version: 66.13
glider: 202
mission: 2
dive: 2
start: 3 17 117 12 10 16
data:
$ID,202
$MISSION,2
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,170
$D_NO_BLEED,500
$D_BOOST,20
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51899
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,0
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3892
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,303
$ROLL_MAX,3831
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-61.796719
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$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,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,170317,120617,2906.5608,-7613.8008,13,1.3,13,-8.9,0.0,0.0,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.2
$GPS2,170317,120958,2906.5833,-7613.7358,10,1.3,16,-8.9,0.9,17.2,8,4.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,2917.382,-7613.736
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,323.9,20000,-17.5,-10.000,-21.06,2227
$D_GRID,4989
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.74,-146.0,191,2491,524,543,0.0,0.0,0,113,0.00,0.00,-98.22,0.000,16390,0.000,0.000,185,2491,3538,3596,3481,0,0,0,0,0,0,26.77,25.11,26.77
$GC,115,-0.74,-146.0,185,2491,3597,3482,3.6,-9.0,17,130,10.00,2.12,0.00,0.000,2340,0.230,0.046,2766,3842,3540,3599,3481,0,0,0,0,0,0,26.15,26.44,26.40
$GC,263,-0.74,-146.0,2765,3843,3603,3482,30.4,-13.9,46,272,0.00,1.95,0.00,0.000,1030,0.000,0.029,2766,2488,3541,3602,3481,0,0,0,0,0,0,26.66,26.61,26.67
$GC,450,-0.74,-146.0,2767,2489,3601,3481,53.3,-14.4,81,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2488,3541,3602,3481,0,0,0,0,0,0,26.95,26.96,26.96
$GC,750,-0.74,-146.0,2765,2489,3604,3486,86.7,-11.3,111,757,0.00,2.00,0.00,0.000,516,0.000,0.031,2766,1109,3543,3601,3486,0,0,0,0,0,0,27.04,26.73,27.05
$STATE,780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,780,begin apogee
$GC,784,-0.20,0.0,2757,2517,3603,3481,90.7,-13.5,117,854,0.57,0.00,61.15,0.746,10246,0.118,0.000,2951,2516,2941,2987,2896,0,0,0,0,0,0,26.53,25.65,25.13
$STATE,857,end apogee,CONTROL_FINISHED_OK
$STATE,857,begin climb
$GC,858,0.74,146.0,2951,2516,2987,2898,94.2,0.0,124,936,0.90,2.08,62.70,0.738,10500,0.080,0.045,3272,3817,2344,2365,2324,0,0,0,0,0,0,25.88,25.26,24.77
$GC,995,0.69,160.5,3271,3817,2361,2324,86.2,9.3,148,1010,0.12,1.95,6.28,0.625,13478,0.152,0.028,3238,2495,2285,2303,2268,0,0,0,0,0,0,25.79,25.98,25.18
$GC,1305,0.78,218.7,3239,2495,2302,2268,63.1,7.3,180,1340,0.00,2.08,24.77,0.616,8612,0.000,0.048,3238,3818,2048,2059,2038,0,0,0,0,0,0,26.74,26.08,25.53
$GC,1419,0.84,221.8,3237,3819,2058,2039,53.5,9.9,202,1427,0.17,1.92,1.23,0.334,11430,0.051,0.028,3342,2496,2036,2035,2038,0,0,0,0,0,0,26.36,26.37,26.00
$GC,1726,0.74,221.8,3343,2497,2034,2039,8.9,15.1,261,1735,0.22,2.03,0.00,0.000,4484,0.137,0.044,3263,3823,2036,2034,2039,0,0,0,0,0,0,26.41,26.54,26.53
$STATE,1783,end climb,SURFACE_DEPTH_REACHED
$STATE,1783,begin surface coast
$FINISH,0.2,1.013015
$STATE,1798,end surface coast,CONTROL_FINISHED_OK
$STATE,1798,begin surface
$SM_CCo,1822,83.57,0.126,0,0,1104,450.13
$SM_GC,0.97,7.80,1.95,83.57,0.034,0.028,0.126,188,2505,1104,-8.76,2.21,450.13,0,0,0,0,0,0,26.64,26.66,26.27
$IRIDIUM_FIX,2853.13,-7615.77,170317,120417
$TT8_MAMPS,0.050932,0.277879
$HUMID,32.67
$INTERNAL_PRESSURE,9.62144
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,7902208
$PM_FREEKB,62327872
$24V_AH,24.77,0.908
$10V_AH,10.36,1.033
$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,19.800,20.225,156.125,83.575,0.000,0.000,0.000,0.000,0.000,0.000,17.037,0.000,1010.102,326.895,624.326,11.737,0.000,599.566,0.000,402.498,0.000,0.550,0.000
$DEVICE_MAMPS,229.500,48.195,745.875,126.225,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1785.000,1799.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.041,11.715,0.000,0.000
$MEM,152608
$DATA_FILE_SIZE,10142,275
$CAP_FILE_SIZE,46902,0
$CFSIZE,1024409600,1019740160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.545,72.86,1
$GPS,170317,124302,2906.888,-7613.341,13,1.5,34,-8.9,0.7,39.2,7,5.1