version: 66.12
glider: 402
mission: 3
dive: 23
start: 5 3 117 9 1 24
data:
$ID,402
$MISSION,3
$DIVE,23
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,33
$T_MISSION,43
$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,250
$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,20
$R_STBD_OVSHOOT,13
$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
$GPS1,030517,085614,4743.2256,-12224.5635,4,0.9,9,16.3,0.0,0.0,9,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-51.9
$GPS2,030517,090021,4743.2500,-12224.5020,5,0.8,10,16.3,0.0,0.0,10,9.9
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.120714,0.264105
$KALMAN_X,-5120.135742,-171.339157,142.627258,5462.084473,140.237411
$KALMAN_Y,-795.225098,-1309.447632,-23.025755,2877.142822,-145.543182
$MHEAD_RNG_PITCHd_Wd,323.5,1438,-16.2,-10.101,-19.18,3655
$D_GRID,177
$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,-1.64,-244.4,367,2283,2134,765,0.0,0.0,0,26,0.00,0.00,-6.22,0.000,16390,0.000,0.000,368,2283,2843,2843,807,0,0,0,0,0,0,26.81,25.53,26.83,10.41,39.25
$GC,27,-1.64,-244.4,368,2283,2843,806,1.3,0.0,1,54,19.98,3.28,0.00,0.000,2820,0.462,0.176,1953,1077,2844,2844,830,0,0,0,0,0,0,26.32,26.36,26.46,10.59,40.15
$GC,282,-1.64,-244.4,1953,1077,2851,652,40.2,-15.3,43,289,0.00,3.10,0.00,0.000,1030,0.000,0.137,1953,2280,2851,2851,673,0,0,0,0,0,0,26.70,26.59,26.72,10.58,39.64
$GC,320,-1.64,-244.4,1953,2280,2852,661,45.5,-13.8,49,327,0.00,3.22,0.00,0.000,516,0.000,0.206,1953,1081,2852,2852,684,0,0,0,0,0,0,26.94,26.57,26.95,10.58,39.40
$GC,556,-1.64,-244.4,1953,1080,2857,635,74.1,-11.4,88,563,0.00,3.08,0.00,0.000,1030,0.000,0.139,1954,2279,2857,2857,659,0,0,0,0,0,0,26.82,26.72,26.85,10.58,40.19
$GC,594,-1.64,-244.4,1953,2279,2858,653,78.5,-11.7,94,601,0.00,3.20,0.00,0.000,516,0.000,0.204,1954,1080,2858,2858,674,0,0,0,0,0,0,27.05,26.70,27.07,10.58,40.07
$STATE,747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,747,begin apogee
$GC,753,-0.39,0.0,1953,2277,2862,658,100.2,-14.6,119,779,4.40,0.00,16.35,4.944,10246,0.268,0.000,2354,2277,2549,2549,3960,0,0,0,0,0,0,26.76,26.07,24.87,10.57,39.28
$STATE,780,end apogee,CONTROL_FINISHED_OK
$STATE,780,begin climb
$GC,781,1.64,244.4,2353,2277,2549,882,103.1,0.0,123,813,9.48,3.53,15.32,4.874,10500,0.698,0.258,2989,3480,2261,2261,3908,4,0,0,0,0,0,25.81,25.65,24.44,10.51,39.84
$GC,940,1.64,244.4,2989,3479,2257,674,83.6,15.2,149,948,0.00,3.15,0.00,0.000,1030,0.000,0.119,2989,2277,2258,2258,672,0,0,0,0,0,0,26.31,26.23,26.34,10.45,38.89
$GC,978,1.64,244.4,2989,2277,2256,662,78.7,11.7,155,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2256,2256,660,0,0,0,0,0,0,26.57,26.58,26.58,10.45,39.28
$GC,1014,1.64,244.4,2989,2277,2255,653,75.0,10.6,161,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2254,2254,652,0,0,0,0,0,0,26.62,26.63,26.63,10.45,39.76
$GC,1052,1.64,244.4,2988,2277,2254,646,70.9,11.3,167,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2255,2255,647,0,0,0,0,0,0,26.67,26.68,26.68,10.45,39.68
$GC,1088,1.64,244.4,2989,2277,2253,641,66.6,12.1,173,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2253,2253,642,0,0,0,0,0,0,26.71,26.72,26.72,10.44,39.25
$GC,1126,1.64,244.4,2989,2277,2253,637,62.2,12.0,179,1132,0.00,3.28,0.00,0.000,516,0.000,0.219,2989,1079,2252,2252,642,0,0,0,0,0,0,26.74,26.39,26.76,10.44,39.01
$GC,1290,1.64,244.4,2988,1079,2248,622,41.9,13.2,206,1297,0.00,3.10,0.00,0.000,1030,0.000,0.132,2989,2281,2248,2248,627,0,0,0,0,0,0,26.67,26.56,26.70,10.44,39.52
$GC,1327,1.64,244.4,2989,2281,2246,624,36.9,13.1,212,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2281,2247,2247,627,0,0,0,0,0,0,26.90,26.91,26.91,10.44,39.60
$GC,1364,1.64,244.4,2989,2282,2246,624,32.2,12.9,218,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2282,2246,2246,626,0,0,0,0,0,0,26.92,26.94,26.94,10.43,39.72
$GC,1400,1.64,244.4,2988,2282,2245,622,27.6,12.9,224,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2282,2245,2245,625,0,0,0,0,0,0,26.94,26.96,26.96,10.44,39.21
$GC,1437,1.64,244.4,2988,2282,2243,622,23.0,12.6,230,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2282,2244,2244,625,0,0,0,0,0,0,26.96,26.98,26.97,10.43,39.48
$GC,1475,1.64,244.4,2989,2281,2243,621,18.3,12.6,236,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2281,2242,2242,624,0,0,0,0,0,0,26.98,26.99,26.99,10.43,39.17
$GC,1511,1.64,244.4,2989,2281,2241,621,14.2,10.9,242,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2281,2241,2241,624,0,0,0,0,0,0,27.00,27.01,27.01,10.43,39.56
$GC,1548,1.64,244.4,2989,2281,2241,620,10.2,10.7,248,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2282,2240,2240,623,0,0,0,0,0,0,27.01,27.03,27.02,10.43,39.21
$GC,1586,1.64,244.4,2989,2281,2240,620,6.4,10.7,254,1593,0.00,3.35,0.00,0.000,260,0.000,0.258,2989,3480,2239,2239,627,0,0,0,0,0,0,27.03,26.65,27.03,10.43,39.44
$STATE,1622,end climb,SURFACE_DEPTH_REACHED
$STATE,1622,begin surface coast
$FINISH,1.0,1.020289
$STATE,1629,end surface coast,CONTROL_FINISHED_OK
$STATE,1630,begin surface
$SM_CCo,1666,6.10,1.510,0,0,2134,350.20
$SM_GC,3.53,26.73,3.15,6.10,0.104,0.119,1.510,369,2272,2134,-6.61,0.91,350.20,0,0,0,0,0,0,26.76,26.77,26.02
$IRIDIUM_FIX,4748.51,-12337.82,030517,085708
$TT8_MAMPS,0.02247,0.101115
$HUMID,39.17
$INTERNAL_PRESSURE,10.352
$TCM_TEMP,9.50
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.9,19.8
$24V_AH,24.44,4.013
$10V_AH,10.56,2.207
$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,60.575,38.550,31.675,6.100,0.000,35.286,19.806,124.596,3.500,0.000,11.740,696.039,462.448,183.824,581.957,24.009,33.477,424.094,0.000,386.544,0.000,6.131,0.000
$DEVICE_MAMPS,697.723,258.232,4943.653,1509.664,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10542,261
$CAP_FILE_SIZE,41360,0
$CFSIZE,1024409600,1019232256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,1,0
$CURRENT,0.088,19.40,1
$GPS,030517,093036,4743.420,-12224.674,4,1.0,45,16.3,0.0,0.0,8,3.0