version: 66.12
glider: 38
mission: 9
dive: 6
start: 4 8 117 21 57 6
data:
$ID,38
$MISSION,9
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,5
$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,70
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,80833
$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,530
$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,0
$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
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3050
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,3850
$C_ROLL_CLIMB,3850
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2348
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$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,-20.293694
$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,800
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$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,0.004410191
$SEABIRD_T_H,0.00064652628
$SEABIRD_T_I,2.6235177e-05
$SEABIRD_T_J,3.227025e-06
$SEABIRD_C_G,-9.5423679
$SEABIRD_C_H,1.1030561
$SEABIRD_C_I,-0.0018197452
$SEABIRD_C_J,0.00021177332
$SEABIRD_C_Z,2945.9399
$GPS1,080417,215052,2732.8120,-7809.1416,3,1.2,43,-7.8,0.0,0.0,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-51.0
$GPS2,080417,215633,2732.8794,-7809.3076,5,1.4,45,-7.8,1.5,287.5,6,3.0
$SPEED_LIMITS,0.084,0.157
$TGT_NAME,BP
$TGT_LATLONG,2730.000,-7755.000
$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,155.6,24102,-30.5,-10.000,-32.55,1045
$D_GRID,1046
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.82,-68.1,107,3837,502,516,0.0,0.0,0,231,0.00,0.00,-213.48,0.149,16390,0.000,0.000,107,3840,2582,2620,2545,0,0,0,0,0,0,26.72,26.36,26.23,8.96,8.02
$GC,233,-1.82,-68.1,107,3840,2620,2545,2.0,-1.2,21,250,10.05,0.00,0.00,0.000,2054,0.305,0.000,2459,3840,2577,2610,2545,0,0,0,0,0,0,26.08,26.29,26.21,9.19,7.63
$GC,549,-1.82,-68.1,2458,3840,2591,2534,38.7,-15.0,53,551,0.00,0.00,-0.45,0.963,16390,0.000,0.000,2459,3840,2588,2621,2555,0,0,0,0,0,0,26.90,26.51,25.78,9.20,7.59
$GC,849,-1.82,-68.1,2458,3840,2620,2555,82.6,-14.4,83,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,3840,2587,2620,2555,0,0,0,0,0,0,27.02,27.03,27.03,9.19,7.94
$GC,1149,-1.82,-68.1,2458,3840,2618,2555,122.4,-13.0,113,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,3840,2586,2618,2554,0,0,0,0,0,0,27.08,27.10,27.09,9.20,7.78
$STATE,1368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1368,begin apogee
$GC,1372,-0.29,0.0,2459,3840,2618,2555,150.8,-13.6,135,1429,1.62,0.00,48.00,0.814,10246,0.216,0.000,2954,3840,2348,2371,2325,0,0,0,0,0,0,26.65,26.08,25.55,9.19,8.06
$STATE,1430,end apogee,CONTROL_FINISHED_OK
$STATE,1430,begin climb
$GC,1431,1.82,68.1,2954,3840,2371,2325,153.1,0.0,138,1489,1.77,0.00,49.28,0.787,10246,0.119,0.000,3607,3839,2112,2140,2085,0,0,0,0,0,0,26.14,25.56,25.18,9.17,7.82
$GC,1789,1.82,68.1,3607,3840,2140,2085,106.7,13.5,171,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,3840,2112,2140,2085,0,0,0,0,0,0,26.80,26.82,26.82,9.14,7.94
$GC,2089,1.82,68.1,3607,3840,2140,2085,68.3,11.9,201,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,3840,2112,2140,2085,0,0,0,0,0,0,26.98,26.99,26.99,9.14,8.02
$GC,2391,1.83,96.6,3606,3840,2140,2085,37.1,7.2,231,2419,0.00,0.00,21.42,0.715,8198,0.000,0.000,3608,3840,2014,2045,1983,0,0,0,0,0,0,27.06,26.28,25.92,9.14,7.94
$STATE,2638,end climb,SURFACE_DEPTH_REACHED
$STATE,2638,begin surface coast
$FINISH,-0.0,1.024947
$STATE,2659,end surface coast,CONTROL_FINISHED_OK
$STATE,2659,begin surface
$SM_CCo,2674,343.10,0.688,0,0,523,530.14
$SM_GC,0.56,8.48,0.00,343.10,0.072,0.000,0.688,164,3840,523,-8.93,-0.28,530.14,0,0,0,0,0,0,26.69,26.98,25.06
$IRIDIUM_FIX,2717.79,-7807.56,080417,203347
$TT8_MAMPS,0.021721,0.193991
$HUMID,7.98
$INTERNAL_PRESSURE,8.92491
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,3.0
$24V_AH,25.06,4.373
$10V_AH,10.81,1.138
$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,21.925,5.350,118.700,343.100,213.925,24.387,18.482,181.599,0.250,0.000,46.978,693.033,1297.384,681.413,664.007,40.011,0.000,903.830,0.000,393.496,0.000,7.765,0.000
$DEVICE_MAMPS,305.409,64.558,814.424,687.791,963.404,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.489,342.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284216
$DATA_FILE_SIZE,17649,258
$CAP_FILE_SIZE,36242,0
$CFSIZE,2047311872,2040463360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.800,303.67,1
$GPS,080417,224807,2733.596,-7810.549,3,0.9,18,-7.8,0.0,0.0,9,4.9