version: 66.12
glider: 402
mission: 1
dive: 5
start: 4 18 117 19 55 10
data:
$ID,402
$MISSION,1
$DIVE,5
$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,20
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72224
$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,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,15
$R_STBD_OVSHOOT,9
$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
$GPS1,180417,195019,4742.9785,-12224.7051,2,0.9,7,16.3,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-32.6
$GPS2,180417,195407,4743.0073,-12224.7061,5,1.1,46,16.3,0.0,0.0,8,3.0
$SPEED_LIMITS,0.232,0.470
$TGT_NAME,HEADING
$TGT_LATLONG,4753.766,-12223.302
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.079480,0.462916
$KALMAN_X,-266.191101,-94.835136,-53.487656,641.489929,-205.587555
$KALMAN_Y,-728.436035,368.165131,398.353699,182.306580,-617.690796
$MHEAD_RNG_PITCHd_Wd,348.7,20000,-5.1,-8.462,-10.21,16554
$D_GRID,177
$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,-977.5,356,2280,1485,225,0.0,0.0,0,38,0.00,0.00,-19.58,0.000,16390,0.000,0.000,356,2280,3838,3838,506,0,0,0,0,0,0,27.01,25.60,27.03,10.30,36.17
$GC,40,-3.44,-977.5,356,2280,3839,505,2.2,-11.6,3,59,11.40,3.17,0.00,0.000,2564,0.442,0.186,1281,1075,3841,3841,719,0,0,1,0,0,0,26.48,26.55,26.58,10.85,36.80
$GC,144,-3.44,-977.5,1280,1075,3845,661,53.3,-35.7,20,151,0.00,3.17,0.00,0.000,1030,0.000,0.194,1281,2279,3846,3846,713,0,0,1,0,0,0,26.77,26.63,26.80,10.84,36.10
$GC,182,-3.44,-977.5,1280,2280,3848,689,68.4,-42.4,26,189,0.00,3.40,0.00,0.000,260,0.000,0.298,1281,3482,3848,3848,739,0,0,1,0,0,0,27.03,26.61,27.05,10.84,36.17
$GC,238,-3.44,-977.5,1280,3482,3852,675,98.8,-54.2,35,248,0.00,3.10,0.00,0.000,1030,0.000,0.134,1281,2278,3853,3853,746,0,0,0,0,0,0,26.82,26.72,26.86,10.84,36.10
$GC,279,-3.44,-977.5,1280,2279,3855,726,120.1,-51.6,41,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1280,2278,3856,3856,777,0,0,0,0,0,0,27.03,27.05,27.05,10.84,35.82
$GC,318,-3.44,-977.5,1280,2278,3858,762,141.1,-53.2,47,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1281,2278,3859,3859,801,0,0,0,0,0,0,27.05,27.07,27.07,10.84,35.74
$GC,356,-3.44,-977.5,1280,2277,3861,769,161.4,-51.9,53,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1281,2277,3863,3863,812,0,0,0,0,0,0,27.07,27.08,27.07,10.84,35.90
$STATE,371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,371,begin apogee
$GC,374,-0.50,0.0,1281,2277,3864,811,168.8,-52.4,55,451,10.75,0.00,61.38,7.884,10246,0.323,0.000,2226,2277,2679,2679,2848,0,0,0,0,0,0,26.70,24.65,23.08,10.84,36.06
$STATE,452,end apogee,CONTROL_FINISHED_OK
$STATE,453,begin climb
$GC,454,3.44,977.5,2226,2277,2679,877,181.2,0.0,68,569,41.85,3.42,60.33,7.665,10756,1.234,0.236,3469,1084,1527,1527,2353,39,0,8,0,0,0,24.92,24.61,23.12,10.58,35.66
$GC,635,3.44,977.5,3469,1083,1521,693,139.6,33.6,98,643,0.00,3.20,0.00,0.000,1030,0.000,0.151,3470,2279,1520,1520,661,0,0,1,0,0,0,25.96,25.84,25.98,10.31,34.05
$GC,674,3.44,977.5,3469,2279,1517,656,125.4,39.4,104,680,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1517,1517,632,0,0,0,0,0,0,26.32,26.33,26.33,10.30,34.20
$GC,710,3.44,977.5,3469,2279,1514,631,110.6,41.5,110,717,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1513,1513,607,0,0,0,0,0,0,26.44,26.45,26.45,10.30,33.73
$GC,747,3.44,977.5,3469,2279,1511,606,95.5,40.4,116,753,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1510,1510,589,0,0,0,0,0,0,26.53,26.55,26.54,10.30,34.13
$GC,783,3.44,977.5,3469,2279,1507,588,79.9,42.3,122,790,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1506,1506,570,0,0,0,0,0,0,26.60,26.62,26.62,10.30,34.32
$GC,820,3.44,977.5,3469,2279,1503,570,64.7,40.9,128,826,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1502,1502,557,0,0,0,0,0,0,26.66,26.69,26.68,10.29,34.36
$GC,858,3.44,977.5,3469,2279,1499,556,50.1,40.8,134,866,0.00,3.30,0.00,0.000,516,0.000,0.226,3470,1077,1498,1498,546,0,0,1,0,0,0,26.72,26.35,26.74,10.29,34.17
$GC,896,3.44,977.5,3469,1077,1494,545,34.0,39.7,140,903,0.00,3.12,0.00,0.000,1030,0.000,0.154,3470,2278,1494,1494,537,0,0,1,0,0,0,26.54,26.44,26.58,10.29,34.76
$GC,934,3.44,977.5,3469,2278,1491,535,20.4,36.7,146,943,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2278,1490,1490,521,0,0,0,0,0,0,26.81,26.82,26.82,10.29,34.44
$GC,974,3.44,977.5,3469,2278,1486,520,4.0,42.2,152,980,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2278,1485,1485,513,0,0,0,0,0,0,26.84,26.86,26.86,10.29,34.56
$STATE,985,end climb,SURFACE_DEPTH_REACHED
$STATE,985,begin surface coast
$FINISH,0.1,1.018185
$STATE,993,end surface coast,CONTROL_FINISHED_OK
$STATE,993,begin surface
$SM_CCo,1091,0.00,0.000,0,0,1484,1015.75
$SM_GC,0.81,31.92,0.00,0.00,0.107,0.000,0.000,357,2278,1484,-6.35,-0.05,1015.75,0,0,0,0,0,0,26.60,26.88,26.65
$IRIDIUM_FIX,4748.51,-12337.82,180417,195045
$TT8_MAMPS,0.021721,0.162533
$HUMID,34.80
$INTERNAL_PRESSURE,10.2348
$TCM_TEMP,10.00
$XPDR_PINGS,34
$ALTIM_TOP_PING,18.5,17.0
$24V_AH,23.08,1.035
$10V_AH,10.44,1.616
$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,95.925,25.900,121.700,0.000,0.000,0.000,0.000,0.000,14.000,0.000,47.818,371.822,238.465,276.779,288.917,12.981,33.432,468.201,0.000,234.430,0.000,37.580,0.000
$DEVICE_MAMPS,1234.051,297.960,7883.525,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,100.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323612
$DATA_FILE_SIZE,7098,155
$CAP_FILE_SIZE,45792,0
$CFSIZE,1024409600,1020280832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,39,14,0,1,0
$CURRENT,0.088,357.99,1
$GPS,180417,201425,4743.320,-12224.593,2,0.8,41,16.3,0.0,0.0,10,3.2