version: 66.12
glider: 38
mission: 9
dive: 3
start: 4 8 117 18 22 34
data:
$ID,38
$MISSION,9
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,5
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,80833
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,530
$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,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,2253
$C_ROLL_CLIMB,2253
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2048
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,2
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.293694
$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,0
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$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,0.004410191
$SEABIRD_T_H,0.00064652628
$SEABIRD_T_I,2.6235177e-05
$SEABIRD_T_J,3.227025e-06
$SEABIRD_C_G,-9.5423679
$SEABIRD_C_H,1.1030561
$SEABIRD_C_I,-0.0018197452
$SEABIRD_C_J,0.00021177332
$SEABIRD_C_Z,2945.9399
$GPS1,080417,181809,2730.5679,-7803.9146,2,0.7,15,-7.9,1.2,288.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-39.3
$GPS2,080417,182204,2730.6006,-7804.0234,5,0.7,18,-7.9,1.0,277.7,11,4.8
$SPEED_LIMITS,0.100,0.289
$TGT_NAME,BP
$TGT_LATLONG,2730.000,-7755.000
$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,96.0,14865,-16.1,-10.000,-19.09,3691
$D_GRID,1079
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.02,-243.3,157,2261,213,226,0.0,0.0,0,290,0.00,0.00,-269.73,0.149,16390,0.000,0.000,158,2262,2886,2922,2850,0,0,0,0,0,0,26.96,26.40,26.27,8.94,7.86
$GC,293,-1.02,-243.3,158,2262,2920,2849,2.9,-2.9,27,312,9.75,2.33,0.00,0.000,2564,0.276,0.074,2676,648,2881,2912,2850,0,0,0,0,0,0,26.13,26.34,26.27,9.22,7.55
$GC,589,-1.02,-243.3,2676,649,2904,2850,35.6,-11.1,56,598,0.00,2.28,-0.25,0.901,17414,0.000,0.065,2666,2271,2890,2920,2861,0,0,0,0,0,0,26.72,26.65,25.72,9.23,7.94
$STATE,675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,675,begin apogee
$GC,679,-0.29,0.0,2666,2271,2920,2861,45.3,-11.0,65,850,0.68,0.00,167.32,0.740,10246,0.169,0.000,2901,2270,2048,2065,2031,0,0,0,0,0,0,26.55,25.50,25.02,9.23,7.47
$STATE,851,end apogee,CONTROL_FINISHED_OK
$STATE,851,begin climb
$GC,853,1.02,243.3,2901,2272,2064,2031,49.2,0.0,82,1038,1.10,2.50,172.23,0.715,10756,0.137,0.077,3301,646,1208,1235,1182,0,0,0,0,0,0,25.55,25.46,24.97,9.15,8.10
$GC,1161,1.02,243.3,3301,646,1233,1182,18.9,11.4,113,1170,0.00,2.30,0.00,0.000,1030,0.000,0.067,3301,2253,1207,1233,1181,0,0,0,0,0,0,26.29,26.22,26.31,9.07,7.27
$STATE,1289,end climb,SURFACE_DEPTH_REACHED
$STATE,1289,begin surface coast
$FINISH,0.2,1.024936
$STATE,1330,end surface coast,CONTROL_FINISHED_OK
$STATE,1330,begin surface
$SM_CCo,1345,246.30,0.680,1,0,223,530.14
$SM_GC,0.45,7.72,0.00,246.30,0.067,0.000,0.680,148,2253,223,-8.78,0.00,530.14,0,0,0,0,1,0,26.51,26.76,25.02
$IRIDIUM_FIX,2717.79,-7802.80,080417,181501
$TT8_MAMPS,0.021721,0.2247
$HUMID,7.47
$INTERNAL_PRESSURE,8.90537
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,3.0
$24V_AH,24.97,3.951
$10V_AH,10.79,1.044
$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,19.250,9.400,339.550,246.300,269.975,0.000,0.000,0.000,0.250,0.000,20.051,285.198,289.089,792.996,296.979,15.250,0.000,1008.339,0.000,282.833,0.000,2.643,0.000
$DEVICE_MAMPS,275.613,76.973,739.934,680.342,901.329,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,79.918,170.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284260
$DATA_FILE_SIZE,7248,130
$CAP_FILE_SIZE,45282,0
$CFSIZE,2047311872,2040758272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.823,294.88,1
$GPS,080417,185003,2730.905,-7804.631,2,0.9,18,-7.9,0.9,284.4,10,4.8