version: 66.12
glider: 38
mission: 9
dive: 61
start: 5 3 117 8 7 56
data:
$ID,38
$MISSION,9
$DIVE,61
$N_DIVES,0
$STOP_T,5101719
$D_SURF,5
$D_FLARE,3
$D_TGT,5400
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,350
$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,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3037
$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,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,1767
$C_ROLL_CLIMB,1712
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,92
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2175
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00059000001
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,3500
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,030517,073804,2629.1545,-7536.3687,28,0.9,30,-9.2,0.0,0.0,9,4.9
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-57.8
$GPS2,030517,080710,2629.2649,-7536.0488,5,0.9,15,-9.2,0.0,0.0,9,4.7
$SPEED_LIMITS,0.060,0.192
$TGT_NAME,RM75_30
$TGT_LATLONG,2630.000,-7530.000
$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,53.3,10118,-39.3,-6.000,-41.37,483
$D_GRID,5400
$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,-2.32,-18.9,123,1733,918,908,0.0,0.0,0,149,0.00,0.00,-130.32,0.149,16390,0.000,0.000,122,1734,2240,2266,2214,0,0,0,0,0,0,26.55,26.17,26.01,8.92,7.70
$GC,152,-2.33,-38.5,122,1733,2266,2214,1.8,-1.8,13,173,7.93,2.40,-7.03,0.209,18692,0.251,0.072,2278,3308,2308,2333,2283,0,0,0,0,0,0,25.84,26.14,25.99,9.06,7.51
$GC,721,-2.45,-68.1,2278,3309,2333,2274,1.0,0.3,69,742,0.00,2.20,-11.57,0.186,17414,0.000,0.062,2278,1743,2408,2436,2380,0,0,0,0,0,0,26.66,26.60,26.36,9.07,8.26
$GC,1041,-2.45,-68.1,2277,1743,2436,2379,22.0,-9.1,101,1050,0.00,2.28,0.00,0.000,260,0.000,0.070,2268,3320,2407,2436,2379,0,0,0,0,0,0,26.92,26.63,26.93,9.09,8.14
$GC,1213,-2.45,-68.1,2267,3320,2436,2378,37.6,-7.6,118,1217,0.00,2.17,0.00,0.000,1030,0.000,0.060,2268,1747,2407,2436,2378,0,0,0,0,0,0,26.76,26.71,26.77,9.09,7.94
$GC,1518,-2.47,-89.3,2267,1747,2436,2378,51.4,-1.5,148,1528,0.00,2.25,0.00,0.000,516,0.000,0.074,2268,210,2406,2435,2378,0,0,0,0,0,0,26.99,26.70,27.01,9.09,7.98
$STATE,1669,end dive,NO_VERTICAL_VELOCITY
$STATE,1669,begin apogee
$GC,1675,-0.29,0.0,2257,1733,2436,2378,51.0,0.0,163,1731,2.15,0.00,47.25,0.755,10246,0.206,0.000,2938,1734,2174,2200,2148,0,0,0,0,0,0,26.42,26.01,25.47,9.09,8.22
$STATE,1732,end apogee,CONTROL_FINISHED_OK
$STATE,1732,begin climb
$GC,1734,2.36,89.3,2938,1734,2200,2148,50.0,0.0,169,1812,2.20,2.28,64.20,0.740,10500,0.114,0.072,3774,3249,1866,1889,1844,0,0,0,0,0,0,26.06,25.60,25.07,9.07,8.33
$STATE,1965,end climb,SURFACE_DEPTH_REACHED
$STATE,1966,begin surface coast
$FINISH,0.1,1.024883
$STATE,1987,end surface coast,CONTROL_FINISHED_OK
$STATE,1988,begin surface
$SM_CCo,2006,192.05,0.708,0,0,969,350.04
$SM_GC,1.11,9.10,2.15,192.05,0.074,0.060,0.708,156,1765,969,-8.90,2.09,350.04,0,0,0,0,0,0,26.31,26.32,24.97
$IRIDIUM_FIX,2617.39,-7538.55,030517,075745
$TT8_MAMPS,0.021721,0.204477
$HUMID,7.74
$INTERNAL_PRESSURE,8.90537
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,17.7
$24V_AH,24.97,28.130
$10V_AH,10.74,6.811
$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,21.375,17.850,111.450,192.050,148.925,245.657,259.632,473.163,0.250,0.000,16.832,610.615,1278.236,451.183,1490.267,61.630,0.000,719.385,0.000,464.258,0.000,5.814,0.000
$DEVICE_MAMPS,250.783,74.490,754.832,707.655,208.572,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,127.009,257.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284332
$DATA_FILE_SIZE,10652,194
$CAP_FILE_SIZE,48777,0
$CFSIZE,2047311872,2032041984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.332,69.28,1
$GPS,030517,084527,2629.390,-7535.682,3,0.8,17,-9.2,0.0,0.0,10,5.0