version: 66.12
glider: 402
mission: 3
dive: 35
start: 5 3 117 16 7 21
data:
$ID,402
$MISSION,3
$DIVE,35
$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,300
$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,2520
$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,12
$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
$GPS1,030517,160140,4742.7627,-12224.5713,3,1.4,44,16.3,0.0,0.0,7,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-48.6
$GPS2,030517,160618,4742.7979,-12224.6377,5,0.9,10,16.3,0.0,0.0,9,9.7
$SPEED_LIMITS,0.101,0.314
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.104294,0.296233
$KALMAN_X,-2264.611572,272.640869,30.753069,2111.490723,181.352112
$KALMAN_Y,-1649.844971,-542.247803,75.131149,2034.801880,-309.051941
$MHEAD_RNG_PITCHd_Wd,0.8,2235,-14.7,-10.101,-17.83,4376
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.60,-293.3,355,2277,1884,862,0.0,0.0,0,32,0.00,0.00,-8.85,0.000,16390,0.000,0.000,355,2277,2901,2901,930,0,0,0,0,0,0,26.75,25.53,26.77,10.36,39.84
$GC,33,-1.60,-293.3,355,2277,2901,886,1.5,-6.6,2,65,20.95,3.45,0.00,0.000,2308,0.472,0.261,1997,3478,2903,2903,870,0,0,0,0,0,0,26.20,26.22,26.35,10.60,40.11
$GC,293,-1.60,-293.3,1996,3478,2910,644,43.7,-14.2,45,301,0.00,3.10,0.00,0.000,1030,0.000,0.117,1997,2273,2910,2910,670,0,0,0,0,0,0,26.66,26.58,26.68,10.59,40.27
$GC,332,-1.60,-293.3,1997,2273,2910,658,48.4,-11.5,51,338,0.00,3.42,0.00,0.000,260,0.000,0.268,1997,3479,2910,2910,683,0,0,0,0,0,0,26.88,26.50,26.89,10.59,39.32
$GC,567,-1.60,-293.3,1996,3479,2916,631,77.5,-12.3,90,574,0.00,3.08,0.00,0.000,1030,0.000,0.117,1997,2278,2916,2916,657,0,0,0,0,0,0,26.81,26.73,26.84,10.60,39.88
$GC,605,-1.60,-293.3,1997,2277,2917,649,81.5,-9.8,96,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2277,2917,2917,669,0,0,0,0,0,0,27.02,27.03,27.03,10.59,39.91
$GC,642,-1.60,-293.3,1997,2277,2917,662,85.0,-9.3,102,648,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2277,2917,2917,681,0,0,0,0,0,0,27.03,27.05,27.05,10.60,39.91
$GC,679,-1.60,-293.3,1997,2277,2918,667,88.6,-9.9,108,685,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2277,2918,2918,684,0,0,0,0,0,0,27.05,27.06,27.06,10.59,40.11
$GC,716,-1.60,-293.3,1996,2277,2919,675,92.5,-10.5,114,722,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2277,2919,2919,691,0,0,0,0,0,0,27.06,27.08,27.08,10.60,39.36
$GC,752,-1.60,-293.3,1997,2277,2920,672,97.3,-13.1,120,758,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2277,2921,2921,690,0,0,0,0,0,0,27.07,27.09,27.08,10.60,39.40
$STATE,776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,776,begin apogee
$GC,780,-0.39,0.0,1997,2277,2920,686,100.5,-13.5,124,806,4.20,0.00,18.92,5.018,10246,0.246,0.000,2384,2278,2549,2549,3983,0,0,0,0,0,0,26.74,25.98,24.82,10.60,39.68
$STATE,807,end apogee,CONTROL_FINISHED_OK
$STATE,807,begin climb
$GC,808,1.60,293.3,2384,2277,2549,882,102.3,0.0,128,845,10.38,0.00,18.05,4.926,10246,0.824,0.000,3005,2276,2202,2202,3548,6,0,0,0,0,0,25.72,25.45,24.34,10.51,39.32
$GC,876,1.60,293.3,3004,2275,2203,706,96.5,11.9,139,882,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2202,2202,698,0,0,0,0,0,0,26.14,26.15,26.15,10.44,39.05
$GC,912,1.60,293.3,3004,2275,2201,680,91.7,13.2,145,919,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2201,2201,674,0,0,0,0,0,0,26.28,26.29,26.29,10.44,39.21
$GC,949,1.60,293.3,3004,2275,2200,664,86.6,13.4,151,955,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2275,2200,2200,661,0,0,0,0,0,0,26.38,26.39,26.39,10.43,39.17
$GC,986,1.60,293.3,3005,2275,2199,652,81.9,13.0,157,992,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2199,2199,651,0,0,0,0,0,0,26.46,26.48,26.48,10.43,39.25
$GC,1023,1.60,293.3,3004,2274,2198,645,76.8,13.8,163,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2275,2198,2198,643,0,0,0,0,0,0,26.53,26.55,26.54,10.43,39.60
$GC,1060,1.60,293.3,3004,2275,2197,638,71.5,14.8,169,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2196,2196,638,0,0,0,0,0,0,26.59,26.60,26.60,10.43,39.36
$GC,1098,1.60,293.3,3004,2275,2197,725,66.4,12.8,175,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2196,2196,712,0,0,0,0,0,0,26.64,26.65,26.65,10.43,39.32
$GC,1134,1.60,293.3,3004,2275,2195,680,61.8,12.7,181,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2275,2194,2194,673,0,0,0,0,0,0,26.68,26.70,26.70,10.43,39.36
$GC,1171,1.60,293.3,3004,2275,2194,661,57.1,12.5,187,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2194,2194,658,0,0,0,0,0,0,26.72,26.74,26.74,10.43,39.56
$GC,1208,1.60,293.3,3004,2276,2193,649,52.5,12.5,193,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2192,2192,647,0,0,0,0,0,0,26.76,26.77,26.77,10.43,39.36
$GC,1245,1.60,293.3,3004,2275,2192,641,47.7,13.0,199,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2192,2192,640,0,0,0,0,0,0,26.79,26.80,26.80,10.42,39.40
$GC,1281,1.60,293.3,3004,2275,2191,635,42.9,13.3,205,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2190,2190,635,0,0,0,0,0,0,26.82,26.84,26.83,10.42,39.80
$GC,1318,1.60,293.3,3004,2275,2189,630,38.0,13.6,211,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2189,2189,630,0,0,0,0,0,0,26.85,26.86,26.86,10.43,39.64
$GC,1356,1.60,293.3,3004,2275,2188,626,33.3,12.6,217,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2189,2189,627,0,0,0,0,0,0,26.87,26.89,26.89,10.42,39.36
$GC,1393,1.60,293.3,3004,2275,2187,623,28.4,13.2,223,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2275,2187,2187,624,0,0,0,0,0,0,26.89,26.91,26.91,10.42,40.03
$GC,1429,1.60,293.3,3004,2276,2186,620,23.9,12.1,229,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2276,2186,2186,622,0,0,0,0,0,0,26.91,26.93,26.93,10.43,40.07
$GC,1467,1.60,293.3,3004,2275,2185,618,19.4,12.0,235,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2276,2185,2185,620,0,0,0,0,0,0,26.91,26.93,26.91,10.42,39.25
$GC,1504,1.60,293.3,3004,2275,2184,616,14.7,12.7,241,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2184,2184,618,0,0,0,0,0,0,26.96,26.97,26.97,10.42,39.68
$GC,1541,1.60,293.3,3004,2275,2183,615,10.3,11.7,247,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2183,2183,617,0,0,0,0,0,0,26.97,26.99,26.98,10.43,39.84
$GC,1577,1.60,293.3,3004,2275,2182,613,6.1,11.6,253,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2275,2181,2181,616,0,0,0,0,0,0,26.99,27.01,27.01,10.42,39.52
$GC,1615,1.67,342.2,3004,2275,2181,612,2.7,9.0,259,1622,0.25,0.00,3.38,0.958,10246,0.166,0.000,3036,2277,2144,2144,4095,0,0,0,0,0,0,26.77,26.61,26.04,10.42,40.15
$STATE,1627,end climb,SURFACE_DEPTH_REACHED
$STATE,1627,begin surface coast
$FINISH,0.2,1.001147
$STATE,1647,end surface coast,CONTROL_FINISHED_OK
$STATE,1647,begin surface
$SM_CCo,1680,2.22,0.298,0,0,2134,350.20
$SM_GC,2.28,27.17,0.00,2.22,0.099,0.000,0.298,370,2275,2134,-6.70,-0.14,350.20,0,0,0,0,0,0,26.72,27.01,26.06
$IRIDIUM_FIX,4748.51,-12337.82,030517,160241
$TT8_MAMPS,0.02247,0.129577
$HUMID,40.15
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,9.50
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.4,19.2
$24V_AH,24.34,4.881
$10V_AH,10.51,2.424
$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,62.950,13.050,40.350,2.225,0.000,32.864,38.493,136.512,5.250,0.000,11.745,678.324,428.661,228.062,616.430,28.469,33.437,494.461,0.000,390.515,0.000,6.132,0.000
$DEVICE_MAMPS,824.356,268.164,5018.143,297.960,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323544
$DATA_FILE_SIZE,10553,264
$CAP_FILE_SIZE,46979,0
$CFSIZE,1024409600,1018642432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,0,0,1,0
$CURRENT,0.147,241.67,1
$GPS,030517,163609,4742.925,-12224.589,4,0.9,21,16.3,0.0,0.0,9,9.4