version: 66.12
glider: 38
mission: 2
dive: 1
start: 1 6 115 19 52 5
data:
$ID,38
$MISSION,2
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,300
$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,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78054
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12224.5
$TGT_AUTO_DEFAULT,0
$SM_CC,930
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2878
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26.189894
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2169
$C_ROLL_CLIMB,2169
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,0
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,3442
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-1022.0887
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$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,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
$GPS1,060115,194627,4743.0425,-12224.4941,3,1.0,10,16.3,0.0,0.0,9,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-49.2
$GPS2,060115,195129,4743.0688,-12224.5244,6,1.0,14,16.3,0.5,324.1,9,9.9
$SPEED_LIMITS,0.100,0.260
$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,344.4,2650,-17.5,-10.000,-21.04,2226
$D_GRID,177
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.71,-146.6,161,2163,238,231,0.0,0.0,0,337,0.00,0.00,-317.77,0.146,16386,0.000,0.000,161,2164,3202,3175,3229,0,0,0,0,0,0,26.98,28.83,27.00
$GC,339,-0.71,-146.6,162,2164,3175,3229,3.1,-3.9,59,396,9.43,2.20,-40.55,0.154,18692,0.263,0.092,2638,3579,3949,3930,3969,0,0,0,0,0,0,25.93,26.14,26.04
$STATE,626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,627,begin apogee
$GC,632,-0.19,0.0,2638,2122,3930,3969,46.7,-16.0,99,741,0.52,0.08,104.70,0.819,10246,0.164,0.164,2820,2166,3442,3454,3430,0,0,0,0,0,0,26.29,25.25,24.72
$STATE,742,end apogee,CONTROL_FINISHED_OK
$STATE,743,begin climb
$GC,744,0.71,146.6,2820,2166,3455,3430,56.4,0.0,110,859,0.75,2.22,103.82,0.770,10756,0.139,0.094,3092,774,2938,2951,2926,0,0,0,0,0,0,25.35,25.18,24.65
$GC,1034,0.80,435.7,3092,774,2950,2926,65.9,-3.3,139,1245,0.05,2.15,203.32,0.762,11270,0.144,0.079,3128,2182,1942,1955,1929,0,0,0,0,0,0,26.09,26.15,24.65
$GC,1372,0.83,528.2,3128,2181,1955,1929,49.6,5.7,173,1443,0.00,2.28,65.53,0.737,8708,0.000,0.094,3129,771,1623,1634,1612,0,0,0,0,0,0,26.25,25.31,24.79
$GC,1548,0.85,597.3,3128,771,1635,1612,37.5,6.8,190,1606,0.00,2.15,49.40,0.725,9222,0.000,0.079,3128,2166,1386,1392,1380,0,0,0,0,0,0,26.07,25.97,24.89
$GC,1725,0.85,597.3,3128,2166,1391,1380,21.9,9.1,208,1729,0.00,2.17,0.00,0.000,260,0.000,0.097,3128,3583,1386,1392,1380,0,0,0,0,0,0,26.29,26.01,26.31
$GC,1806,0.95,941.8,3128,3583,1391,1380,13.9,10.2,221,1922,0.15,2.10,109.28,0.715,11266,0.134,0.082,3190,2156,848,841,856,0,0,0,0,0,0,26.15,26.18,26.24
$STATE,1924,end climb,SURFACE_DEPTH_REACHED
$STATE,1924,begin surface coast
$FINISH,0.1,1.009842
$STATE,1950,end surface coast,CONTROL_FINISHED_OK
$STATE,1950,begin surface
$SM_CCo,1964,123.40,0.695,0,0,240,930.15
$SM_GC,1.16,8.07,0.00,123.40,0.082,0.000,0.695,154,2155,240,-8.45,-0.40,930.15,0,0,0,0,0,0,25.67,25.88,24.70
$IRIDIUM_FIX,4722.92,-12225.08,060115,194205
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.29
$INTERNAL_PRESSURE,8.94809
$TCM_TEMP,18.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,18.9
$24V_AH,24.65,0.535
$10V_AH,10.49,0.276
$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,18.975,17.525,636.050,123.400,358.325,0.000,0.000,0.000,1.000,0.000,15.167,349.534,387.026,892.155,516.002,25.538,0.000,1299.431,0.000,500.645,0.000,2.645,0.000
$DEVICE_MAMPS,263.198,163.878,819.390,695.240,153.946,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,152.992,322.769,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323200
$DATA_FILE_SIZE,13561,247
$CAP_FILE_SIZE,57665,1
$CFSIZE,1024409600,1021427712
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2445.72,0x238aa6,7,5
$INTR,1,1953.21,0x238aa6,7,5
$GPS,060115,202745,4743.201,-12224.449,3,1.0,19,16.3,0.0,0.0,8,9.8