version: 66.13
glider: 402
mission: 3
dive: 1
start: 6 19 117 17 16 8
data:
$ID,402
$MISSION,3
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,3
$D_FLARE,0
$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,25
$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,0
$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,72827
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0060000001
$HD_B,0.0143
$HD_C,2.4999001e-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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,495
$PITCH_MAX,3900
$C_PITCH,2350
$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,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,55
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2278
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2662
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0015
$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,20
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-48.858288
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,149
$DEVICE3,115
$DEVICE4,166
$DEVICE5,183
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044041616
$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,2915.98
$GPS1,190617,171046,4743.3384,-12224.8594,5,0.8,5,16.3,0.0,0.0,10,19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-19.5
$GPS2,190617,171456,4743.3198,-12224.8828,8,1.0,8,16.3,0.0,151.7,9,64.1
$SPEED_LIMITS,0.100,0.252
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.020606,0.251480
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,348.4,1264,-19.1,-10.000,-21.62,2972
$D_GRID,176
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.80,-195.5,513,2270,60,213,0.0,0.0,0,20,11.62,0.00,0.00,0.000,2049,0.063,0.000,1625,2270,61,61,195,0,0,0,0,0,0,26.86,28.83,28.83,10.27,43.22
$GC,22,-1.80,-195.5,1626,2269,61,195,0.4,0.0,1,47,1.38,0.00,-18.27,0.000,18438,0.057,0.000,1764,2270,2895,2895,422,0,0,0,0,0,0,26.46,25.03,26.46,10.27,43.77
$GC,80,-1.80,-195.5,1763,2270,2895,422,0.2,0.2,9,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2270,2896,2896,486,0,0,0,0,0,0,26.77,26.79,26.79,10.78,45.82
$GC,120,-1.80,-195.5,1763,2270,2895,486,0.1,0.0,15,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2269,2895,2895,542,0,0,0,0,0,0,26.82,26.84,26.84,10.77,45.31
$GC,162,-1.80,-195.5,1763,2270,2895,542,1.5,-5.0,21,170,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2270,2895,2895,585,0,0,0,0,0,0,26.85,26.86,26.86,10.77,44.60
$GC,203,-1.80,-195.5,1763,2270,2896,585,5.6,-10.8,27,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2270,2896,2896,620,0,0,0,0,0,0,26.87,26.89,26.89,10.77,43.93
$GC,243,-1.80,-195.5,1763,2270,2898,620,11.9,-16.4,33,252,0.00,3.35,0.00,0.000,260,0.000,0.073,1763,3473,2898,2898,652,0,0,0,0,0,0,26.89,26.34,26.91,10.76,44.05
$GC,339,-1.80,-195.5,1762,3474,2901,652,25.9,-14.5,48,348,0.00,3.03,0.00,0.000,1030,0.000,0.040,1763,2308,2901,2901,668,0,0,0,0,0,0,26.52,26.48,26.58,10.75,43.50
$GC,381,-1.80,-195.5,1763,2308,2902,668,31.6,-14.4,54,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,2308,2902,2902,687,0,0,0,0,0,0,26.95,26.96,26.96,10.75,43.89
$GC,421,-1.80,-195.5,1763,2308,2903,687,37.0,-12.8,60,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2307,2904,2904,703,0,0,0,0,0,0,26.96,26.98,26.98,10.74,43.89
$GC,462,-1.80,-195.5,1763,2308,2904,703,42.2,-12.4,66,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2307,2904,2904,715,0,0,0,0,0,0,26.98,26.99,26.99,10.74,44.48
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,488,-0.39,0.0,1763,2275,2905,714,45.2,-13.2,69,513,4.82,0.00,12.32,0.923,10244,0.084,0.000,2215,2275,2661,2661,3808,0,0,0,0,0,0,26.46,25.73,25.07,10.74,44.48
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,514,begin climb
$GC,515,1.80,195.5,2215,2275,2662,3808,47.5,0.0,72,543,7.07,3.35,11.82,0.910,10500,0.057,0.075,2907,3474,2432,2432,4095,0,0,0,0,0,0,26.32,26.25,24.89,10.70,43.97
$GC,563,1.80,195.5,2906,3474,2431,4095,44.2,12.1,78,572,0.00,3.15,0.00,0.000,1030,0.000,0.041,2906,2281,2431,2431,782,0,0,0,0,0,0,26.22,26.16,26.26,10.66,43.73
$GC,604,1.80,195.5,2906,2281,2430,782,39.1,12.2,84,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2281,2430,2430,753,0,0,0,0,0,0,26.61,26.63,26.63,10.65,43.81
$GC,645,1.80,195.5,2906,2281,2429,753,34.2,12.2,90,654,0.00,3.42,0.00,0.000,516,0.000,0.087,2906,1078,2429,2429,740,0,0,0,0,0,0,26.67,26.20,26.69,10.64,43.62
$GC,741,1.80,195.5,2906,1079,2427,740,22.9,10.9,105,750,0.00,3.10,0.00,0.000,1030,0.000,0.047,2906,2268,2427,2427,721,0,0,0,0,0,0,26.43,26.37,26.48,10.64,44.32
$GC,783,1.80,195.5,2906,2269,2427,721,18.3,11.2,111,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2268,2426,2426,713,0,0,0,0,0,0,26.79,26.82,26.81,10.64,44.13
$GC,824,1.80,195.5,2906,2269,2426,713,13.6,11.5,117,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2268,2425,2425,705,0,0,0,0,0,0,26.83,26.84,26.84,10.64,44.48
$GC,865,1.80,195.5,2906,2269,2424,705,9.2,10.6,123,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2268,2424,2424,701,0,0,0,0,0,0,26.85,26.86,26.86,10.64,44.13
$GC,906,1.97,306.0,2906,2268,2424,701,6.3,6.2,129,916,0.47,0.00,6.85,0.471,10246,0.047,0.000,2959,2269,2302,2302,4095,0,0,0,0,0,0,26.56,26.25,25.60,10.64,44.72
$STATE,941,end climb,SURFACE_DEPTH_REACHED
$STATE,941,begin surface coast
$FINISH,0.1,1.011406
$STATE,967,end surface coast,CONTROL_FINISHED_OK
$STATE,967,begin surface
$SM_CCo,998,3.85,0.304,0,0,2250,350.31
$SM_GC,1.31,24.60,0.00,3.85,0.037,0.000,0.304,501,2268,2250,-5.76,-0.46,350.31,0,0,0,0,0,0,26.51,26.84,25.65
$IRIDIUM_FIX,4808.40,-12337.82,190617,170608
$TT8_MAMPS,0.021721,0.240429
$HUMID,44.84
$INTERNAL_PRESSURE,10.557
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.7
$24V_AH,24.89,4.302
$10V_AH,10.39,4.236
$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,49.975,19.475,31.000,3.850,0.000,0.000,0.000,0.000,0.500,0.000,9.568,392.055,0.024,141.729,524.075,28.301,29.319,356.935,0.000,336.552,0.000,2.650,0.000
$DEVICE_MAMPS,84.150,133.875,923.355,303.705,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.011,375.118,297.057,440.359,511.655,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,311536
$DATA_FILE_SIZE,14363,138
$CAP_FILE_SIZE,46795,0
$CFSIZE,1024409600,1022640128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190617,173328,4743.342,-12224.887,5,1.0,5,16.3,0.0,0.0,9,89.0