version: 66.12
glider: 38
mission: 4
dive: 9
start: 7 3 115 18 56 37
data:
$ID,38
$MISSION,4
$DIVE,9
$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,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$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,9
$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,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,80
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$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,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,030715,185251,3220.7922,-6435.9619,2,1.1,19,-14.9,0.0,0.0,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.5
$GPS2,030715,185613,3220.8147,-6435.9570,3,1.2,21,-14.9,0.0,0.0,8,9.6
$SPEED_LIMITS,0.100,0.261
$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,169.9,22099,-18.4,-10.000,-21.00,2237
$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,14,-0.96,-146.6,154,2007,1310,1281,0.0,0.0,0,120,0.00,0.00,-103.57,0.154,16386,0.000,0.000,154,2007,2573,2526,2621,0,0,0,0,0,0,26.87,28.83,26.89
$GC,123,-0.96,-146.6,154,2007,2526,2620,3.3,-3.5,10,162,10.75,1.90,-18.23,0.174,18692,0.300,0.077,2723,3368,3005,2971,3040,0,0,0,0,0,0,26.23,26.45,26.35
$GC,336,-0.96,-146.6,2723,3368,2972,3041,33.1,-11.3,29,345,0.00,1.95,0.00,0.000,1030,0.000,0.060,2723,1927,3006,2972,3040,0,0,0,0,0,0,26.82,26.79,26.83
$GC,652,-0.96,-146.6,2723,1927,2972,3040,66.3,-9.7,52,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1927,3006,2972,3041,0,0,0,0,0,0,27.16,27.18,27.17
$GC,950,-0.96,-146.6,2723,1926,2972,3040,96.1,-10.0,72,956,0.00,2.05,0.00,0.000,260,0.000,0.077,2713,3381,3006,2972,3040,0,0,0,0,0,0,27.24,26.96,27.25
$STATE,1001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1001,begin apogee
$GC,1006,-0.25,0.0,2712,1929,2972,3041,101.0,-10.1,75,1111,0.75,0.00,100.72,0.822,10246,0.169,0.000,2974,1927,2499,2511,2488,0,0,0,0,0,0,26.84,25.75,25.21
$STATE,1112,end apogee,CONTROL_FINISHED_OK
$STATE,1112,begin climb
$GC,1113,0.96,146.6,2973,1926,2511,2489,104.4,0.0,82,1224,0.95,2.00,101.10,0.787,10756,0.107,0.074,3358,561,1994,2010,1979,0,0,0,0,0,0,25.89,25.47,25.10
$GC,1261,0.96,146.6,3358,561,2010,1979,94.5,9.9,92,1266,0.00,2.03,0.00,0.000,1030,0.000,0.062,3358,1990,1994,2010,1979,0,0,0,0,0,0,26.20,26.19,26.22
$GC,1576,0.96,146.6,3358,1990,2010,1979,58.9,11.9,113,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1990,1994,2010,1979,0,0,0,0,0,0,27.01,27.02,27.02
$GC,1881,0.99,227.6,3358,1990,2010,1979,33.7,6.3,136,1941,0.00,0.00,55.42,0.770,8710,0.000,0.000,3358,1990,1715,1731,1700,0,0,0,0,0,0,27.16,26.04,25.54
$GC,2241,1.01,310.0,3358,1989,1731,1700,4.4,6.2,172,2262,0.00,0.00,18.62,0.715,8450,0.000,0.000,3358,1990,1627,1643,1611,0,0,0,0,0,0,27.02,28.83,27.04
$STATE,2263,end climb,SURFACE_DEPTH_REACHED
$STATE,2263,begin surface coast
$FINISH,0.0,0.997070
$STATE,2302,end surface coast,CONTROL_FINISHED_OK
$STATE,2302,begin surface
$SM_CCo,2316,61.62,0.742,0,0,1295,350.04
$SM_GC,2.14,8.05,0.00,61.62,0.077,0.000,0.742,145,1990,1295,-8.99,-0.28,350.04,0,0,0,0,0,0,26.63,26.87,25.36
$IRIDIUM_FIX,3205.87,-6434.50,290408,073533
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.41
$INTERNAL_PRESSURE,9.56335
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.0,5.3
$24V_AH,25.10,3.570
$10V_AH,10.68,1.224
$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,20.500,11.875,275.875,61.625,121.800,22.871,31.866,66.119,0.500,0.000,23.035,435.199,945.873,347.447,850.707,25.539,0.000,657.425,0.000,696.462,0.000,5.462,0.000
$DEVICE_MAMPS,300.443,76.973,821.873,742.417,173.810,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,115.187,580.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330272
$DATA_FILE_SIZE,10295,178
$CAP_FILE_SIZE,29764,0
$CFSIZE,1024409600,1018675200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030715,193727,3220.646,-6435.992,2,1.3,37,-14.9,0.0,0.0,9,8.7