version: 66.14
glider: 46
mission: 3
dive: 6
start: 4 10 119 0 9 37
data:
$ID,46
$MISSION,3
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$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,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79232.797
$MASS_COMP,10878
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.8500004e-06
$HEADING,270
$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,400
$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,5
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3820
$C_PITCH,3025
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,3860
$C_ROLL_CLIMB,3860
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2703
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,5
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.010625
$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,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044099661
$SEABIRD_T_H,0.000646114
$SEABIRD_T_I,2.5998468e-05
$SEABIRD_T_J,3.1825327e-06
$SEABIRD_C_G,-9.5395975
$SEABIRD_C_H,1.1021291
$SEABIRD_C_I,-0.0015787298
$SEABIRD_C_J,0.00019746556
$SEABIRD_C_Z,2945.97
$GPS1,100419,000446,4742.7554,-12223.4336,9,1.0,17,16.3,0.4,190.6,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-38.9
$GPS2,100419,000831,4742.7012,-12223.4512,8,1.0,41,16.3,0.4,196.5,9,4.7
$SPEED_LIMITS,0.173,0.399
$TGT_NAME,HEADING
$TGT_LATLONG,4742.701,-12359.749
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.384118,0.106147
$KALMAN_X,1907.732788,764.721497,14.305346,-1836.885864,292.328247
$KALMAN_Y,1063.920410,647.546997,182.344818,-3068.581543,-382.374115
$MHEAD_RNG_PITCHd_Wd,253.7,120000,-10.5,-10.000,-14.09,5921
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.32,-389.3,189,3843,296,495,0.0,0.0,0,274,0.00,0.00,-263.35,0.144,16386,0.000,0.000,189,3844,3044,2948,3140,0,0,0,0,0,0,27.05,28.83,27.07,7.99,19.91
$GC,276,-1.32,-389.3,189,3844,2948,3140,3.0,-1.8,44,344,9.73,0.00,-51.33,0.151,18692,0.268,0.000,2594,3844,3961,3891,4031,0,0,0,0,0,0,26.08,26.29,26.20,8.25,19.01
$GC,474,-1.18,-389.3,2594,3844,3892,4030,28.3,-15.9,75,481,0.17,0.00,0.00,0.000,3078,0.191,0.000,2641,3844,3961,3892,4030,0,0,0,0,0,0,26.35,26.82,26.53,8.33,18.93
$GC,602,-1.08,-389.3,2641,3844,3892,4030,45.4,-12.3,88,612,0.10,2.22,0.00,0.000,2564,0.206,0.062,2676,2960,3961,3892,4030,0,0,0,0,0,0,26.51,26.65,26.60,8.32,19.16
$GC,864,-1.40,-389.3,2675,2960,3892,4029,61.4,-0.2,114,875,0.30,2.42,0.00,0.000,5126,0.134,0.089,2572,3864,3960,3892,4028,0,0,0,0,0,0,26.65,26.72,26.77,8.32,19.52
$STATE,902,end dive,NO_VERTICAL_VELOCITY
$STATE,903,begin apogee
$GC,906,-0.40,0.0,2572,3864,3892,4029,61.3,0.0,118,1167,0.88,0.00,257.10,0.921,10246,0.099,0.000,2892,3864,2702,2595,2810,0,0,0,0,0,0,26.73,25.20,24.69,8.31,19.56
$STATE,1169,end apogee,CONTROL_FINISHED_OK
$STATE,1169,begin climb
$GC,1170,1.32,389.3,2892,3864,2595,2810,61.4,0.0,144,1455,1.70,0.00,274.15,0.834,11012,0.142,0.000,3429,3864,1361,1233,1489,0,0,0,0,0,0,25.29,24.92,24.55,8.22,18.93
$GC,1487,1.19,389.3,3428,3864,1233,1489,20.1,15.8,176,1490,0.00,0.00,0.00,0.000,1030,0.000,0.000,3428,3864,1360,1232,1489,0,0,0,0,0,0,25.78,25.76,25.78,8.11,19.01
$STATE,1599,end climb,SURFACE_DEPTH_REACHED
$STATE,1599,begin surface coast
$FINISH,0.7,1.022371
$STATE,1610,end surface coast,CONTROL_FINISHED_OK
$STATE,1610,begin surface
$SM_CCo,1625,8.73,0.757,0,0,1325,400.02
$SM_GC,2.48,9.00,0.00,8.73,0.082,0.000,0.757,182,3863,1325,-8.79,0.14,400.02,0,0,0,0,0,0,26.06,26.31,25.28
$IRIDIUM_FIX,4740.68,-12211.84,100419,000106
$TT8_MAMPS,0.021721,0.173768
$HUMID,19.08
$INTERNAL_PRESSURE,8.048
$TCM_TEMP,9.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.2,18.4
$24V_AH,24.55,3.988
$10V_AH,10.39,4.403
$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,21.875,4.650,531.250,8.725,314.675,0.000,0.000,0.000,0.750,0.000,42.697,328.975,254.314,702.248,432.769,15.750,33.437,1022.408,0.000,393.206,0.000,2.642,0.000
$DEVICE_MAMPS,268.164,89.388,921.193,757.315,151.463,0.000,0.000,0.000,420.000,0.000,13.480,11.470,2.190,11.470,35.440,56.410,57.910,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,124.998,254.981,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,31.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312736
$DATA_FILE_SIZE,10664,199
$CAP_FILE_SIZE,67333,0
$CFSIZE,2046525440,2042691584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,003736,4742.516,-12223.657,5,1.0,15,16.3,0.0,206.7,8,9.4