version: 66.07
glider: 35
mission: 4
dive: 3
start: 4 12 111 19 13 42
data:
$ID,35
$MISSION,4
$DIVE,3
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$D_ABORT,250
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,5.7096e-05
$HEADING,-1
$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,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21740.469
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,4021
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,185
$ROLL_MAX,3977
$ROLL_DEG,40
$C_ROLL_DIVE,2062
$C_ROLL_CLIMB,2062
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3954
$C_VBD,3446
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-1038.0145
$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,60
$ALTIM_PING_DELTA,5
$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,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$GPS1,120411,190516,4743.143,-12223.584,12,2.3,31,18.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-50.0
$GPS2,120411,191246,4743.163,-12223.604,13,2.1,32,18.2
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.022,0.237
$KALMAN_X,49.8,27.9,19.4,36.4,32.8
$KALMAN_Y,-326.8,-247.3,-212.2,850.7,-237.8
$MHEAD_RNG_PITCHd_Wd,336.5,2483,-20.2,-10.000
$D_GRID,155
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-2.20,-146.6,0.0,0.0,0,152,0.00,0.00,-135.38,0.000,2,0.000,0.000,114,2075,2632,0,0,0,0,0,0
$GC,155,-2.20,-146.6,3.1,-3.8,24,237,6.40,2.33,-68.57,0.000,4,0.221,0.074,1757,3489,3945,0,0,0,0,0,0
$GC,489,-2.20,-146.6,74.6,-24.8,83,499,0.00,2.22,0.00,0.000,6,0.000,0.065,1758,2061,3944,0,0,0,0,0,0
$GC,633,-2.20,-146.6,107.2,-23.3,108,638,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,2061,3944,0,0,0,0,0,0
$GC,776,-2.20,-146.6,139.3,-22.4,133,783,0.00,2.30,0.00,0.000,4,0.000,0.077,1747,3498,3945,0,0,0,0,0,0
$STATE,816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,816,begin apogee
$GC,822,-0.50,0.0,148.8,23.1,140,942,1.27,0.00,111.62,0.876,6,0.151,0.000,2136,2066,3447,0,0,0,0,0,0
$STATE,943,end apogee,CONTROL_FINISHED_OK
$STATE,943,begin climb
$GC,944,2.20,146.6,156.3,0.0,161,1066,1.67,2.42,112.88,0.862,4,0.082,0.079,2747,656,2949,0,0,0,0,0,0
$GC,1319,2.47,367.7,155.8,-0.4,227,1496,0.15,2.25,167.48,0.854,6,0.107,0.062,2805,2090,2200,0,0,0,0,0,0
$GC,1632,2.47,367.7,134.2,11.2,282,1638,0.00,2.30,0.00,0.000,4,0.000,0.074,2816,655,2201,0,0,0,0,0,0
$GC,1796,2.47,367.7,113.6,13.3,311,1804,0.12,2.20,0.00,0.000,6,0.179,0.062,2785,2063,2201,0,0,0,0,0,0
$GC,1939,2.47,367.7,96.9,12.4,336,1946,0.00,2.25,0.00,0.000,4,0.000,0.079,2785,3471,2201,0,0,0,0,0,0
$GC,2025,2.47,367.7,86.8,11.0,351,2032,0.00,2.17,0.00,0.000,6,0.000,0.062,2793,2051,2201,0,0,0,0,0,0
$GC,2167,2.47,367.7,68.6,12.3,376,2173,0.00,2.20,0.00,0.000,4,0.000,0.074,2804,661,2201,0,0,0,0,0,0
$GC,2398,2.47,367.7,42.6,12.2,417,2405,0.00,2.17,0.00,0.000,6,0.000,0.062,2804,2061,2201,0,0,0,0,0,0
$GC,2540,2.47,367.7,26.8,11.5,442,2547,0.00,2.22,0.00,0.000,4,0.000,0.074,2814,651,2201,0,0,0,0,0,0
$GC,2755,2.62,491.9,7.8,4.2,480,2842,0.00,2.20,81.32,0.772,2,0.000,0.060,2813,2077,1832,0,0,0,0,0,0
$STATE,2843,end climb,SURFACE_DEPTH_REACHED
$STATE,2844,begin surface coast
$FINISH,0.2,0.999250
$STATE,2967,end surface coast,CONTROL_FINISHED_OK
$STATE,2967,begin surface
$SM_CCo,2980,93.10,0.757,0,0,1413,600.14
$SM_GC,1.05,0.00,0.00,93.10,0.000,0.000,0.757,116,2077,1413,-9.82,0.42,600.14
$IRIDIUM_FIX,4716.56,-12218.24,120411,181803
$TT8_MAMPS,0.021721
$HUMID,39.99
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,19.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,115.2,43.2
$24V_AH,23.8,1.981
$10V_AH,10.4,2.122
$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,17.050,31.525,473.300,93.100,0.000,25.426,45.678,265.960,4.000,0.000,36.113,971.990,703.435,670.432,1137.800,56.395,31.306,1147.024,0.000,750.201,0.000,23.961,0.000
$DEVICE_MAMPS,220.987,79.456,876.499,757.315,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,26839,517
$CAP_FILE_SIZE,57758,0
$CFSIZE,260165632,253538304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,200538,4743.436,-12223.435,7,1.9,7,18.2