version: 66.12
glider: 402
mission: 3
dive: 2
start: 5 2 117 18 28 6
data:
$ID,402
$MISSION,3
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$D_ABORT,210
$D_NO_BLEED,210
$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,20
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72342
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,200
$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,350
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100940
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3600
$C_PITCH,2470
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,280
$ROLL_MAX,3750
$ROLL_DEG,75
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2278
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.85000002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$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,100
$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,-48.771183
$PRESSURE_SLOPE,3.3081022e-05
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044041616
$SEABIRD_T_H,0.00063614739
$SEABIRD_T_I,2.4510882e-05
$SEABIRD_T_J,2.9009848e-06
$SEABIRD_C_G,-9.6809101
$SEABIRD_C_H,1.1416712
$SEABIRD_C_I,-0.0016510745
$SEABIRD_C_J,0.00019793682
$SEABIRD_C_Z,0
$GPS1,020517,182343,4742.9316,-12224.8027,2,0.9,7,16.3,0.0,0.0,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-53.6
$GPS2,020517,182706,4742.9380,-12224.7920,6,0.9,10,16.3,0.0,0.0,9,9.2
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,4732.790,-12230.264
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.037817,-0.259573
$KALMAN_X,9.480972,9.480972,9.480972,-71.031059,18.723442
$KALMAN_Y,96.931503,96.931503,96.931503,-124.997543,191.424622
$MHEAD_RNG_PITCHd_Wd,187.4,20000,-18.1,-10.000,-20.87,2960
$D_GRID,179
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-195.5,369,2284,2184,236,0.0,0.0,0,26,0.00,0.00,-5.22,0.000,16390,0.000,0.000,369,2284,2835,2835,408,0,0,0,0,0,0,27.22,25.48,27.23,10.57,42.59
$GC,27,-1.72,-195.5,369,2284,2835,407,1.4,0.0,1,53,18.48,4.07,0.00,0.000,2308,0.407,0.266,1909,3744,2837,2837,612,0,0,0,0,0,0,26.64,26.63,26.73,10.72,42.99
$STATE,269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,269,begin apogee
$GC,276,-0.39,0.0,1909,2274,2844,674,45.3,-15.2,41,296,4.62,0.00,12.25,2.992,10246,0.258,0.000,2335,2274,2598,2598,4095,0,0,0,0,0,0,26.84,26.45,25.53,10.71,41.80
$STATE,297,end apogee,CONTROL_FINISHED_OK
$STATE,297,begin climb
$GC,298,1.72,195.5,2334,2273,2598,872,48.0,0.0,44,329,6.78,4.60,11.65,2.987,10756,0.139,0.268,3000,643,2368,2368,3567,0,0,0,0,0,0,26.72,26.00,25.37,10.65,42.36
$GC,516,1.72,195.5,2999,642,2363,698,23.5,11.7,80,523,0.00,4.25,0.00,0.000,1030,0.000,0.149,3001,2277,2362,2362,698,0,0,0,0,0,0,26.84,26.73,26.88,10.60,41.92
$GC,555,1.72,195.5,3000,2277,2363,740,19.6,10.1,86,561,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2276,2362,2362,731,0,0,0,0,0,0,27.09,27.11,27.10,10.59,42.28
$GC,591,1.72,195.5,3000,2276,2362,679,15.6,10.5,92,597,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2276,2362,2362,678,0,0,0,0,0,0,27.15,27.16,27.16,10.59,41.88
$GC,628,1.72,195.5,3000,2277,2361,668,11.3,12.4,98,634,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2276,2361,2361,669,0,0,0,0,0,0,27.17,27.19,27.18,10.60,42.12
$GC,664,1.74,214.2,3000,2277,2360,856,7.6,9.4,104,678,0.00,4.57,2.55,0.546,8708,0.000,0.266,3001,643,2344,2344,4095,0,0,0,0,0,0,27.16,26.70,26.07,10.59,42.43
$STATE,720,end climb,SURFACE_DEPTH_REACHED
$STATE,720,begin surface coast
$FINISH,0.8,1.020501
$STATE,733,end surface coast,CONTROL_FINISHED_OK
$STATE,733,begin surface
$SM_CCo,770,8.20,1.522,0,0,2185,350.20
$SM_GC,2.80,26.58,4.30,8.20,0.097,0.146,1.522,368,2279,2185,-6.55,-0.64,350.20,0,0,0,0,0,0,26.91,26.84,26.08
$IRIDIUM_FIX,4748.51,-12056.72,020517,182412
$TT8_MAMPS,0.02247,0.159537
$HUMID,41.92
$INTERNAL_PRESSURE,10.4789
$TCM_TEMP,11.90
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,25.37,2.286
$10V_AH,10.54,1.757
$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,56.450,25.625,26.450,8.200,0.000,0.000,0.000,0.000,7.500,0.000,10.917,336.742,197.266,128.866,178.855,8.902,30.284,245.663,0.000,178.398,0.000,2.669,0.000
$DEVICE_MAMPS,407.212,268.164,2992.015,1522.079,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,76.796,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323980
$DATA_FILE_SIZE,3663,115
$CAP_FILE_SIZE,33199,0
$CFSIZE,1024409600,1020444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$CURRENT,0.132,38.35,1
$GPS,020517,184149,4742.958,-12224.873,2,0.9,7,16.3,0.0,0.0,9,9.6