version: 66.12
glider: 402
mission: 1
dive: 2
start: 4 18 117 17 51 48
data:
$ID,402
$MISSION,1
$DIVE,2
$N_DIVES,2
$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,45
$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,72224
$MASS_COMP,0
$NAV_MODE,1
$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,300
$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,2370
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,10
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2680
$VBD_DBAND,2
$VBD_CNV,-0.85000002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.003
$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
$GPS1,180417,174651,4742.7632,-12224.9111,3,1.5,3,16.3,0.0,0.0,6,126.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-47.7
$GPS2,180417,175050,4742.8105,-12224.9316,6,1.9,46,16.3,0.0,0.0,5,6.0
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.080450,-0.249672
$KALMAN_X,-30.241539,-30.241539,-30.241539,38.990234,-56.341743
$KALMAN_Y,74.009621,74.009621,74.009621,-393.051056,137.884216
$MHEAD_RNG_PITCHd_Wd,145.8,598,-18.1,-10.000,-20.87,2960
$D_GRID,185
$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,13,begin dive
$GC,15,-2.39,-195.5,361,2281,2132,861,0.0,0.0,0,25,0.00,0.00,-6.75,0.000,16390,0.000,0.000,361,2282,2916,2916,866,0,0,0,0,0,0,27.15,25.29,26.91,10.49,37.39
$GC,26,-2.39,-195.5,361,2282,2917,858,1.2,0.0,1,45,14.95,0.00,0.00,0.000,2054,0.425,0.000,1593,2282,2918,2918,861,0,0,0,0,0,0,26.58,26.80,26.77,10.67,37.75
$GC,75,-2.39,-195.5,1593,2281,2918,723,11.8,-19.8,9,81,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2281,2920,2920,733,0,0,0,0,0,0,27.11,27.13,27.13,10.66,37.71
$GC,111,-2.39,-195.5,1593,2282,2921,870,18.8,-19.1,15,117,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2282,2920,2920,860,0,0,0,0,0,0,27.10,27.12,27.11,10.66,37.59
$GC,148,-2.39,-195.5,1593,2281,2922,930,25.9,-19.3,21,154,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2281,2922,2922,912,0,0,0,0,0,0,27.07,27.09,27.09,10.66,36.69
$GC,184,-2.39,-195.5,1593,2282,2923,740,33.1,-20.4,27,191,0.00,3.35,0.00,0.000,260,0.000,0.278,1593,3479,2923,2923,753,0,0,1,0,0,0,27.17,26.68,27.19,10.65,37.12
$GC,299,-2.39,-195.5,1593,3479,2928,699,59.9,-22.4,46,306,0.00,3.08,0.00,0.000,1030,0.000,0.137,1593,2278,2928,2928,715,0,0,1,0,0,0,26.97,26.86,26.99,10.65,36.92
$GC,337,-2.39,-195.5,1592,2278,2930,683,67.4,-19.0,52,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2278,2930,2930,699,0,0,0,0,0,0,27.24,27.25,27.25,10.65,36.73
$GC,373,-2.39,-195.5,1593,2278,2931,714,74.3,-19.8,58,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2278,2931,2931,725,0,0,0,0,0,0,27.24,27.27,27.26,10.65,36.92
$GC,409,-2.39,-195.5,1593,2278,2933,740,81.6,-19.9,64,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2278,2932,2932,749,0,0,0,0,0,0,27.24,27.27,27.26,10.65,36.73
$GC,446,-2.39,-195.5,1593,2277,2934,744,89.1,-20.9,70,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2277,2934,2934,751,0,0,0,0,0,0,27.25,27.27,27.27,10.65,36.80
$STATE,456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,456,begin apogee
$GC,459,-0.50,0.0,1593,2277,2934,751,91.7,-21.7,72,484,6.75,0.00,13.27,4.482,10246,0.310,0.000,2198,2277,2679,2679,4095,0,0,0,0,0,0,26.81,26.14,24.91,10.65,37.28
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,486,2.39,195.5,2198,2276,2679,879,95.4,0.0,76,511,9.55,0.00,12.20,4.387,10246,0.149,0.000,3119,2277,2447,2447,4095,0,0,0,0,0,0,26.53,25.80,24.62,10.60,37.00
$GC,541,2.39,195.5,3119,2276,2448,725,91.2,12.2,85,547,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2276,2447,2447,722,0,0,0,0,0,0,26.60,26.62,26.62,10.55,36.13
$GC,578,2.39,195.5,3119,2276,2447,688,86.0,14.5,91,584,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2276,2447,2447,690,0,0,0,0,0,0,26.73,26.74,26.74,10.55,36.33
$GC,614,2.39,195.5,3119,2276,2445,711,80.4,15.8,97,620,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2276,2445,2445,711,0,0,0,0,0,0,26.81,26.82,26.82,10.54,35.86
$GC,650,2.39,195.5,3119,2276,2444,724,74.9,14.9,103,656,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2276,2444,2444,720,0,0,0,0,0,0,26.86,26.88,26.88,10.55,36.13
$GC,687,2.39,195.5,3119,2276,2443,884,69.3,15.3,109,693,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2276,2443,2443,859,0,0,0,0,0,0,26.86,26.88,26.88,10.54,36.29
$GC,724,2.39,195.5,3119,2277,2442,878,63.3,17.0,115,731,0.00,3.25,0.00,0.000,516,0.000,0.236,3119,1078,2442,2442,856,0,0,1,0,0,0,26.91,26.53,26.92,10.54,36.02
$GC,781,2.39,195.5,3119,1078,2440,849,54.2,15.7,124,787,0.00,3.10,0.00,0.000,1030,0.000,0.149,3120,2278,2440,2440,830,0,0,0,0,0,0,26.77,26.64,26.79,10.54,36.53
$GC,818,2.39,195.5,3119,2278,2438,685,48.5,15.2,130,824,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2278,2439,2439,686,0,0,0,0,0,0,27.03,27.05,27.05,10.53,36.73
$GC,854,2.39,195.5,3119,2278,2438,667,43.1,15.2,136,861,0.00,3.33,0.00,0.000,260,0.000,0.261,3119,3480,2438,2438,675,0,0,0,0,0,0,27.06,26.63,27.08,10.54,36.45
$GC,897,2.39,195.5,3119,3479,2437,708,36.3,15.8,143,904,0.00,3.08,0.00,0.000,1030,0.000,0.132,3119,2278,2436,2436,708,0,0,1,0,0,0,26.84,26.75,26.88,10.53,36.37
$GC,935,2.39,195.5,3119,2278,2436,685,31.4,12.3,149,941,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2278,2436,2436,687,0,0,0,0,0,0,27.10,27.12,27.12,10.53,36.06
$GC,971,2.39,195.5,3119,2278,2434,668,26.8,13.3,155,977,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2278,2434,2434,671,0,0,0,0,0,0,27.10,27.13,27.12,10.53,35.70
$GC,1007,2.39,195.5,3119,2277,2433,724,21.8,13.6,161,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2278,2433,2433,720,0,0,0,0,0,0,27.14,27.15,27.15,10.53,36.41
$GC,1044,2.39,195.5,3119,2278,2433,870,16.5,14.2,167,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2278,2432,2432,846,0,0,0,0,0,0,27.12,27.14,27.13,10.52,36.29
$GC,1080,2.39,195.5,3119,2278,2431,685,11.5,13.8,173,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2278,2431,2431,686,0,0,0,0,0,0,27.18,27.20,27.19,10.53,36.33
$GC,1117,2.39,195.5,3119,2278,2430,713,6.9,12.5,179,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2277,2429,2429,712,0,0,0,0,0,0,27.18,27.20,27.20,10.52,36.33
$GC,1153,2.43,209.6,3119,2278,2429,725,3.1,9.5,185,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2278,2429,2429,720,0,0,0,0,0,0,27.20,27.22,27.21,10.52,36.37
$STATE,1164,end climb,SURFACE_DEPTH_REACHED
$STATE,1164,begin surface coast
$FINISH,0.3,1.020010
$STATE,1184,end surface coast,CONTROL_FINISHED_OK
$STATE,1184,begin surface
$SM_CCo,1218,6.10,1.485,0,0,2324,300.05
$SM_GC,3.05,27.90,0.00,6.10,0.104,0.000,1.485,370,2276,2324,-6.23,-0.09,300.05,0,0,0,0,0,0,26.89,27.23,26.01
$IRIDIUM_FIX,4748.51,-12337.82,180417,174717
$TT8_MAMPS,0.02247,0.158788
$HUMID,36.57
$INTERNAL_PRESSURE,10.4301
$TCM_TEMP,10.80
$XPDR_PINGS,91
$ALTIM_TOP_PING,19.2,18.9
$24V_AH,24.62,0.351
$10V_AH,10.49,1.548
$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,59.150,19.175,25.475,6.100,0.000,0.000,0.000,0.000,23.000,0.000,47.304,491.092,302.797,190.054,323.506,14.949,30.290,396.228,0.000,284.388,0.000,2.642,0.000
$DEVICE_MAMPS,424.593,278.096,4481.815,1484.834,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,126.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323576
$DATA_FILE_SIZE,7107,190
$CAP_FILE_SIZE,57902,0
$CFSIZE,1024409600,1020444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,180417,181419,4742.658,-12224.866,46,1.9,102,16.3,0.5,355.0,5,13.8