version: 66.13
glider: 202
mission: 2
dive: 4
start: 3 17 117 14 19 20
data:
$ID,202
$MISSION,2
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$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,100
$T_MISSION,120
$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
$PITCH_ADJ_DBAND,0
$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,82
$R_STBD_OVSHOOT,42
$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
$GPS1,170317,141452,2907.5754,-7612.0732,10,1.1,33,-8.9,0.6,84.5,7,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-63.9
$GPS2,170317,141902,2907.5950,-7611.9961,11,2.0,27,-8.9,0.3,14.0,7,4.6
$SPEED_LIMITS,0.208,0.275
$TGT_NAME,HEADING
$TGT_LATLONG,2918.394,-7611.996
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,323.9,20000,-20.6,-12.000,-23.56,1860
$D_GRID,4991
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.87,-146.0,182,2500,1020,1177,0.0,0.0,0,92,0.00,0.00,-76.95,0.000,16386,0.000,0.000,182,2499,3413,3471,3356,0,0,0,0,0,0,26.94,28.83,26.94
$GC,94,-0.87,-146.0,184,2500,3471,3357,3.2,-7.8,13,115,9.62,2.15,-2.33,0.000,18724,0.225,1.250,2723,3820,3539,3614,3465,0,0,0,0,0,0,26.35,25.48,26.63
$GC,213,-0.87,-146.0,2724,3821,3615,3465,29.9,-19.1,36,222,0.00,1.92,0.00,0.000,1030,0.000,0.026,2723,2503,3540,3615,3465,0,0,0,0,0,0,26.68,26.65,26.68
$GC,400,-0.87,-146.0,2723,2504,3617,3465,64.8,-17.5,65,408,0.00,2.03,0.00,0.000,516,0.000,0.030,2724,1104,3539,3615,3464,0,0,0,0,0,0,27.00,26.71,26.99
$GC,442,-0.87,-146.0,2724,1105,3615,3465,70.8,-13.7,73,450,0.00,2.08,0.00,0.000,1030,0.000,0.032,2713,2507,3539,3615,3464,0,0,0,0,0,0,26.79,26.72,26.81
$GC,753,-0.87,-146.0,2713,2508,3617,3465,118.7,-14.8,105,762,0.00,2.05,0.00,0.000,516,0.000,0.030,2713,1103,3539,3615,3464,0,0,0,0,0,0,27.10,26.82,27.10
$GC,855,-0.87,-146.0,2712,1104,3617,3465,133.9,-15.0,125,864,0.10,2.08,0.00,0.000,3078,0.170,0.031,2735,2511,3540,3615,3465,0,0,0,0,0,0,26.67,26.83,26.83
$GC,1167,-0.87,-146.0,2736,2513,3615,3465,176.5,-14.1,157,1175,0.00,2.05,0.00,0.000,516,0.000,0.030,2739,1106,3539,3615,3464,0,0,0,0,0,0,27.17,26.89,27.17
$GC,1209,-0.87,-146.0,2734,1106,3617,3465,182.7,-14.8,165,1217,0.00,2.05,0.00,0.000,1030,0.000,0.031,2729,2506,3542,3615,3469,0,0,0,0,0,0,26.96,26.88,26.97
$GC,1540,-0.87,-146.0,2729,2506,3618,3466,230.3,-14.0,185,1548,0.00,2.03,0.00,0.000,516,0.000,0.030,2729,1115,3539,3615,3464,0,0,0,0,0,0,27.22,26.93,27.22
$GC,1592,-0.87,-146.0,2728,1116,3617,3465,237.3,-13.8,195,1599,0.00,2.08,0.00,0.000,1030,0.000,0.031,2719,2498,3539,3615,3464,0,0,0,0,0,0,26.96,26.92,26.98
$GC,1903,-0.87,-146.0,2718,2499,3616,3465,276.9,-11.5,207,1909,0.00,2.00,0.00,0.000,548,0.000,0.030,2719,1114,3539,3615,3464,0,0,0,0,0,0,27.24,26.96,27.24
$GC,1998,-0.87,-146.0,2718,1115,3617,3465,287.4,-11.2,226,2005,0.10,2.03,0.00,0.000,3110,0.160,0.031,2743,2502,3539,3615,3464,0,0,0,0,0,0,26.80,26.95,26.96
$GC,2324,-0.87,-146.0,2743,2502,3615,3465,321.6,-10.6,241,2332,0.00,2.03,0.00,0.000,292,0.000,0.047,2734,3821,3540,3615,3465,0,0,0,0,0,0,27.27,26.94,27.26
$GC,2350,-0.87,-146.0,2734,3822,3616,3465,324.6,-12.7,246,2358,0.00,1.88,0.00,0.000,1030,0.000,0.028,2734,2486,3539,3614,3464,0,0,0,0,0,0,27.06,27.01,27.07
$STATE,2654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2654,begin apogee
$GC,2657,-0.20,0.0,2735,2487,3615,3465,360.5,-11.6,257,2770,0.62,0.00,109.55,1.130,10246,0.112,0.000,2952,2485,2941,2978,2904,0,0,0,0,0,0,26.84,25.25,24.51
$STATE,2773,end apogee,CONTROL_FINISHED_OK
$STATE,2773,begin climb
$GC,2774,0.87,146.0,2953,2486,2981,2905,364.0,0.0,260,2905,1.00,2.20,112.97,1.134,10500,0.070,0.046,3313,3810,2345,2364,2326,0,0,0,0,0,0,25.52,25.17,24.39
$GC,2933,0.87,146.0,3312,3810,2365,2327,354.3,12.4,272,2940,0.00,1.92,0.00,0.000,1030,0.000,0.025,3313,2504,2344,2363,2326,0,0,0,0,0,0,25.85,25.81,25.86
$GC,3259,0.87,162.8,3312,2499,2363,2327,317.2,11.1,287,3282,0.00,2.10,13.65,1.028,8484,0.000,0.046,3313,3818,2277,2295,2260,0,0,0,0,0,0,26.82,26.17,25.43
$GC,3375,0.87,162.8,3312,3819,2297,2260,301.2,14.4,310,3383,0.00,1.90,0.00,0.000,1030,0.000,0.026,3313,2492,2279,2300,2259,0,0,0,0,0,0,26.53,26.48,26.54
$GC,3680,0.87,163.0,3313,2490,2294,2259,264.7,12.0,321,3688,0.00,2.03,0.00,0.000,292,0.000,0.045,3312,3815,2276,2294,2259,0,0,0,0,0,0,26.97,26.65,26.96
$GC,3907,0.87,163.0,3313,3816,2292,2260,234.0,14.4,366,3914,0.00,1.85,0.00,0.000,1030,0.000,0.026,3318,2505,2275,2292,2259,0,0,0,0,0,0,26.86,26.82,26.87
$GC,4213,0.87,163.0,3317,2503,2292,2261,191.5,12.6,382,4219,0.00,2.00,0.00,0.000,260,0.000,0.045,3319,3823,2275,2291,2259,0,0,0,0,0,0,27.12,26.81,27.13
$GC,4368,0.87,163.0,3319,3824,2289,2260,170.0,14.2,413,4377,0.00,1.92,0.00,0.000,1030,0.000,0.026,3318,2484,2274,2290,2259,0,0,0,0,0,0,26.94,26.91,26.95
$GC,4673,0.88,185.5,3319,2483,2289,2260,133.6,10.8,444,4686,0.00,0.00,9.40,0.856,8230,0.000,0.000,3318,2482,2183,2203,2163,0,0,0,0,0,0,27.20,26.63,25.91
$GC,4983,0.88,185.5,3319,2483,2202,2164,98.2,13.8,475,4990,0.00,2.03,0.00,0.000,260,0.000,0.044,3319,3821,2182,2202,2163,0,0,0,0,0,0,27.13,26.82,27.13
$GC,5193,0.88,185.5,3319,3822,2201,2164,68.3,12.8,517,5201,0.00,1.90,0.00,0.000,1030,0.000,0.025,3319,2499,2182,2201,2163,0,0,0,0,0,0,26.96,26.93,26.97
$GC,5500,0.88,191.5,3316,2496,2201,2164,31.8,11.7,563,5508,0.00,0.00,2.25,0.352,8230,0.000,0.000,3319,2500,2158,2176,2140,0,0,0,0,0,0,27.22,26.82,26.29
$GC,5687,0.88,191.5,3320,2496,2171,2142,8.5,13.1,600,5695,0.00,2.03,0.00,0.000,260,0.000,0.045,3319,3828,2158,2176,2141,0,0,0,0,0,0,27.22,26.90,27.22
$STATE,5733,end climb,SURFACE_DEPTH_REACHED
$STATE,5733,begin surface coast
$FINISH,0.3,1.025313
$STATE,5743,end surface coast,CONTROL_FINISHED_OK
$STATE,5743,begin surface
$SM_CCo,5766,93.90,0.128,0,0,1102,450.37
$SM_GC,1.21,7.82,1.92,93.90,0.031,0.027,0.128,188,2500,1102,-8.78,2.29,450.37,0,0,0,0,0,0,26.93,26.98,26.55
$IRIDIUM_FIX,2855.60,-7612.79,170317,141219
$TT8_MAMPS,0.050932,0.261401
$HUMID,33.61
$INTERNAL_PRESSURE,9.64098
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,7901440
$PM_FREEKB,62286272
$24V_AH,24.39,1.094
$10V_AH,10.46,1.154
$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,19.275,52.225,247.825,93.900,0.000,0.000,0.000,0.000,0.000,0.000,28.000,0.000,4132.387,493.339,1291.474,21.982,0.000,1028.207,0.000,878.977,0.000,0.552,0.000
$DEVICE_MAMPS,224.910,1250.010,1134.495,127.755,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5728.000,5741.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.438,11.774,0.000,0.000
$MEM,152620
$DATA_FILE_SIZE,20031,611
$CAP_FILE_SIZE,94413,0
$CFSIZE,1024409600,1019428864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.415,81.60,1
$GPS,170317,155803,2908.255,-7611.349,14,1.1,36,-8.9,0.9,48.2,9,4.4