version: 66.12
glider: 37
mission: 20
dive: 3
start: 4 15 115 14 17 45
data:
$ID,37
$MISSION,20
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,65
$T_MISSION,75
$T_ABORT,2880
$T_TURN,540
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78758
$MASS_COMP,9226.7002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,1
$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,3950
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,265
$ROLL_MAX,3830
$ROLL_DEG,45
$C_ROLL_DIVE,165
$C_ROLL_CLIMB,165
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,280
$VBD_MAX,3960
$C_VBD,2181
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$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,-1071.2393
$PRESSURE_SLOPE,0.00091968128
$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,30
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$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,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,150415,141431,3220.1133,-6436.1821,2,0.8,9,-14.9,0.0,0.0,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-61.2
$GPS2,150415,141658,3220.1182,-6436.1680,4,0.9,13,-14.9,0.0,0.0,9,8.3
$SPEED_LIMITS,0.287,0.297
$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,167.6,21087,-10.8,-7.692,-14.52,5582
$D_GRID,150
$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,15,-0.56,-244.3,173,230,411,506,0.0,0.0,0,171,0.00,0.00,-153.80,0.139,16386,0.000,0.000,173,230,2472,2471,2473,0,0,0,0,0,0,26.99,28.83,27.01
$GC,174,-0.56,-244.3,172,230,2471,2473,3.0,-1.5,15,231,11.82,0.00,-37.90,0.146,18438,0.293,0.000,3016,229,3023,3031,3015,0,0,0,0,0,0,26.14,26.36,26.28
$GC,530,-0.56,-244.3,3015,229,3031,3015,27.4,-7.6,51,531,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,228,3022,3031,3014,0,0,0,0,0,0,26.98,27.01,27.00
$GC,831,-0.56,-244.3,3015,229,3031,3015,51.7,-8.9,81,832,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,229,3023,3031,3015,0,0,0,0,0,0,27.10,27.12,27.11
$GC,1131,-0.56,-244.3,3015,229,3030,3015,77.0,-8.6,111,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,228,3022,3030,3014,0,0,0,0,0,0,27.16,27.18,27.17
$GC,1432,-0.56,-244.3,3015,229,3030,3015,103.6,-8.9,141,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,228,3022,3029,3015,0,0,0,0,0,0,27.20,27.22,27.22
$GC,1743,-0.56,-244.3,3015,228,3029,3015,130.3,-8.2,172,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,228,3022,3029,3015,0,0,0,0,0,0,27.21,27.22,27.22
$STATE,2001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2001,begin apogee
$GC,2004,-0.23,0.0,3015,228,3029,3015,150.4,-7.3,198,2173,0.30,0.00,165.30,0.884,10246,0.142,0.000,3128,228,2181,2174,2188,0,0,0,0,0,0,26.82,25.39,24.82
$STATE,2174,end apogee,CONTROL_FINISHED_OK
$STATE,2174,begin climb
$GC,2175,0.56,244.3,3127,228,2174,2188,155.0,0.0,206,2351,0.62,0.00,167.80,0.852,10246,0.122,0.000,3363,228,1339,1321,1357,0,0,0,0,0,0,25.51,25.18,24.79
$GC,2651,0.56,244.3,3362,228,1321,1357,117.7,8.4,249,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,228,1339,1321,1357,0,0,0,0,0,0,26.77,26.79,26.79
$GC,2953,0.56,244.3,3362,228,1321,1357,93.7,8.2,279,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,228,1339,1321,1357,0,0,0,0,0,0,26.98,27.01,27.00
$GC,3263,0.56,244.3,3362,228,1321,1357,69.3,8.1,310,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,228,1339,1322,1357,0,0,0,0,0,0,27.10,27.12,27.11
$GC,3573,0.56,244.3,3362,228,1321,1357,42.9,8.4,341,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,228,1339,1321,1357,0,0,0,0,0,0,27.16,27.18,27.17
$GC,3881,0.56,244.3,3362,228,1321,1357,18.2,8.4,372,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,228,1339,1322,1357,0,0,0,0,0,0,27.20,27.22,27.22
$STATE,4089,end climb,SURFACE_DEPTH_REACHED
$STATE,4089,begin surface coast
$FINISH,0.3,1.016549
$STATE,4113,end surface coast,CONTROL_FINISHED_OK
$STATE,4113,begin surface
$SM_CCo,4127,172.70,0.780,0,0,459,500.22
$SM_GC,1.81,7.85,0.00,172.70,0.060,0.000,0.780,120,229,459,-9.52,1.78,500.22,0,0,0,0,0,0,26.95,27.24,24.96
$IRIDIUM_FIX,3208.42,-6439.11,100208,034124
$TT8_MAMPS,0.021721,0.021721
$HUMID,38.02
$INTERNAL_PRESSURE,9.39678
$TCM_TEMP,23.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,24.79,3.625
$10V_AH,10.61,1.189
$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,20.600,0.000,333.100,172.700,191.700,0.000,0.000,0.000,2.750,0.000,15.544,908.437,1470.942,609.202,1361.987,34.460,0.000,1017.955,0.000,1352.788,0.000,12.115,0.000
$DEVICE_MAMPS,292.994,0.000,883.948,779.662,146.497,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.721,1287.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330380
$DATA_FILE_SIZE,23620,395
$CAP_FILE_SIZE,58151,1
$CFSIZE,1024409600,1018150912
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5014.81,0x238a9a,7,5
$INTR,1,2002.14,0x238a9a,2,5
$INTR,2,4115.78,0x238a9a,7,5
$GPS,150415,153022,3219.976,-6436.280,25,1.1,31,-14.9,1.4,202.1,7,9.7