version: 66.12
glider: 402
mission: 1
dive: 3
start: 4 18 117 18 37 21
data:
$ID,402
$MISSION,1
$DIVE,3
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,165
$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,55
$T_MISSION,65
$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,2395
$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
$GPS1,180417,183232,4742.8037,-12224.8750,2,1.1,42,16.3,0.0,0.0,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-54.3
$GPS2,180417,183622,4742.8384,-12224.8721,6,1.2,46,16.3,0.0,0.0,8,3.2
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.046173,-0.258218
$KALMAN_X,-68.188187,-47.948025,-45.858276,181.748184,-78.476944
$KALMAN_Y,312.710693,188.580017,177.700989,-798.594421,342.352570
$MHEAD_RNG_PITCHd_Wd,153.6,633,-18.1,-10.000,-20.87,2960
$D_GRID,180
$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,-2.39,-195.5,370,2276,2323,260,0.0,0.0,0,26,0.00,0.00,-4.65,0.000,16390,0.000,0.000,370,2276,2914,2914,450,0,0,0,0,0,0,27.17,26.26,27.17,10.51,37.32
$GC,27,-2.39,-195.5,369,2276,2914,450,1.8,0.0,1,45,15.20,0.00,0.00,0.000,2054,0.422,0.000,1620,2276,2915,2915,600,0,0,0,0,0,0,26.51,26.72,26.68,10.64,37.67
$GC,76,-2.39,-195.5,1619,2276,2917,594,13.3,-20.0,9,82,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2276,2917,2917,620,0,0,0,0,0,0,27.03,27.04,27.04,10.64,37.00
$GC,112,-2.39,-195.5,1619,2276,2918,614,20.0,-18.6,15,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2276,2918,2918,638,0,0,0,0,0,0,27.07,27.08,27.08,10.64,36.57
$GC,148,-2.39,-195.5,1619,2276,2919,631,26.8,-19.1,21,154,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2276,2919,2919,653,0,0,0,0,0,0,27.10,27.11,27.11,10.64,36.13
$GC,185,-2.39,-195.5,1619,2276,2921,643,33.8,-19.1,27,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2276,2921,2921,663,0,0,0,0,0,0,27.12,27.13,27.13,10.64,36.25
$GC,221,-2.39,-195.5,1619,2276,2922,651,41.3,-21.4,33,228,0.00,3.35,0.00,0.000,260,0.000,0.273,1619,3479,2922,2922,676,0,0,1,0,0,0,27.14,26.67,27.15,10.64,36.41
$GC,288,-2.39,-195.5,1618,3479,2925,651,56.5,-22.1,44,295,0.00,3.08,0.00,0.000,1030,0.000,0.137,1619,2277,2925,2925,674,0,0,1,0,0,0,26.92,26.83,26.95,10.63,36.25
$GC,326,-2.39,-195.5,1619,2277,2926,659,63.9,-18.9,50,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2277,2926,2926,678,0,0,0,0,0,0,27.17,27.19,27.19,10.63,35.82
$GC,362,-2.39,-195.5,1619,2277,2927,660,70.8,-19.1,56,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2277,2927,2927,679,0,0,0,0,0,0,27.19,27.21,27.20,10.64,36.25
$GC,398,-2.39,-195.5,1619,2277,2929,661,77.9,-20.0,62,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2277,2929,2929,680,0,0,0,0,0,0,27.20,27.22,27.22,10.64,36.73
$GC,434,-2.39,-195.5,1619,2277,2930,663,84.9,-19.3,68,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2277,2930,2930,681,0,0,0,0,0,0,27.22,27.23,27.23,10.64,36.17
$GC,472,-2.39,-195.5,1618,2277,2931,663,92.1,-19.7,74,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2277,2931,2931,682,0,0,0,0,0,0,27.22,27.24,27.24,10.64,36.41
$GC,508,-2.39,-195.5,1619,2277,2933,663,99.5,-19.3,80,516,0.00,3.35,0.00,0.000,260,0.000,0.281,1619,3478,2934,2934,691,0,0,2,0,0,0,27.24,26.77,27.25,10.64,36.10
$GC,585,-2.39,-195.5,1618,3478,2935,684,115.7,-21.6,92,593,0.00,3.08,0.00,0.000,1030,0.000,0.134,1619,2277,2936,2936,705,0,0,0,0,0,0,27.01,26.90,27.03,10.64,36.61
$GC,624,-2.39,-195.5,1619,2277,2937,701,123.8,-19.4,98,631,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2277,2937,2937,717,0,0,0,0,0,0,27.22,27.23,27.22,10.64,36.33
$GC,662,-2.39,-195.5,1619,2277,2938,709,131.3,-20.1,104,669,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2277,2939,2939,724,0,0,0,0,0,0,27.22,27.24,27.23,10.64,36.25
$GC,700,-2.39,-195.5,1619,2277,2940,720,138.8,-20.1,110,707,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2277,2940,2940,733,0,0,0,0,0,0,27.22,27.24,27.24,10.64,36.65
$GC,738,-2.39,-195.5,1619,2277,2941,728,146.2,-19.8,116,745,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2277,2942,2942,740,0,0,0,0,0,0,27.23,27.25,27.24,10.64,36.06
$GC,776,-2.39,-195.5,1619,2277,2943,734,153.8,-19.7,122,783,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2276,2943,2943,745,0,0,0,0,0,0,27.24,27.26,27.25,10.64,36.61
$GC,814,-2.39,-195.5,1619,2276,2945,739,162.0,-21.4,128,821,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2276,2946,2946,749,0,0,0,0,0,0,27.24,27.26,27.25,10.64,36.25
$STATE,833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,833,begin apogee
$GC,836,-0.50,0.0,1619,2276,2946,748,166.3,-21.9,131,861,6.75,0.00,14.75,6.761,10246,0.300,0.000,2225,2277,2679,2679,4095,0,0,0,0,0,0,26.83,25.79,24.15,10.64,36.45
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,862,begin climb
$GC,863,2.39,195.5,2225,2276,2679,880,169.9,0.0,135,893,9.62,0.00,13.20,6.645,10246,0.142,0.000,3144,2276,2448,2448,4082,0,0,0,0,0,0,26.29,24.92,23.74,10.58,35.90
$GC,924,2.39,195.5,3144,2276,2447,703,164.2,13.4,145,929,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2276,2447,2447,704,0,0,0,0,0,0,26.34,26.36,26.36,10.53,35.43
$GC,960,2.39,195.5,3143,2275,2445,680,158.9,14.8,151,967,0.00,3.30,0.00,0.000,516,0.000,0.228,3144,1078,2445,2445,686,0,0,1,0,0,0,26.51,26.14,26.53,10.51,35.46
$GC,1040,2.39,195.5,3143,1078,2443,923,146.5,15.7,164,1047,0.00,3.12,0.00,0.000,1030,0.000,0.146,3144,2277,2443,2443,892,0,0,0,0,0,0,26.49,26.39,26.51,10.52,35.23
$GC,1077,2.39,195.5,3143,2278,2442,686,140.6,16.0,170,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2277,2441,2441,688,0,0,0,0,0,0,26.78,26.79,26.79,10.52,36.37
$GC,1113,2.39,195.5,3143,2278,2441,669,134.9,15.3,176,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2277,2440,2440,673,0,0,0,0,0,0,26.84,26.85,26.85,10.51,35.58
$GC,1150,2.39,195.5,3143,2278,2440,661,129.5,14.8,182,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2440,2440,665,0,0,0,0,0,0,26.88,26.90,26.89,10.51,35.86
$GC,1186,2.39,195.5,3144,2278,2439,655,124.1,15.2,188,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2438,2438,661,0,0,0,0,0,0,26.91,26.94,26.93,10.51,35.66
$GC,1222,2.39,195.5,3143,2278,2437,652,118.6,14.9,194,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2437,2437,658,0,0,0,0,0,0,26.96,26.97,26.96,10.52,35.39
$GC,1260,2.39,195.5,3143,2278,2436,649,113.1,15.2,200,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2436,2436,655,0,0,0,0,0,0,26.98,27.00,27.00,10.51,35.46
$GC,1296,2.39,195.5,3143,2278,2435,648,106.9,17.0,206,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2435,2435,654,0,0,0,0,0,0,27.01,27.03,27.03,10.51,35.70
$GC,1332,2.39,195.5,3143,2278,2434,646,100.8,16.6,212,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2433,2433,653,0,0,0,0,0,0,27.04,27.05,27.05,10.51,36.02
$GC,1369,2.39,195.5,3143,2278,2433,645,94.9,16.1,218,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2432,2432,652,0,0,0,0,0,0,27.06,27.08,27.08,10.51,35.66
$GC,1405,2.39,195.5,3143,2278,2431,644,89.4,15.6,224,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2431,2431,651,0,0,0,0,0,0,27.08,27.10,27.10,10.50,36.06
$GC,1441,2.39,195.5,3143,2278,2430,644,84.4,13.2,230,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2430,2430,650,0,0,0,0,0,0,27.10,27.12,27.12,10.51,36.41
$GC,1478,2.39,195.5,3143,2278,2429,716,79.4,13.8,236,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2429,2429,713,0,0,0,0,0,0,27.12,27.13,27.13,10.51,36.29
$GC,1514,2.39,195.5,3143,2277,2428,679,73.8,16.2,242,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2428,2428,680,0,0,0,0,0,0,27.13,27.15,27.15,10.50,36.41
$GC,1552,2.39,195.5,3143,2276,2427,665,67.9,16.0,248,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2427,2427,669,0,0,0,0,0,0,27.15,27.17,27.16,10.51,36.06
$GC,1588,2.39,195.5,3143,2277,2425,657,61.8,17.0,254,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2277,2425,2425,662,0,0,0,0,0,0,27.16,27.18,27.17,10.50,35.66
$GC,1624,2.39,195.5,3143,2278,2424,652,56.4,14.3,260,1631,0.00,3.33,0.00,0.000,260,0.000,0.261,3144,3480,2424,2424,662,0,0,0,0,0,0,27.17,26.74,27.19,10.50,35.66
$GC,1722,2.39,195.5,3143,3479,2421,642,40.3,16.6,276,1729,0.00,3.05,0.00,0.000,1030,0.000,0.129,3144,2277,2421,2421,651,0,0,1,0,0,0,26.97,26.87,27.00,10.50,36.33
$GC,1759,2.39,195.5,3143,2278,2418,644,35.2,13.4,282,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2419,2419,650,0,0,0,0,0,0,27.22,27.23,27.23,10.49,36.25
$GC,1795,2.39,195.5,3143,2278,2418,643,30.2,13.6,288,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2418,2418,649,0,0,0,0,0,0,27.22,27.24,27.24,10.49,35.98
$GC,1832,2.39,195.5,3144,2278,2417,642,25.1,14.0,294,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2417,2417,648,0,0,0,0,0,0,27.24,27.25,27.25,10.49,36.17
$GC,1868,2.39,195.5,3143,2278,2416,642,20.0,14.5,300,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2278,2416,2416,649,0,0,0,0,0,0,27.24,27.26,27.25,10.49,36.25
$GC,1905,2.39,195.5,3143,2278,2415,642,14.6,14.5,306,1912,0.00,3.20,0.00,0.000,516,0.000,0.233,3144,1078,2415,2415,652,0,0,1,0,0,0,27.25,26.82,27.27,10.49,36.49
$STATE,1996,end climb,SURFACE_DEPTH_REACHED
$STATE,1996,begin surface coast
$FINISH,0.6,1.020127
$STATE,2010,end surface coast,CONTROL_FINISHED_OK
$STATE,2010,begin surface
$SM_CCo,2047,5.40,1.418,0,0,2324,300.05
$SM_GC,2.75,28.00,3.10,5.40,0.099,0.151,1.418,369,2277,2324,-6.31,-1.05,300.05,0,0,1,0,0,0,26.96,26.90,26.08
$IRIDIUM_FIX,4748.51,-12337.82,180417,183256
$TT8_MAMPS,0.02247,0.129577
$HUMID,36.88
$INTERNAL_PRESSURE,10.4106
$TCM_TEMP,10.40
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.3,18.9
$24V_AH,23.74,0.435
$10V_AH,10.53,1.580
$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,59.575,31.950,27.950,5.400,0.000,0.000,0.000,0.000,22.750,0.000,47.328,813.776,499.645,266.351,547.408,23.610,31.525,599.556,0.000,472.495,0.000,84.305,0.000
$DEVICE_MAMPS,422.110,280.579,6761.209,1417.793,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,10494,323
$CAP_FILE_SIZE,77998,0
$CFSIZE,1024409600,1020379136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,1,0
$GPS,180417,191322,4742.573,-12224.837,30,1.1,83,16.3,0.0,0.0,8,5.7