version: 66.12
glider: 40
mission: 3
dive: 7
start: 3 9 117 0 41 30
data:
$ID,40
$MISSION,3
$DIVE,7
$N_DIVES,0
$STOP_T,3101715
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,6020
$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,30
$T_MISSION,45
$T_ABORT,120
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,30
$T_EPIRB,0
$USE_BATHY,-6
$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,20
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80370
$MASS_COMP,11448
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,270
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3845
$C_PITCH,3560
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,1803
$C_ROLL_CLIMB,1803
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2138
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$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,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.41185
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,2927.6399
$GPS1,090317,003537,4743.7324,-12223.9062,2,0.8,16,16.3,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-60.7
$GPS2,090317,004040,4743.8042,-12223.9238,4,0.9,18,16.3,0.0,0.0,10,4.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,4743.804,-12400.255
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.155390,0.205534
$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,223.5,120000,-15.5,-10.000,-19.35,2767
$D_GRID,172
$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,50,-0.80,-146.6,189,1805,337,376,0.4,1.3,6,217,0.00,0.00,-164.60,0.156,16386,0.000,0.000,190,1805,2227,2181,2273,0,0,0,0,0,0,26.22,28.83,26.23,8.53,13.85
$GC,220,-0.80,-146.6,189,1805,2181,2273,3.6,-2.1,32,261,13.62,0.00,-22.40,0.171,18694,0.300,0.000,3293,1805,2644,2625,2663,0,0,0,0,0,0,25.35,25.62,25.48,8.70,13.53
$GC,325,-0.80,-146.6,3293,1805,2625,2664,12.5,-10.0,50,331,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1805,2644,2625,2663,0,0,0,0,0,0,26.06,26.08,26.07,8.74,13.02
$GC,393,-0.80,-146.6,3292,1805,2625,2663,19.3,-9.5,63,400,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1805,2644,2625,2663,0,0,0,0,0,0,26.18,26.20,26.20,8.74,13.65
$GC,459,-0.80,-146.6,3292,1805,2625,2664,25.1,-8.8,70,469,0.00,2.47,0.00,0.000,516,0.000,0.089,3293,242,2644,2625,2663,0,0,0,0,0,0,26.27,25.97,26.28,8.74,13.22
$GC,595,-0.80,-146.6,3292,241,2625,2663,38.0,-10.4,83,603,0.00,2.35,0.00,0.000,1030,0.000,0.070,3284,1811,2644,2625,2663,0,0,0,0,0,0,26.22,26.15,26.23,8.74,13.18
$GC,723,-0.80,-146.6,3284,1811,2625,2663,49.1,-8.7,96,732,0.00,2.40,0.00,0.000,260,0.000,0.092,3273,3374,2644,2625,2663,0,0,0,0,0,0,26.49,26.19,26.51,8.75,13.49
$GC,754,-0.80,-146.6,3272,3374,2625,2664,52.0,-8.7,99,764,0.00,2.33,0.00,0.000,1030,0.000,0.072,3273,1788,2644,2625,2663,0,0,0,0,0,0,26.32,26.26,26.33,8.74,14.08
$GC,885,-0.80,-146.6,3272,1788,2625,2663,63.7,-8.6,112,886,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1788,2644,2625,2663,0,0,0,0,0,0,26.58,26.59,26.58,8.74,13.26
$STATE,976,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,976,begin apogee
$GC,979,-0.20,0.0,3273,1788,2625,2663,70.5,-7.9,121,1095,0.65,0.00,110.68,0.705,10246,0.174,0.000,3488,1788,2137,2119,2155,0,0,0,0,0,0,26.19,24.76,24.25,8.74,13.49
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1097,begin climb
$GC,1098,0.80,146.6,3487,1788,2120,2155,75.0,0.0,133,1220,0.93,2.60,111.80,0.685,10756,0.144,0.094,3800,262,1631,1625,1638,0,0,0,0,0,0,24.88,24.66,24.14,8.70,13.53
$GC,1307,0.93,256.0,3799,262,1625,1638,64.3,6.0,154,1399,0.08,2.38,82.75,0.675,11270,0.149,0.070,3845,1800,1255,1252,1258,0,0,0,0,0,0,25.49,25.52,24.20,8.66,13.22
$GC,1518,0.96,275.2,3845,1800,1253,1259,46.7,9.3,175,1539,0.00,2.62,15.73,0.633,8452,0.000,0.094,3845,3382,1189,1187,1192,0,0,0,0,0,0,25.84,25.25,24.74,8.63,13.41
$GC,1771,0.98,292.4,3844,3382,1186,1193,22.9,9.4,200,1793,0.00,2.35,14.18,0.626,9222,0.000,0.072,3850,1812,1129,1126,1133,0,0,0,0,0,0,26.01,25.95,25.06,8.61,13.18
$GC,1911,1.05,348.4,3849,1812,1126,1134,10.9,7.9,224,1964,0.00,2.62,43.15,0.648,12804,0.000,0.094,3849,243,937,933,941,0,0,0,0,0,0,26.20,25.15,24.65,8.61,13.49
$STATE,2021,end climb,SURFACE_DEPTH_REACHED
$STATE,2021,begin surface coast
$FINISH,-0.3,1.021144
$STATE,2049,end surface coast,CONTROL_FINISHED_OK
$STATE,2049,begin surface
$SM_CCo,2068,123.30,0.641,0,0,415,500.22
$SM_GC,2.07,9.98,2.45,123.30,0.092,0.067,0.641,201,1773,415,-10.43,-1.27,500.22,0,0,0,0,0,0,25.68,25.71,24.22
$IRIDIUM_FIX,4726.11,-12219.67,080317,235408
$TT8_MAMPS,0.02247,0.188748
$HUMID,12.94
$INTERNAL_PRESSURE,8.48076
$TCM_TEMP,9.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,3.4
$ALTIM_BOTTOM_PING,70.5,3.8
$24V_AH,24.14,1.220
$10V_AH,10.51,2.356
$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,25.250,24.575,378.275,123.300,187.000,25.787,19.110,168.349,0.750,0.000,20.107,626.592,518.538,631.599,727.502,37.403,0.000,1006.143,0.000,487.270,0.000,7.162,0.000
$DEVICE_MAMPS,300.443,94.354,705.172,640.614,171.327,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.659,325.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323132
$DATA_FILE_SIZE,14091,248
$CAP_FILE_SIZE,41836,1
$CFSIZE,2047311872,2043215872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.199,11.75,1
$GPS,090317,011853,4743.912,-12224.103,2,1.0,16,16.3,0.0,0.0,9,4.9