version: 66.12
glider: 38
mission: 4
dive: 50
start: 7 16 115 8 23 56
data:
$ID,38
$MISSION,4
$DIVE,50
$N_DIVES,0
$D_SURF,3
$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,50
$T_MISSION,80
$T_ABORT,2880
$T_TURN,290
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,14
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$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,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,121
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2140
$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,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,30
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,20
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,160715,082003,3133.5146,-6409.6558,2,1.0,9,-14.9,0.7,119.3,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-66.1
$GPS2,160715,082332,3133.5007,-6409.6367,4,1.0,11,-14.9,0.0,0.0,9,9.1
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SS02
$TGT_LATLONG,3158.680,-6422.860
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.242932,-0.094215
$KALMAN_X,-5924.252930,0.000000,0.000000,54580.785156,270.806641
$KALMAN_Y,-9684.791016,0.000000,0.000000,44658.179688,-4049.756836
$MHEAD_RNG_PITCHd_Wd,350.9,51049,-18.4,-10.000,-21.00,2237
$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,-0.96,-146.6,154,2193,1288,1268,0.0,0.0,0,130,0.00,0.00,-107.20,0.154,16390,0.000,0.000,154,2193,2645,2596,2694,0,0,0,0,0,0,26.92,26.55,26.46
$GC,133,-0.96,-146.6,154,2193,2596,2694,4.3,-6.0,11,153,10.73,1.85,0.00,0.000,2564,0.310,0.067,2662,830,2646,2600,2693,0,0,0,0,0,0,26.28,26.53,26.44
$GC,489,-0.83,-146.6,2662,830,2603,2688,45.6,-6.7,39,498,0.15,1.90,0.00,0.000,3078,0.211,0.065,2700,2200,2646,2603,2689,0,0,0,0,0,0,26.70,26.91,26.80
$GC,798,-0.77,-146.6,2700,2200,2602,2689,63.7,-6.1,60,804,0.00,1.88,0.00,0.000,516,0.000,0.070,2701,837,2646,2603,2689,0,0,0,0,0,0,27.22,26.97,27.23
$GC,1126,-0.69,-146.6,2701,837,2603,2688,85.4,-6.8,80,1133,0.15,1.83,0.00,0.000,3078,0.209,0.065,2743,2204,2645,2603,2688,0,0,0,0,0,0,26.82,27.03,26.92
$GC,1442,-0.69,-146.6,2743,2204,2602,2688,103.6,-5.8,101,1447,0.00,1.88,0.00,0.000,516,0.000,0.070,2743,837,2645,2603,2688,0,0,0,0,0,0,27.27,27.03,27.29
$GC,1572,-0.69,-146.6,2743,836,2603,2687,112.6,-6.8,109,1578,0.00,1.85,0.00,0.000,1030,0.000,0.062,2734,2200,2645,2603,2688,0,0,0,0,0,0,27.10,27.05,27.11
$GC,1887,-0.69,-146.6,2734,2200,2603,2687,135.9,-7.5,130,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2200,2645,2603,2687,0,0,0,0,0,0,27.26,27.28,27.27
$STATE,2067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2067,begin apogee
$GC,2070,-0.25,0.0,2734,2200,2603,2686,150.0,-7.9,142,2173,0.45,0.00,99.80,0.827,10246,0.169,0.000,2889,2200,2140,2148,2133,0,0,0,0,0,0,26.87,25.90,25.41
$STATE,2174,end apogee,CONTROL_FINISHED_OK
$STATE,2174,begin climb
$GC,2176,0.96,146.6,2889,2200,2147,2133,153.2,0.0,145,2281,1.05,0.00,101.57,0.782,10246,0.139,0.000,3260,2201,1635,1654,1616,0,0,0,0,0,0,25.95,25.77,25.29
$GC,2578,0.96,146.6,3260,2201,1653,1616,114.3,10.7,170,2583,0.00,1.88,0.00,0.000,516,0.000,0.070,3267,849,1634,1653,1616,0,0,0,0,0,0,26.99,26.75,27.01
$GC,2674,0.96,146.6,3267,849,1653,1616,104.0,10.6,176,2678,0.00,1.88,0.00,0.000,1030,0.000,0.062,3267,2196,1635,1654,1616,0,0,0,0,0,0,26.86,26.84,26.89
$GC,2988,0.96,146.6,3267,2196,1652,1616,71.4,9.9,197,2993,0.00,1.88,0.00,0.000,516,0.000,0.070,3277,841,1634,1652,1616,0,0,0,0,0,0,27.19,26.94,27.20
$GC,3084,0.96,146.6,3277,841,1652,1615,62.1,9.4,203,3088,0.00,1.85,0.00,0.000,1030,0.000,0.065,3277,2201,1633,1652,1615,0,0,0,0,0,0,27.03,26.98,27.04
$GC,3392,0.98,214.2,3277,2201,1652,1615,35.5,6.9,225,3442,0.00,0.00,45.55,0.750,8198,0.000,0.000,3277,2201,1402,1421,1383,0,0,0,0,0,0,27.24,26.30,25.82
$GC,3742,1.06,295.1,3277,2201,1421,1383,11.7,6.3,260,3803,0.00,1.98,54.62,0.728,8708,0.000,0.072,3282,844,1123,1145,1102,0,0,0,0,0,0,27.09,26.15,25.64
$STATE,3861,end climb,SURFACE_DEPTH_REACHED
$STATE,3861,begin surface coast
$FINISH,-0.4,1.023743
$STATE,3896,end surface coast,CONTROL_FINISHED_OK
$STATE,3896,begin surface
$SM_CCo,3973,0.00,0.000,0,0,1123,295.43
$SM_GC,0.34,7.85,1.92,0.00,0.074,0.062,0.000,144,2208,1123,-8.74,-1.95,295.43,0,0,0,0,0,0,26.59,26.59,26.63
$IRIDIUM_FIX,3122.76,-6407.95,110508,212826
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.32
$INTERNAL_PRESSURE,9.54382
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.9,28.3
$24V_AH,25.29,12.383
$10V_AH,10.68,4.648
$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,20.375,22.550,301.550,0.000,107.200,25.770,19.446,89.367,7.500,0.000,12.952,715.851,1787.680,344.478,1319.625,38.867,0.000,750.626,0.000,1139.418,0.000,49.875,0.000
$DEVICE_MAMPS,310.375,72.007,826.839,0.000,153.946,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.507,895.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330288
$DATA_FILE_SIZE,16890,274
$CAP_FILE_SIZE,46201,0
$CFSIZE,1024409600,1015136256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,093056,3133.465,-6409.889,3,0.8,14,-14.9,0.0,0.0,10,9.7