version: 66.12
glider: 402
mission: 3
dive: 19
start: 5 3 117 6 49 55
data:
$ID,402
$MISSION,3
$DIVE,19
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,40
$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,-1
$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,2490
$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,55
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2278
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2550
$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
$GPS1,030517,064451,4742.7100,-12225.0293,4,0.9,6,16.3,0.0,42.5,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-53.3
$GPS2,030517,064852,4742.7388,-12224.9873,5,0.9,9,16.3,0.0,0.0,10,8.9
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.088542,0.246918
$KALMAN_X,-5436.126953,-173.070160,-112.007401,5432.167969,-137.098358
$KALMAN_Y,-124.259125,-441.721710,-361.043518,732.663452,-225.453308
$MHEAD_RNG_PITCHd_Wd,2.2,2347,-18.1,-10.000,-20.87,2960
$D_GRID,186
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-195.5,369,2275,2133,764,0.0,0.0,0,25,0.00,0.00,-5.55,0.000,16390,0.000,0.000,369,2275,2785,2785,807,0,0,0,0,0,0,26.77,25.49,26.79,10.42,40.07
$GC,26,-1.72,-195.5,369,2275,2785,806,1.3,0.0,1,53,19.75,3.45,0.00,0.000,2308,0.467,0.256,1930,3477,2787,2787,825,0,0,0,0,0,0,26.27,26.29,26.41,10.58,39.80
$GC,281,-1.72,-195.5,1930,3477,2793,651,42.9,-14.5,43,288,0.00,3.08,0.00,0.000,1030,0.000,0.117,1931,2278,2793,2793,670,0,0,0,0,0,0,26.69,26.61,26.72,10.56,39.88
$GC,318,-1.72,-195.5,1930,2279,2795,658,47.8,-12.8,49,326,0.00,3.38,0.00,0.000,260,0.000,0.263,1931,3477,2794,2794,682,0,0,0,0,0,0,26.91,26.52,26.92,10.56,38.97
$GC,555,-1.72,-195.5,1930,3477,2800,632,80.0,-14.9,88,562,0.00,3.08,0.00,0.000,1030,0.000,0.117,1931,2275,2801,2801,654,0,0,0,0,0,0,26.82,26.74,26.85,10.57,39.95
$GC,593,-1.72,-195.5,1930,2274,2802,649,85.5,-14.0,94,600,0.00,3.38,0.00,0.000,260,0.000,0.261,1931,3476,2801,2801,670,0,0,0,0,0,0,27.04,26.65,27.05,10.57,39.52
$STATE,623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,630,-0.39,0.0,1930,2271,2802,673,90.1,-14.0,99,656,4.72,0.00,13.43,4.504,10246,0.283,0.000,2356,2270,2549,2549,3921,0,0,0,0,0,0,26.70,25.84,25.01,10.57,39.44
$STATE,657,end apogee,CONTROL_FINISHED_OK
$STATE,657,begin climb
$GC,658,1.72,195.5,2356,2270,2549,882,92.8,0.0,103,690,8.20,3.33,12.55,4.437,10756,0.452,0.214,3012,1082,2318,2318,3693,2,0,0,0,0,0,25.87,25.83,24.66,10.52,39.68
$GC,919,1.72,195.5,3012,1082,2313,654,63.6,12.0,146,926,0.00,3.10,0.00,0.000,1030,0.000,0.132,3012,2277,2312,2312,657,0,0,0,0,0,0,26.52,26.41,26.55,10.46,39.48
$GC,956,1.72,195.5,3012,2277,2312,649,59.4,10.7,152,963,0.00,3.25,0.00,0.000,516,0.000,0.209,3012,1083,2312,2312,654,0,0,0,0,0,0,26.77,26.40,26.77,10.46,39.48
$GC,1078,1.72,195.5,3012,1083,2308,638,45.8,11.3,172,1085,0.00,3.08,0.00,0.000,1030,0.000,0.129,3013,2278,2308,2308,642,0,0,0,0,0,0,26.65,26.55,26.67,10.45,39.56
$GC,1116,1.72,195.5,3012,2278,2306,640,41.7,11.0,178,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2278,2308,2308,642,0,0,0,0,0,0,26.89,26.90,26.90,10.46,39.68
$GC,1152,1.72,195.5,3012,2278,2307,636,37.6,11.4,184,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2278,2306,2306,640,0,0,0,0,0,0,26.91,26.92,26.91,10.45,39.72
$GC,1189,1.72,195.5,3012,2278,2305,636,33.7,11.0,190,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2278,2306,2306,639,0,0,0,0,0,0,26.93,26.94,26.94,10.45,39.48
$GC,1225,1.72,195.5,3012,2278,2305,634,29.8,10.9,196,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2278,2305,2305,638,0,0,0,0,0,0,26.95,26.96,26.96,10.45,39.32
$GC,1262,1.72,195.5,3012,2278,2304,634,26.0,10.3,202,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2278,2304,2304,637,0,0,0,0,0,0,26.97,26.98,26.98,10.45,39.21
$GC,1299,1.72,195.5,3012,2278,2303,632,22.3,10.1,208,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2278,2304,2304,635,0,0,0,0,0,0,26.98,27.00,26.99,10.45,39.17
$GC,1336,1.72,195.5,3012,2278,2302,633,18.2,11.1,214,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2278,2302,2302,636,0,0,0,0,0,0,27.00,27.01,27.01,10.45,39.52
$GC,1374,1.72,195.5,3012,2278,2301,631,13.4,13.0,220,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2278,2301,2301,635,0,0,0,0,0,0,27.02,27.03,27.03,10.44,39.52
$GC,1411,1.72,195.5,3012,2277,2300,631,9.5,10.3,226,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2278,2300,2300,635,0,0,0,0,0,0,27.03,27.05,27.04,10.44,40.19
$GC,1447,1.72,195.5,3012,2278,2299,630,5.1,11.4,232,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2278,2299,2299,634,0,0,0,0,0,0,27.05,27.06,27.05,10.45,39.40
$STATE,1483,end climb,SURFACE_DEPTH_REACHED
$STATE,1483,begin surface coast
$FINISH,0.4,1.020427
$STATE,1503,end surface coast,CONTROL_FINISHED_OK
$STATE,1503,begin surface
$SM_CCo,1536,8.52,1.691,0,0,2135,350.20
$SM_GC,3.07,26.92,0.00,8.52,0.102,0.000,1.691,368,2278,2135,-6.61,0.00,350.20,0,0,0,0,0,0,26.79,27.08,26.01
$IRIDIUM_FIX,4748.51,-12337.82,030517,064537
$TT8_MAMPS,0.02247,0.115346
$HUMID,38.93
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,9.50
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.6,19.6
$24V_AH,24.66,3.762
$10V_AH,10.56,2.141
$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,59.600,32.250,25.975,8.525,0.000,28.387,24.217,120.662,3.500,0.000,9.930,645.688,428.054,171.698,547.238,21.469,33.454,395.565,0.000,358.123,0.000,4.528,0.000
$DEVICE_MAMPS,466.804,263.198,4504.162,1690.923,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,161.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323536
$DATA_FILE_SIZE,7113,241
$CAP_FILE_SIZE,38060,0
$CFSIZE,1024409600,1019428864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0
$CURRENT,0.053,238.43,1
$GPS,030517,071624,4742.732,-12224.859,3,1.0,8,16.3,0.0,0.0,9,9.9