version: 66.12
glider: 402
mission: 1
dive: 6
start: 4 18 117 20 19 14
data:
$ID,402
$MISSION,1
$DIVE,6
$N_DIVES,10
$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,3
$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,2660
$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,3
$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
$GPS1,180417,201425,4743.3203,-12224.5928,2,0.8,41,16.3,0.0,0.0,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-38.4
$GPS2,180417,201809,4743.3555,-12224.5801,6,0.8,9,16.3,0.0,304.8,10,9.3
$SPEED_LIMITS,0.232,0.470
$TGT_NAME,HEADING
$TGT_LATLONG,4754.114,-12223.176
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.079481,0.462916
$KALMAN_X,-390.022186,-124.034279,-50.934429,947.777832,-458.992981
$KALMAN_Y,-2376.207031,671.914978,528.027161,2027.584839,-3501.020752
$MHEAD_RNG_PITCHd_Wd,350.1,20000,-5.1,-8.462,-10.21,16554
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-3.44,-977.5,357,2279,1484,361,0.0,0.0,0,41,0.00,0.00,-19.20,0.000,16390,0.000,0.000,357,2279,3817,3817,662,0,0,0,0,0,0,26.86,26.08,26.87,10.30,35.86
$GC,42,-3.44,-977.5,357,2279,3817,661,3.2,-13.1,4,62,11.57,3.17,0.00,0.000,2820,0.447,0.169,1283,1074,3819,3819,815,0,0,1,0,0,0,26.29,26.38,26.46,10.84,35.94
$GC,152,-3.44,-977.5,1282,1074,3824,769,55.6,-35.9,30,159,0.00,3.20,0.00,0.000,1030,0.000,0.189,1283,2278,3824,3824,805,0,0,0,0,0,0,26.64,26.51,26.67,10.83,35.35
$GC,176,-3.44,-977.5,1282,2278,3825,794,65.0,-37.5,35,183,0.00,3.45,0.00,0.000,260,0.000,0.305,1283,3482,3826,3826,830,0,0,1,0,0,0,26.89,26.48,26.90,10.83,35.62
$GC,246,-3.44,-977.5,1282,3482,3831,784,100.5,-54.3,51,254,0.00,3.12,0.00,0.000,1030,0.000,0.132,1283,2279,3832,3832,823,0,0,0,0,0,0,26.72,26.63,26.75,10.83,35.90
$GC,276,-3.44,-977.5,1282,2278,3833,802,116.1,-49.1,56,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1283,2278,3833,3833,835,0,0,0,0,0,0,26.94,26.95,26.95,10.83,35.54
$GC,304,-3.44,-977.5,1282,2278,3835,808,132.0,-54.7,61,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1283,2278,3835,3835,853,0,0,0,0,0,0,26.94,26.96,26.96,10.83,35.86
$GC,336,-3.44,-977.5,1282,2279,3838,813,148.5,-53.1,66,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1283,2278,3838,3838,844,0,0,0,0,0,0,26.96,26.98,26.98,10.83,35.39
$GC,364,-3.44,-977.5,1282,2278,3841,811,164.3,-52.8,71,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1283,2279,3841,3841,843,0,0,0,0,0,0,26.97,26.99,26.98,10.83,35.35
$STATE,377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,377,begin apogee
$GC,380,-0.50,0.0,1283,2278,3842,834,171.4,-53.2,73,459,10.80,0.00,61.45,7.928,10246,0.328,0.000,2225,2278,2659,2659,2796,0,0,0,0,0,0,26.63,24.61,23.09,10.84,35.11
$STATE,460,end apogee,CONTROL_FINISHED_OK
$STATE,460,begin climb
$GC,461,3.44,977.5,2225,2277,2659,877,183.8,0.0,86,576,41.75,3.50,60.60,7.717,10756,1.232,0.221,3469,1080,1508,1508,2349,39,0,1,0,0,0,24.91,24.59,23.12,10.56,34.48
$GC,609,3.44,977.5,3469,1079,1504,815,152.9,36.0,113,617,0.00,3.25,0.00,0.000,1030,0.000,0.156,3470,2279,1504,1504,765,0,0,0,0,0,0,25.70,25.59,25.73,10.31,33.85
$GC,634,3.44,977.5,3469,2279,1502,766,144.3,34.8,118,640,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1501,1501,729,0,0,0,0,0,0,26.06,26.07,26.07,10.30,33.54
$GC,659,3.44,977.5,3469,2279,1499,730,134.3,42.6,123,665,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1499,1499,697,0,0,0,0,0,0,26.19,26.20,26.20,10.30,33.97
$GC,682,3.44,977.5,3469,2279,1497,698,123.5,44.1,128,688,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1496,1496,669,0,0,0,0,0,0,26.29,26.31,26.30,10.30,33.89
$GC,705,3.44,977.5,3469,2279,1494,669,113.0,46.0,133,714,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1493,1493,633,0,0,0,0,0,0,26.36,26.39,26.38,10.29,33.77
$GC,731,3.44,977.5,3469,2278,1491,634,101.8,45.0,138,737,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1490,1490,612,0,0,0,0,0,0,26.44,26.46,26.45,10.30,33.97
$GC,754,3.44,977.5,3469,2279,1488,613,91.3,43.8,143,760,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1488,1488,594,0,0,0,0,0,0,26.50,26.51,26.51,10.29,33.81
$GC,777,3.44,977.5,3469,2279,1486,594,80.6,47.4,148,783,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1485,1485,577,0,0,0,0,0,0,26.55,26.56,26.56,10.29,34.05
$GC,800,3.44,977.5,3469,2280,1484,577,70.3,44.5,153,807,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1482,1482,561,0,0,0,0,0,0,26.59,26.61,26.60,10.29,34.20
$GC,824,3.44,977.5,3469,2279,1480,561,60.0,43.1,158,830,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1480,1480,548,0,0,0,0,0,0,26.63,26.65,26.65,10.29,33.73
$GC,849,3.44,977.5,3469,2278,1477,548,50.0,43.1,163,855,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1477,1477,538,0,0,0,0,0,0,26.67,26.69,26.68,10.28,34.32
$GC,872,3.44,977.5,3469,2279,1475,537,39.4,42.9,168,878,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1474,1474,528,0,0,0,0,0,0,26.70,26.72,26.72,10.28,34.05
$GC,895,3.44,977.5,3469,2279,1472,527,29.1,45.2,173,902,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1471,1471,518,0,0,0,0,0,0,26.73,26.75,26.74,10.28,34.36
$GC,920,3.44,977.5,3469,2279,1469,518,18.5,45.7,178,926,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2279,1470,1470,510,0,0,0,0,0,0,26.74,26.75,26.75,10.28,34.68
$GC,943,3.44,977.5,3469,2280,1466,510,8.4,40.5,183,949,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2280,1465,1465,503,0,0,0,0,0,0,26.79,26.80,26.79,10.28,34.28
$STATE,961,end climb,SURFACE_DEPTH_REACHED
$STATE,961,begin surface coast
$FINISH,0.1,1.000758
$STATE,967,end surface coast,CONTROL_FINISHED_OK
$STATE,967,begin surface
$SM_CCo,1082,0.00,0.000,0,0,1463,1017.45
$SM_GC,0.36,49.20,0.00,0.00,0.966,0.000,0.000,1133,2280,1463,-3.94,0.05,1017.45,32,1,0,0,0,0,25.79,26.82,26.05
$IRIDIUM_FIX,4748.51,-12337.82,180417,201507
$TT8_MAMPS,0.02247,0.163282
$HUMID,34.20
$INTERNAL_PRESSURE,10.2348
$TCM_TEMP,9.70
$XPDR_PINGS,12
$ALTIM_TOP_PING,18.5,17.9
$24V_AH,23.09,1.341
$10V_AH,10.42,1.631
$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,113.325,19.700,122.050,0.000,0.000,31.342,18.726,112.640,9.250,0.000,9.949,453.144,59.644,316.324,475.812,21.625,33.444,545.392,0.000,282.771,0.000,44.268,0.000
$DEVICE_MAMPS,1231.568,305.409,7928.219,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,122.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323596
$DATA_FILE_SIZE,7076,188
$CAP_FILE_SIZE,40801,7
$CFSIZE,1024409600,1020231680
$ERRORS,0,1,0,0,0,0,0,0,1,0,0,71,3,0,1,0
$INTR,0,706.97,0x237eaa,1,24
$CURRENT,0.131,358.86,1
$GPS,180417,203744,4743.708,-12224.534,2,0.8,6,16.3,0.0,0.0,10,10.0