version: 66.12
glider: 37
mission: 15
dive: 3
start: 2 7 117 22 29 14
data:
$ID,37
$MISSION,15
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,6000
$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,60
$T_MISSION,90
$T_ABORT,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78611
$MASS_COMP,8995.7998
$NAV_MODE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$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,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,2072
$C_ROLL_CLIMB,2072
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2046
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$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,18.799999
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.185232
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,070217,222519,4742.3477,-12225.6592,2,1.0,15,16.3,4.3,99.4,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-43.7
$GPS2,070217,222832,4742.3442,-12225.6768,5,0.9,38,16.3,1.0,127.5,8,8.7
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$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,12.0,4253,-16.6,-10.000,-19.35,3122
$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,int_press,humidity
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,80,-1.15,-146.6,122,2055,37,246,2.2,-1.0,12,356,0.00,0.00,-271.40,0.104,16386,0.000,0.000,122,2057,1938,1857,2020,0,0,0,0,0,0,26.75,28.83,26.77,8.40,10.11
$GC,359,-1.15,-146.6,122,2058,1857,2020,3.1,-0.6,55,511,10.10,2.53,-134.10,0.104,18948,0.325,0.082,2323,488,2542,2470,2615,0,0,0,0,0,0,25.92,26.06,26.06,8.57,9.12
$GC,564,-1.15,-146.6,2322,488,2471,2614,6.0,-9.4,89,572,0.00,2.40,0.00,0.000,1030,0.000,0.065,2313,2079,2542,2471,2614,0,0,0,0,0,0,26.25,26.18,26.27,8.63,8.53
$GC,635,-1.15,-146.6,2312,2079,2471,2614,13.4,-12.2,102,642,0.00,2.42,0.00,0.000,260,0.000,0.077,2300,3651,2542,2471,2614,0,0,0,0,0,0,26.49,26.22,26.51,8.63,9.32
$GC,830,-1.15,-146.6,2300,3650,2471,2614,42.8,-16.2,126,840,0.00,2.40,0.00,0.000,1030,0.000,0.062,2301,2063,2542,2471,2614,0,0,0,0,0,0,26.44,26.37,26.46,8.64,8.61
$GC,960,-1.15,-146.6,2300,2063,2471,2614,61.7,-14.1,139,970,0.00,2.40,0.00,0.000,516,0.000,0.082,2300,499,2541,2470,2613,0,0,0,0,0,0,26.69,26.37,26.70,8.64,9.40
$GC,1113,-1.15,-146.6,2300,499,2471,2614,85.6,-16.0,154,1124,0.12,2.33,0.00,0.000,3078,0.283,0.067,2319,2069,2542,2471,2613,0,0,0,0,0,0,26.25,26.48,26.39,8.65,8.77
$STATE,1224,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1224,begin apogee
$GC,1228,-0.33,0.0,2318,2069,2471,2613,101.3,-15.1,165,1335,0.95,0.00,103.28,0.874,10246,0.256,0.000,2583,2070,2046,1979,2113,0,0,0,0,0,0,26.31,25.05,24.52,8.64,9.52
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1338,1.15,146.6,2583,2070,1978,2113,107.3,0.0,176,1455,1.58,2.65,105.45,0.839,10756,0.199,0.087,3058,502,1548,1470,1627,0,0,0,0,0,0,25.02,24.59,24.22,8.61,9.20
$GC,1589,1.15,146.6,3057,502,1470,1627,79.0,16.4,201,1599,0.00,2.45,0.00,0.000,1030,0.000,0.067,3058,2080,1548,1470,1627,0,0,0,0,0,0,25.72,25.65,25.73,8.55,8.96
$GC,1719,1.15,146.6,3057,2081,1470,1627,60.2,13.9,214,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2080,1548,1470,1627,0,0,0,0,0,0,26.16,26.17,26.17,8.55,8.53
$GC,1841,1.15,146.6,3057,2081,1470,1627,44.7,11.7,226,1850,0.00,2.53,0.00,0.000,516,0.000,0.087,3069,492,1548,1470,1627,0,0,0,0,0,0,26.32,26.01,26.33,8.55,8.81
$GC,1965,1.15,146.6,3069,492,1470,1627,28.2,14.0,238,1972,0.00,2.40,0.00,0.000,1030,0.000,0.067,3070,2077,1548,1470,1627,0,0,0,0,0,0,26.25,26.18,26.27,8.55,8.41
$GC,2094,1.15,146.6,3069,2077,1469,1627,10.2,14.6,257,2101,0.00,2.45,0.00,0.000,260,0.000,0.077,3070,3657,1548,1469,1627,0,0,0,0,0,0,26.52,26.25,26.53,8.55,9.63
$STATE,2138,end climb,SURFACE_DEPTH_REACHED
$STATE,2138,begin surface coast
$FINISH,1.5,1.022549
$STATE,2153,end surface coast,CONTROL_FINISHED_OK
$STATE,2153,begin surface
$SM_CCo,2173,313.42,0.762,0,0,140,562.65
$SM_CCo,2490,0.00,0.000,0,0,140,562.65
$SM_CCo,2493,0.00,0.000,0,0,140,562.65
$SM_GC,1.92,8.52,2.47,0.00,0.139,0.062,0.000,134,2060,140,-7.97,1.24,562.65,0,0,0,0,0,0,26.20,26.30,25.07
$IRIDIUM_FIX,4722.92,-12227.78,070217,222147
$TT8_MAMPS,0.02247,0.158788
$HUMID,8.73
$INTERNAL_PRESSURE,8.36824
$TCM_TEMP,10.80
$XPDR_PINGS,75
$ALTIM_TOP_PING,18.9,3.5
$ALTIM_BOTTOM_PING,101.3,3.7
$24V_AH,24.22,4.075
$10V_AH,10.65,1.483
$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,21.275,29.425,208.725,313.425,405.500,0.000,0.000,0.000,19.500,0.000,39.291,615.645,553.305,862.547,539.173,38.086,0.000,1210.469,0.000,500.490,0.000,7.166,0.000
$DEVICE_MAMPS,325.273,86.905,874.016,762.281,104.286,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.736,350.732,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323132
$DATA_FILE_SIZE,17504,268
$CAP_FILE_SIZE,102121,1
$CFSIZE,2047311872,2044592128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1452.03,0x213bde,1,24
$CURRENT,0.069,336.33,1
$GPS,070217,231131,4742.617,-12225.560,2,0.9,8,16.3,0.0,0.0,9,10.0