version: 66.14
glider: 640
mission: 9
dive: 333
start: 4 4 122 13 29 27
data:
$ID,640
$MISSION,9
$DIVE,333
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,29
$D_BOOST,15
$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,40
$T_MISSION,50
$T_ABORT,75
$T_TURN,500
$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,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54330
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.001
$HD_B,0.0163117
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,3
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-53
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,180
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,257
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2390
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,20
$C_ROLL_DIVE,1820
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2840
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,450
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.12344
$PRESSURE_SLOPE,0.00014097099
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,51
$DEVICE3,38
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042913505
$SEABIRD_T_H,0.0006241572
$SEABIRD_T_I,2.2613181e-05
$SEABIRD_T_J,2.3234288e-06
$SEABIRD_C_G,-9.9638939
$SEABIRD_C_H,1.1586393
$SEABIRD_C_I,-0.0016194879
$SEABIRD_C_J,0.00021882902
$SEABIRD_C_Z,2936.1499
$GPS1,040422,132233,-6438.8872,347.8759,15,1.2,55,-22.0,0.4,269.7,6,6.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.8
$GPS2,040422,132904,-6438.8774,347.9098,8,1.2,48,-22.0,0.6,120.0,6,5.9
$SPEED_LIMITS,0.173,0.173
$TGT_NAME,EAST
$TGT_LATLONG,-6500.000,600.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,134.8,110539,-14.3,-10.000,-30.00,1706
$D_GRID,120
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-0.52,-87.6,215,1831,1964,1986,0.0,0.0,0,91,0.00,0.00,-79.88,0.000,16390,0.000,0.000,215,1832,3201,3172,3230,0,0,0,0,0,0,14.73,12.93,14.71,8.50,63.78
$GC,94,-0.52,-87.6,215,1832,3171,3229,3.3,-6.2,13,108,6.30,1.15,0.00,0.000,2308,0.360,0.045,2203,2514,3200,3171,3230,0,0,0,0,0,0,14.07,14.37,14.27,8.62,62.40
$GC,116,-0.52,-87.6,2202,2513,3171,3229,9.1,-20.6,16,124,0.05,1.20,0.00,0.000,3078,0.322,0.051,2219,1812,3200,3172,3229,0,0,0,0,0,0,14.10,14.31,14.28,8.63,62.83
$GC,307,-0.52,-87.6,2219,1811,3171,3225,32.7,-10.6,53,314,0.00,1.17,0.00,0.000,2308,0.000,0.054,2214,2505,3198,3171,3225,0,0,0,0,0,0,14.76,14.44,14.76,8.62,62.20
$GC,538,-0.52,-87.6,2214,2505,3171,3223,57.5,-11.3,98,545,0.00,1.17,0.00,0.000,3078,0.000,0.056,2214,1826,3196,3171,3222,0,0,0,0,0,0,14.37,14.30,14.38,8.62,63.19
$GC,730,-0.52,-87.6,2214,1826,3171,3222,78.1,-10.9,135,737,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,1826,3197,3171,3223,0,0,0,0,0,0,14.86,14.87,14.87,8.62,62.56
$GC,930,-0.52,-87.6,2214,1826,3171,3223,97.6,-9.3,147,934,0.00,1.15,0.00,0.000,2308,0.000,0.054,2209,2510,3197,3171,3223,0,0,0,0,0,0,14.90,14.51,14.90,8.62,62.20
$GC,1000,-0.52,-87.6,2208,2511,3171,3222,103.7,-9.6,150,1003,0.00,1.17,0.00,0.000,3078,0.000,0.055,2209,1819,3196,3171,3222,0,0,0,0,0,0,14.56,14.49,14.59,8.62,62.44
$STATE,1171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1171,begin apogee
$GC,1176,-0.14,0.0,2208,1721,3171,3221,121.6,-9.8,159,1253,0.38,0.00,69.15,1.553,10246,0.252,0.000,2340,1721,2841,2837,2845,0,0,0,0,0,0,14.26,14.04,13.50,8.62,63.03
$STATE,1254,end apogee,CONTROL_FINISHED_OK
$STATE,1254,begin climb
$GC,1256,0.52,87.6,2340,1721,2837,2844,125.1,0.0,163,1334,0.55,1.25,70.32,1.480,10500,0.190,0.046,2546,2426,2480,2488,2472,0,0,0,0,0,0,14.14,13.99,13.32,8.59,61.93
$GC,1391,0.61,166.0,2545,2426,2488,2471,119.9,5.3,169,1461,0.03,1.17,62.22,1.443,11270,0.262,0.059,2619,1760,2161,2160,2163,0,0,0,0,0,0,13.87,14.01,13.29,8.57,60.71
$GC,1760,0.61,166.0,2619,1760,2167,2163,77.1,11.9,191,1767,0.10,1.30,0.00,0.000,4612,0.308,0.070,2587,1038,2165,2168,2163,0,0,0,0,0,0,14.09,14.28,14.23,8.52,62.28
$GC,1840,0.63,180.6,2587,1038,2168,2163,69.3,9.1,206,1861,0.00,1.15,13.80,1.402,11270,0.000,0.035,2587,1735,2102,2100,2104,0,0,0,0,0,0,14.31,14.28,13.60,8.52,62.44
$GC,2049,0.63,180.6,2587,1735,2100,2104,48.2,10.7,245,2055,0.00,0.00,0.00,0.000,2054,0.000,0.000,2587,1735,2102,2100,2104,0,0,0,0,0,0,14.71,14.73,14.73,8.52,62.40
$GC,2241,0.63,180.6,2587,1735,2099,2104,29.5,10.0,282,2248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2587,1735,2101,2099,2104,0,0,0,0,0,0,14.78,14.78,14.78,8.52,63.11
$GC,2437,0.66,205.7,2587,1735,2098,2104,9.3,8.5,319,2457,0.00,1.15,13.88,0.302,10500,0.000,0.044,2588,2437,1997,1992,2002,0,0,0,0,0,0,14.77,14.36,14.14,8.52,63.19
$GC,2486,0.66,205.7,2587,2438,1994,2002,4.4,10.4,327,2492,0.00,1.20,0.00,0.000,3078,0.000,0.059,2593,1747,1998,1995,2002,0,0,0,0,0,0,14.52,14.46,14.54,8.51,63.46
$STATE,2502,end climb,SURFACE_DEPTH_REACHED
$STATE,2502,begin surface coast
$FINISH,-0.1,1.027439
$STATE,2541,end surface coast,CONTROL_FINISHED_OK
$STATE,2541,begin surface
$SM_CCo,2616,0.00,0.000,0,0,2000,206.29
$SM_GC,1.09,5.57,0.10,0.00,0.075,0.132,0.000,226,1823,2000,-6.41,-1.39,206.29,0,0,0,0,0,0,14.59,14.52,14.64
$IRIDIUM_FIX,-6440.32,406.57,040422,132354
$TT8_MAMPS,0.019474,0.338548
$HUMID,62.64
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.93,246.376
$10V_AH,13.36,0.000
$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,12.975,14.475,229.375,0.000,0.000,48.418,80.237,84.419,0.000,0.000,49.400,851.667,856.198,288.449,958.475,66.696,0.000,646.480,0.000,582.267,0.000,0.536,0.000
$DEVICE_MAMPS,360.315,131.580,1552.950,0.000,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,244.882,414.597,112.719,253.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343436
$DATA_FILE_SIZE,24424,337
$CAP_FILE_SIZE,43456,0
$CFSIZE,1023623168,983318528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,264.48,1
$GPS,040422,141430,-6438.971,348.170,15,1.3,55,-22.0,0.5,245.2,5,4.7