version: 66.12
glider: 35
mission: 22
dive: 3
start: 3 20 114 16 35 32
data:
$ID,35
$MISSION,22
$DIVE,3
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,5000
$D_NO_BLEED,500
$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,60
$T_MISSION,80
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77621
$MASS_COMP,9331
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.308331
$TGT_DEFAULT_LON,-64.599998
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-992375
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,1735
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2276
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2812
$PRESSURE_SLOPE,0.00092600001
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,200314,163055,3221.038,-6436.445,9,1.3,10,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-62.6
$GPS2,200314,163437,3221.037,-6436.445,10,1.8,11,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.098,-0.224
$KALMAN_X,277.5,117.5,114.4,140.3,33.4
$KALMAN_Y,489.9,263.0,257.3,-192.0,25.5
$MHEAD_RNG_PITCHd_Wd,171.9,22801,-19.7,-10.000,-22.22,2235
$D_GRID,180
$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,16,-0.82,-146.6,243,1718,294,359,0.0,0.0,0,179,0.00,0.00,-159.55,0.000,16390,0.000,0.000,243,1719,2774,2729,2819,0,0,0,0,0,0,28.83,28.83,25.73
$GC,183,-0.82,-146.6,243,1719,2729,2819,2.8,-3.7,16,199,11.57,0.00,0.00,0.000,2566,0.286,0.000,2830,1719,2774,2730,2819,0,0,0,0,0,0,25.32,28.83,28.83
$GC,500,-0.82,-146.6,2830,1719,2732,2819,34.5,-11.6,48,509,0.00,2.15,0.00,0.000,260,0.000,0.067,2820,3124,2775,2732,2819,0,0,0,0,0,0,28.83,25.91,28.83
$GC,631,-0.82,-146.6,2820,3124,2732,2819,49.6,-10.6,61,635,0.00,2.08,0.00,0.000,1030,0.000,0.057,2820,1712,2775,2732,2819,0,0,0,0,0,0,28.83,26.08,28.83
$GC,936,-0.82,-146.6,2820,1712,2731,2819,83.5,-10.7,91,944,0.00,2.05,0.00,0.000,516,0.000,0.070,2820,344,2775,2732,2819,0,0,0,0,0,0,28.83,25.92,28.83
$GC,970,-0.82,-146.6,2821,344,2731,2819,87.2,-11.5,94,976,0.00,2.03,0.00,0.000,1030,0.000,0.057,2811,1745,2775,2732,2819,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1277,-0.82,-146.6,2810,1745,2732,2819,121.9,-12.3,125,1285,0.00,2.12,0.00,0.000,260,0.000,0.070,2800,3134,2775,2732,2819,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1361,-0.82,-146.6,2800,3134,2732,2818,132.5,-12.0,133,1369,0.12,2.08,0.00,0.000,3078,0.186,0.057,2833,1730,2775,2732,2818,0,0,0,0,0,0,25.79,26.15,28.83
$GC,1669,-0.82,-146.6,2833,1729,2732,2818,163.4,-11.0,158,1674,0.00,2.17,0.00,0.000,260,0.000,0.067,2824,3135,2775,2732,2818,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,1829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1829,begin apogee
$GC,1837,-0.21,0.0,2823,1733,2732,2818,180.6,-10.9,166,1941,0.68,0.00,99.68,1.048,10246,0.161,0.000,3033,1732,2275,2227,2324,0,0,0,0,0,0,25.13,28.83,24.07
$STATE,1942,end apogee,CONTROL_FINISHED_OK
$STATE,1942,begin climb
$GC,1945,0.82,146.6,3032,1732,2227,2324,185.3,0.0,171,2050,0.93,0.00,100.43,1.018,10758,0.119,0.000,3347,1732,1779,1731,1828,0,0,0,0,0,0,25.02,28.83,24.00
$GC,2349,0.82,146.6,3346,1732,1731,1827,139.6,11.7,196,2357,0.00,2.20,0.00,0.000,260,0.000,0.067,3346,3138,1779,1731,1827,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2473,0.82,146.6,3347,3138,1731,1827,125.1,12.3,208,2480,0.00,2.10,0.00,0.000,1030,0.000,0.057,3357,1742,1779,1731,1827,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2781,0.82,146.6,3357,1742,1731,1827,90.1,10.9,239,2789,0.00,2.12,0.00,0.000,260,0.000,0.070,3358,3129,1779,1731,1827,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2972,0.82,146.6,3357,3129,1731,1827,67.2,12.1,258,2981,0.00,2.08,0.00,0.000,1030,0.000,0.057,3368,1723,1779,1731,1827,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3283,0.82,146.6,3368,1723,1730,1827,32.2,11.5,289,3291,0.00,2.17,0.00,0.000,260,0.000,0.067,3368,3127,1778,1730,1827,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3357,0.82,146.6,3368,3127,1730,1827,23.7,12.4,296,3363,0.00,2.05,0.00,0.000,1030,0.000,0.057,3378,1731,1779,1731,1827,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,3511,end climb,SURFACE_DEPTH_REACHED
$STATE,3512,begin surface coast
$FINISH,-0.0,1.025360
$STATE,3544,end surface coast,CONTROL_FINISHED_OK
$STATE,3544,begin surface
$SM_CCo,3560,100.32,0.894,0,0,1259,300.22
$SM_GC,1.31,8.07,0.00,100.32,0.060,0.000,0.894,228,1729,1259,-8.92,-0.17,300.22,0,0,0,0,0,0,26.03,28.83,24.37
$IRIDIUM_FIX,3203.33,-6046.58,200314,161608
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.58
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,24.0,40.711
$10V_AH,10.5,6.101
$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,21.375,29.500,200.100,100.325,0.000,0.000,0.000,0.000,2.500,0.000,13.444,776.248,1781.528,417.273,692.447,63.726,31.310,828.141,0.000,671.543,0.000,16.755,0.000
$DEVICE_MAMPS,285.545,69.524,1047.826,893.880,0.000,0.000,0.000,0.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.831,415.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330136
$DATA_FILE_SIZE,16869,315
$CAP_FILE_SIZE,152483,0
$CFSIZE,260165632,239333376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200314,173719,3220.658,-6436.309,7,2.0,7,-15.5