version: 66.12
glider: 36
mission: 20
dive: 8
start: 7 3 115 20 33 39
data:
$ID,36
$MISSION,20
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,5500
$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,120
$T_MISSION,135
$T_ABORT,2880
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,112
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$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,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,030715,202745,3220.3293,-6436.0259,9,1.1,50,-15.5,0.4,20.7,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.6
$GPS2,030715,203316,3220.3560,-6436.0146,12,1.1,52,-15.5,0.2,0.0,9,4.3
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$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,169.3,21372,-19.7,-10.000,-22.23,2234
$D_GRID,360
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.01,-146.6,165,1718,1267,1317,0.0,0.0,0,121,0.00,0.00,-104.03,0.099,16386,0.000,0.000,159,1717,2949,2790,3109,0,0,0,0,0,0,26.58,28.83,26.60
$GC,124,-1.01,-146.6,158,1718,2790,3111,4.3,-5.4,10,145,11.00,2.00,-1.55,0.189,18692,0.261,0.057,2961,3054,3007,2847,3167,0,0,0,0,0,0,25.95,26.22,26.10
$GC,306,-1.01,-146.6,2961,3054,2848,3167,34.9,-11.7,26,316,0.00,1.98,0.00,0.000,1030,0.000,0.047,2961,1695,3007,2848,3167,0,0,0,0,0,0,26.49,26.47,26.50
$GC,616,-1.01,-146.6,2960,1695,2848,3167,69.4,-10.4,57,626,0.00,2.00,0.00,0.000,516,0.000,0.062,2961,302,3007,2848,3167,0,0,0,0,0,0,26.83,26.55,26.85
$GC,741,-1.01,-146.6,2961,302,2848,3167,82.5,-10.8,68,751,0.00,1.90,0.00,0.000,1030,0.000,0.047,2952,1700,3007,2848,3167,0,0,0,0,0,0,26.69,26.65,26.70
$GC,1051,-1.01,-146.6,2951,1701,2848,3167,115.9,-10.9,99,1061,0.00,1.95,0.00,0.000,260,0.000,0.055,2945,3072,3007,2848,3167,0,0,0,0,0,0,26.91,26.66,26.94
$GC,1178,-1.01,-146.6,2944,3072,2848,3167,130.7,-11.0,110,1188,0.00,1.92,0.00,0.000,1030,0.000,0.047,2945,1695,3007,2848,3167,0,0,0,0,0,0,26.73,26.70,26.74
$GC,1488,-1.01,-146.6,2944,1695,2848,3167,166.8,-11.7,134,1494,0.08,1.98,0.00,0.000,2564,0.204,0.060,2974,310,3007,2848,3167,0,0,0,0,0,0,26.55,26.67,26.61
$GC,1542,-1.01,-146.6,2973,310,2848,3167,171.8,-12.0,136,1551,0.00,1.92,0.00,0.000,1030,0.000,0.045,2967,1696,3007,2848,3167,0,0,0,0,0,0,26.76,26.74,26.77
$GC,1851,-1.01,-146.6,2966,1696,2848,3167,207.2,-11.0,152,1856,0.00,1.95,0.00,0.000,260,0.000,0.055,2956,3069,3007,2848,3167,0,0,0,0,0,0,26.96,26.70,26.98
$GC,1926,-1.01,-146.6,2956,3070,2848,3167,214.9,-12.0,155,1936,0.00,1.98,0.00,0.000,1030,0.000,0.047,2956,1693,3007,2848,3167,0,0,0,0,0,0,26.75,26.74,26.77
$GC,2236,-1.01,-146.6,2956,1693,2848,3167,257.2,-13.0,171,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1693,3007,2848,3167,0,0,0,0,0,0,26.97,26.99,26.98
$GC,2535,-1.01,-146.6,2956,1693,2848,3167,295.1,-12.4,186,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1693,3007,2848,3167,0,0,0,0,0,0,26.98,27.00,26.99
$GC,2848,-1.01,-146.6,2956,1693,2848,3167,331.9,-11.7,197,2853,0.00,2.00,0.00,0.000,516,0.000,0.062,2956,308,3007,2848,3167,0,0,0,0,0,0,26.96,26.70,26.97
$GC,2909,-1.01,-146.6,2956,308,2848,3167,339.7,-12.3,199,2914,0.00,1.95,0.00,0.000,1030,0.000,0.045,2948,1702,3007,2848,3167,0,0,0,0,0,0,26.78,26.76,26.79
$STATE,3089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3089,begin apogee
$GC,3092,-0.24,0.0,2948,1702,2848,3167,362.7,-12.8,205,3199,0.80,0.00,103.20,1.105,10246,0.139,0.000,3222,1705,2500,2353,2647,0,0,0,0,0,0,26.48,25.12,24.19
$STATE,3200,end apogee,CONTROL_FINISHED_OK
$STATE,3200,begin climb
$GC,3201,1.01,146.6,3222,1705,2352,2647,365.9,0.0,208,3301,1.00,0.00,96.10,1.127,10246,0.082,0.000,3610,1706,1994,1837,2152,0,0,0,0,0,0,25.38,24.90,24.01
$GC,3599,1.01,146.6,3610,1706,1837,2151,322.9,13.2,222,3604,0.00,2.08,0.00,0.000,516,0.000,0.060,3621,306,1994,1837,2151,0,0,0,0,0,0,26.57,26.29,26.59
$GC,3745,1.01,146.6,3621,306,1837,2151,305.4,14.3,226,3754,0.00,1.98,0.00,0.000,1030,0.000,0.045,3621,1719,1994,1837,2151,0,0,0,0,0,0,26.48,26.47,26.50
$GC,4064,1.01,146.6,3621,1719,1837,2151,261.2,12.8,242,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1719,1994,1837,2151,0,0,0,0,0,0,26.82,26.84,26.83
$GC,4364,1.01,146.6,3621,1719,1837,2151,224.7,11.9,257,4369,0.00,2.05,0.00,0.000,516,0.000,0.060,3630,312,1993,1836,2151,0,0,0,0,0,0,26.87,26.60,26.89
$GC,4469,1.01,146.6,3630,311,1837,2151,211.7,12.5,262,4474,0.00,1.88,0.00,0.000,1030,0.000,0.045,3631,1704,1994,1837,2151,0,0,0,0,0,0,26.72,26.69,26.73
$GC,4789,1.01,146.6,3630,1704,1837,2151,173.6,12.1,278,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,3631,1704,1994,1837,2151,0,0,0,0,0,0,26.92,26.94,26.94
$GC,5089,1.01,146.6,3631,1704,1837,2151,138.6,10.7,298,5099,0.00,2.03,0.00,0.000,516,0.000,0.060,3640,311,1994,1837,2151,0,0,0,0,0,0,26.94,26.65,26.96
$GC,5202,1.01,146.6,3640,311,1837,2151,124.8,11.8,308,5206,0.00,1.90,0.00,0.000,1030,0.000,0.047,3640,1707,1994,1837,2151,0,0,0,0,0,0,26.77,26.74,26.78
$GC,5515,1.01,146.6,3640,1713,1837,2151,90.3,10.3,339,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,1713,1994,1837,2151,0,0,0,0,0,0,26.96,26.98,26.97
$GC,5815,1.01,146.6,3640,1713,1837,2151,58.7,10.2,369,5825,0.00,1.95,0.00,0.000,260,0.000,0.055,3641,3069,1994,1837,2151,0,0,0,0,0,0,26.96,26.70,26.98
$GC,5884,1.01,146.6,3640,3069,1837,2151,52.6,8.7,375,5894,0.00,1.92,0.00,0.000,1030,0.000,0.050,3649,1694,1994,1837,2151,0,0,0,0,0,0,26.78,26.73,26.79
$GC,6194,1.03,216.6,3649,1694,1836,2151,29.7,6.8,406,6246,0.00,2.12,45.97,0.889,8452,0.000,0.057,3649,3063,1753,1621,1885,0,0,0,0,0,0,26.97,25.66,24.94
$GC,6282,1.03,216.6,3649,3063,1622,1886,21.1,11.6,414,6285,0.00,1.98,0.00,0.000,1030,0.000,0.050,3659,1702,1753,1622,1885,0,0,0,0,0,0,26.16,26.12,26.17
$STATE,6503,end climb,SURFACE_DEPTH_REACHED
$STATE,6503,begin surface coast
$FINISH,0.2,0.998039
$STATE,6554,end surface coast,CONTROL_FINISHED_OK
$STATE,6554,begin surface
$SM_CCo,6569,121.40,0.889,0,0,1295,350.04
$SM_GC,1.09,8.93,0.00,121.40,0.070,0.000,0.889,194,1701,1295,-9.57,0.03,350.04,0,0,0,0,0,0,26.44,26.72,24.34
$IRIDIUM_FIX,3208.42,-6439.11,290408,075924
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.06
$INTERNAL_PRESSURE,9.14169
$TCM_TEMP,21.70
$XPDR_PINGS,4
$24V_AH,24.01,8.566
$10V_AH,10.12,5.836
$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,21.800,43.400,245.275,121.400,105.575,24.130,21.548,169.773,7.750,0.000,53.039,1127.274,3380.933,474.163,2003.206,51.338,0.000,1014.010,0.000,1712.056,0.000,43.484,0.000
$DEVICE_MAMPS,260.715,62.075,1127.282,888.914,188.708,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,293.411,1436.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330532
$DATA_FILE_SIZE,26926,441
$CAP_FILE_SIZE,69818,0
$CFSIZE,1024409600,1019199488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030715,222634,3219.803,-6435.745,9,0.9,50,-15.5,0.4,32.1,9,4.1