version: 66.12
glider: 38
mission: 9
dive: 62
start: 5 3 117 8 49 9
data:
$ID,38
$MISSION,9
$DIVE,62
$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,72
$R_STBD_OVSHOOT,97
$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
$GPS1,030517,084527,2629.3899,-7535.6821,3,0.8,17,-9.2,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-57.2
$GPS2,030517,084840,2629.3989,-7535.6460,5,0.8,15,-9.2,0.0,0.0,11,4.4
$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,137.4,9424,-43.1,-6.000,-45.00,407
$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,-2.55,-15.9,150,1762,984,946,0.0,0.0,0,139,0.00,0.00,-117.78,0.151,16390,0.000,0.000,150,1761,2227,2256,2198,0,0,0,0,0,0,26.54,26.16,26.08,8.96,7.66
$GC,141,-2.55,-32.6,150,1761,2256,2198,1.9,-1.8,12,160,7.72,0.00,-5.97,0.221,18438,0.258,0.000,2216,1759,2288,2313,2263,0,0,0,0,0,0,25.95,26.20,26.07,9.09,8.22
$GC,459,-2.79,-59.9,2215,1759,2313,2260,0.9,0.9,44,480,0.10,2.30,-10.45,0.191,20996,0.144,0.074,2165,213,2380,2406,2355,0,0,0,0,0,0,26.51,26.44,26.34,9.10,8.37
$GC,576,-2.71,-70.2,2164,212,2406,2355,4.0,-3.4,55,585,0.00,2.15,-2.50,0.328,17414,0.000,0.057,2153,1810,2417,2444,2391,0,0,0,0,0,0,26.62,26.60,26.39,9.11,8.18
$GC,884,-2.71,-70.2,2153,1810,2444,2390,33.1,-11.2,86,893,0.00,2.38,0.00,0.000,516,0.000,0.072,2153,202,2417,2444,2390,0,0,0,0,0,0,26.91,26.64,26.92,9.11,8.29
$GC,1160,-2.66,-87.5,2153,201,2444,2390,51.1,-1.6,113,1171,0.12,2.10,0.00,0.000,3078,0.251,0.057,2178,1740,2417,2444,2390,0,0,0,0,0,0,26.45,26.76,26.57,9.12,8.06
$STATE,1318,end dive,NO_VERTICAL_VELOCITY
$STATE,1318,begin apogee
$GC,1322,-0.29,0.0,2177,1740,2444,2390,51.7,0.0,129,1380,2.50,0.00,49.15,0.732,10246,0.223,0.000,2941,1741,2174,2200,2149,0,0,0,0,0,0,26.44,26.01,25.48,9.11,8.45
$STATE,1381,end apogee,CONTROL_FINISHED_OK
$STATE,1381,begin climb
$GC,1382,2.59,87.5,2941,1740,2200,2149,50.6,0.0,135,1453,2.38,2.25,62.90,0.713,10500,0.117,0.072,3842,3254,1872,1893,1852,0,0,0,0,0,0,26.06,25.50,25.14,9.10,8.57
$GC,1570,2.59,87.5,3842,3254,1893,1851,11.8,24.2,153,1578,0.00,2.20,0.00,0.000,1030,0.000,0.062,3853,1721,1872,1893,1851,0,0,0,0,0,0,26.29,26.26,26.29,9.07,8.22
$STATE,1596,end climb,SURFACE_DEPTH_REACHED
$STATE,1596,begin surface coast
$FINISH,-0.0,1.024906
$STATE,1618,end surface coast,CONTROL_FINISHED_OK
$STATE,1618,begin surface
$SM_CCo,1634,192.57,0.683,0,0,969,350.04
$SM_GC,1.22,9.25,0.00,192.57,0.072,0.000,0.683,147,1722,969,-8.90,-1.27,350.04,0,0,0,0,0,0,26.34,26.58,25.06
$IRIDIUM_FIX,2619.79,-7538.55,030517,080000
$TT8_MAMPS,0.021721,0.2247
$HUMID,7.86
$INTERNAL_PRESSURE,8.93467
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.6
$24V_AH,25.06,28.203
$10V_AH,10.79,6.826
$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,22.075,13.375,112.050,192.575,136.700,20.744,23.775,73.022,0.250,0.000,17.018,476.803,625.234,447.154,467.904,29.724,0.000,657.843,0.000,333.902,0.000,4.234,0.000
$DEVICE_MAMPS,258.232,74.490,732.485,682.825,327.756,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,102.737,209.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284384
$DATA_FILE_SIZE,10640,158
$CAP_FILE_SIZE,31304,0
$CFSIZE,2047311872,2031976448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.321,71.87,1
$GPS,030517,092026,2629.479,-7535.242,3,0.9,15,-9.2,0.8,25.1,10,4.8