version: 66.12
glider: 402
mission: 1
dive: 4
start: 4 18 117 19 20 11
data:
$ID,402
$MISSION,1
$DIVE,4
$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,65
$T_MISSION,75
$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,1000
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,5
$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
$GPS1,180417,191322,4742.5732,-12224.8369,30,1.1,83,16.3,0.0,0.0,8,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-56.4
$GPS2,180417,191909,4742.6099,-12224.8350,6,1.0,46,16.3,0.0,0.0,8,3.1
$SPEED_LIMITS,0.147,0.470
$TGT_NAME,HEADING
$TGT_LATLONG,4753.368,-12223.432
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.078874,0.463025
$KALMAN_X,-133.019470,-75.043762,-59.076046,333.226471,-104.617943
$KALMAN_Y,622.258972,274.757690,213.684799,-1647.718750,507.689423
$MHEAD_RNG_PITCHd_Wd,353.4,20000,-5.1,-8.462,-10.21,16554
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-3.44,-977.5,369,2278,2324,755,0.0,0.0,0,31,0.00,0.00,-11.27,0.000,16390,0.000,0.000,369,2278,3838,3838,858,0,0,0,0,0,0,26.95,25.42,26.96,10.49,36.65
$GC,32,-3.44,-977.5,369,2278,3838,851,2.6,-13.5,2,51,11.27,3.20,0.00,0.000,2564,0.435,0.201,1282,1078,3840,3840,933,0,0,1,0,0,0,26.36,26.42,26.47,10.84,37.00
$GC,142,-3.44,-977.5,1282,1078,3845,667,54.6,-34.6,20,149,0.00,3.17,0.00,0.000,1030,0.000,0.196,1282,2274,3845,3845,719,0,0,1,0,0,0,26.70,26.54,26.73,10.83,35.98
$GC,179,-3.44,-977.5,1282,2274,3848,679,70.3,-44.5,26,186,0.00,3.42,0.00,0.000,260,0.000,0.303,1283,3482,3849,3849,731,0,0,2,0,0,0,26.98,26.53,26.99,10.83,36.92
$GC,241,-3.44,-977.5,1281,3482,3852,675,103.6,-52.3,36,249,0.00,3.12,0.00,0.000,1030,0.000,0.134,1282,2280,3853,3853,731,0,0,0,0,0,0,26.78,26.67,26.82,10.84,35.78
$GC,280,-3.44,-977.5,1282,2281,3855,722,123.4,-49.9,42,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1282,2281,3856,3856,767,0,0,0,0,0,0,27.00,27.01,27.01,10.83,36.65
$GC,318,-3.44,-977.5,1281,2281,3858,737,143.0,-50.7,48,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1282,2281,3858,3858,780,0,0,0,0,0,0,27.02,27.04,27.03,10.84,36.37
$GC,356,-3.44,-977.5,1282,2281,3861,762,162.3,-49.7,54,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1282,2281,3862,3862,801,0,0,0,0,0,0,27.04,27.05,27.05,10.84,35.86
$STATE,370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,370,begin apogee
$GC,373,-0.50,0.0,1282,2280,3863,803,169.1,-51.4,56,449,10.68,0.00,61.30,7.844,10246,0.310,0.000,2225,2280,2679,2679,2921,0,0,0,0,0,0,26.65,24.65,23.06,10.84,36.10
$STATE,450,end apogee,CONTROL_FINISHED_OK
$STATE,450,begin climb
$GC,451,3.44,977.5,2225,2280,2678,878,180.9,0.0,69,557,34.72,3.45,59.95,7.717,10756,1.147,0.233,3470,1077,1526,1526,2427,29,0,4,0,0,0,24.96,24.62,23.11,10.57,35.50
$GC,624,3.44,977.5,3468,1077,1521,686,138.9,33.8,98,631,0.00,3.22,0.00,0.000,1030,0.000,0.161,3469,2278,1520,1520,660,0,0,0,0,0,0,25.97,25.86,26.01,10.31,34.99
$GC,661,3.44,977.5,3469,2279,1517,655,124.7,39.4,104,667,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1517,1517,632,0,0,0,0,0,0,26.34,26.36,26.35,10.30,34.32
$GC,698,3.44,977.5,3470,2279,1513,630,108.6,44.0,110,703,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1513,1513,610,0,0,0,0,0,0,26.46,26.48,26.47,10.30,33.97
$GC,734,3.44,977.5,3469,2279,1510,609,92.8,44.6,116,740,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1509,1509,591,0,0,0,0,0,0,26.55,26.57,26.56,10.30,35.15
$GC,770,3.44,977.5,3469,2279,1506,590,76.1,45.5,122,776,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1504,1504,575,0,0,0,0,0,0,26.63,26.64,26.64,10.29,35.39
$GC,807,3.44,977.5,3469,2279,1502,574,60.4,41.8,128,812,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1501,1501,561,0,0,0,0,0,0,26.69,26.70,26.70,10.29,34.91
$GC,844,3.44,977.5,3469,2279,1497,560,45.3,42.8,134,851,0.00,3.30,0.00,0.000,516,0.000,0.228,3470,1076,1497,1497,551,0,0,1,0,0,0,26.74,26.36,26.76,10.29,35.23
$GC,881,3.44,977.5,3469,1076,1493,550,28.1,43.7,140,888,0.00,3.12,0.00,0.000,1030,0.000,0.159,3469,2279,1493,1493,542,0,0,1,0,0,0,26.55,26.43,26.58,10.29,34.91
$GC,919,3.44,977.5,3469,2279,1489,541,13.7,39.9,146,925,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1489,1489,531,0,0,0,0,0,0,26.82,26.84,26.84,10.28,34.48
$STATE,948,end climb,SURFACE_DEPTH_REACHED
$STATE,948,begin surface coast
$FINISH,0.3,1.019353
$STATE,955,end surface coast,CONTROL_FINISHED_OK
$STATE,955,begin surface
$SM_CCo,1053,0.00,0.000,0,0,1484,1015.75
$SM_GC,0.82,31.92,0.00,0.00,0.104,0.000,0.000,356,2280,1484,-6.35,0.09,1015.75,0,0,0,0,0,0,26.59,26.87,26.65
$IRIDIUM_FIX,4748.51,-12337.82,180417,191410
$TT8_MAMPS,0.02247,0.100366
$HUMID,34.91
$INTERNAL_PRESSURE,10.225
$TCM_TEMP,9.80
$XPDR_PINGS,22
$ALTIM_TOP_PING,18.5,20.0
$24V_AH,23.06,0.728
$10V_AH,10.54,1.597
$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,88.600,26.025,121.250,0.000,0.000,29.183,24.151,189.045,11.250,0.000,47.254,372.042,247.845,248.612,536.357,19.613,32.442,435.903,0.000,232.183,0.000,39.756,0.000
$DEVICE_MAMPS,1147.146,302.926,7843.797,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,98.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323600
$DATA_FILE_SIZE,3662,152
$CAP_FILE_SIZE,34993,0
$CFSIZE,1024409600,1020346368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,29,10,0,1,0
$GPS,180417,193855,4742.890,-12224.705,2,1.0,39,16.3,1.3,286.2,9,3.0