0.00,0.000,516,0.000,0.082,3345,1181,2031,1921,2142,0,0,0,0,0,0,27.16,26.84,27.17,8.11,19.67
$GC,3891,0.90,194.6,3344,1181,1920,2143,6.3,7.6,424,3898,0.00,2.15,0.00,0.000,1030,0.000,0.065,3344,2049,2032,1921,2143,0,0,0,0,0,0,26.97,26.91,26.99,8.12,19.67
$GC,3960,0.90,194.6,3344,2048,1920,2142,2.3,5.4,437,3967,0.00,2.20,0.00,0.000,260,0.000,0.074,3345,2914,2031,1920,2143,0,0,0,0,0,0,27.19,26.89,27.20,8.12,19.87
$STATE,3972,end climb,SURFACE_DEPTH_REACHED
$STATE,3972,begin surface coast
$FINISH,0.7,1.011420
$STATE,3998,end surface coast,CONTROL_FINISHED_OK
$STATE,3998,begin surface
$SM_CCo,4016,145.32,0.941,0,0,1325,400.02
$SM_GC,1.66,8.40,2.17,145.32,0.077,0.062,0.941,186,2042,1325,-8.80,1.59,400.02,0,0,1,0,0,0,26.89,26.91,24.74
$IRIDIUM_FIX,4743.02,-12222.38,100419,094655
$TT8_MAMPS,0.021721,0.170023
$HUMID,19.64
$INTERNAL_PRESSURE,8.02846
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,80.1,81.6
$24V_AH,24.46,6.078
$10V_AH,10.43,4.723
$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,20.775,39.875,279.900,145.325,191.800,22.178,35.555,250.168,0.750,0.000,14.351,1140.164,1670.672,627.365,1092.417,44.787,33.408,1085.304,0.000,753.720,0.000,8.066,0.000
$DEVICE_MAMPS,260.715,84.422,1040.377,941.057,156.429,34.760,160.000,223.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.454,576.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312608
$DATA_FILE_SIZE,27839,444
$CAP_FILE_SIZE,70223,0
$CFSIZE,2046525440,2041315328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,100419,122323,4743.477,-12224.565,5,1.0,17,16.3,0.0,0.0,8,9.8