version: 66.12
glider: 402
mission: 1
dive: 7
start: 4 18 117 20 42 53
data:
$ID,402
$MISSION,1
$DIVE,7
$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
$GPS1,180417,203744,4743.7085,-12224.5342,2,0.8,6,16.3,0.0,0.0,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-12.5
$GPS2,180417,204149,4743.7441,-12224.5146,6,0.8,9,16.3,0.5,4.6,10,9.8
$SPEED_LIMITS,0.232,0.470
$TGT_NAME,HEADING
$TGT_LATLONG,4754.502,-12223.110
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.115462,0.455277
$KALMAN_X,-441.940521,-264.770874,-67.416183,1237.988525,-655.582092
$KALMAN_Y,-1895.430420,-321.187256,144.571228,3626.873535,-4112.692871
$MHEAD_RNG_PITCHd_Wd,350.5,20000,-5.1,-8.462,-10.21,16554
$D_GRID,173
$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,16,-3.44,-977.5,1133,2269,1463,379,0.0,0.0,0,40,0.00,0.00,-21.38,0.000,16390,0.000,0.000,1134,2270,3815,3815,602,0,0,0,0,0,0,26.75,25.51,26.77,10.31,35.82
$GC,42,-3.44,-977.5,1133,2269,3815,601,1.2,-5.0,4,50,1.83,3.28,0.00,0.000,2564,0.405,0.216,1284,1076,3815,3815,666,0,0,1,0,0,0,26.32,26.37,26.48,10.85,36.69
$GC,139,-3.44,-977.5,1284,1076,3821,652,40.3,-35.4,28,146,0.00,3.20,0.00,0.000,1030,0.000,0.186,1284,2279,3821,3821,704,0,0,0,0,0,0,26.62,26.49,26.65,10.82,35.11
$GC,163,-3.44,-977.5,1283,2278,3822,701,49.5,-38.7,33,171,0.00,3.42,0.00,0.000,260,0.000,0.298,1284,3482,3822,3822,756,0,0,0,0,0,0,26.86,26.48,26.88,10.83,35.31
$GC,229,-3.44,-977.5,1283,3482,3827,742,84.3,-54.4,49,237,0.00,3.12,0.00,0.000,1030,0.000,0.132,1284,2278,3826,3826,787,0,0,0,0,0,0,26.71,26.62,26.73,10.83,35.50
$GC,254,-3.44,-977.5,1283,2279,3829,780,96.7,-50.1,54,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1284,2279,3829,3829,811,0,0,0,0,0,0,26.94,26.94,26.95,10.83,35.39
$GC,282,-3.44,-977.5,1283,2278,3831,796,110.6,-50.9,59,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1284,2278,3831,3831,824,0,0,0,0,0,0,26.95,26.96,26.96,10.83,35.43
$GC,305,-3.44,-977.5,1283,2277,3833,807,122.3,-48.7,64,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1284,2278,3833,3833,834,0,0,0,0,0,0,26.96,26.98,26.98,10.83,35.62
$GC,329,-3.44,-977.5,1283,2277,3834,810,134.1,-51.2,69,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1284,2277,3835,3835,842,0,0,0,0,0,0,26.98,26.99,26.99,10.84,35.31
$GC,353,-3.44,-977.5,1283,2278,3836,815,146.7,-50.8,74,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1284,2277,3838,3838,842,0,0,0,0,0,0,27.00,27.01,27.01,10.83,35.31
$GC,376,-3.44,-977.5,1283,2277,3838,816,158.3,-50.1,79,383,0.00,3.40,0.00,0.000,260,0.000,0.293,1284,3482,3839,3839,848,0,0,1,0,0,0,27.01,26.61,27.02,10.84,35.90
$STATE,392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,393,begin apogee
$GC,399,-0.50,0.0,1284,2272,3840,842,167.0,-50.6,82,477,10.80,0.00,61.20,7.834,10246,0.338,0.000,2225,2272,2660,2660,2851,0,0,0,0,0,0,26.61,24.63,23.11,10.84,34.80
$STATE,478,end apogee,CONTROL_FINISHED_OK
$STATE,478,begin climb
$GC,479,3.44,977.5,2225,2271,2659,877,181.5,0.0,95,586,40.47,0.00,60.35,7.610,10758,1.207,0.000,3469,2271,1508,1508,2602,36,0,0,0,0,0,24.87,24.53,23.15,10.57,35.07
$GC,604,3.44,977.5,3468,2270,1506,831,158.1,41.4,117,611,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2270,1505,1505,781,0,0,0,0,0,0,25.59,25.60,25.60,10.30,33.73
$GC,628,3.44,977.5,3468,2270,1504,782,147.5,44.2,122,635,0.00,3.35,0.00,0.000,516,0.000,0.223,3469,1083,1502,1502,745,0,0,1,0,0,0,25.87,25.57,25.89,10.31,33.34
$GC,664,3.44,977.5,3468,1083,1499,746,132.2,41.1,130,670,0.00,3.22,0.00,0.000,1030,0.000,0.159,3469,2278,1499,1499,711,0,0,0,0,0,0,25.92,25.81,25.95,10.29,34.13
$GC,688,3.44,977.5,3468,2279,1497,712,122.7,39.2,135,694,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1496,1496,681,0,0,0,0,0,0,26.22,26.24,26.24,10.30,33.50
$GC,711,3.44,977.5,3468,2279,1493,681,112.8,41.3,140,717,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1493,1493,654,0,0,0,0,0,0,26.32,26.33,26.32,10.29,33.81
$GC,735,3.44,977.5,3469,2279,1492,654,102.5,45.1,145,742,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1491,1491,626,0,0,0,0,0,0,26.39,26.40,26.40,10.29,34.36
$GC,759,3.44,977.5,3468,2279,1489,627,91.3,44.9,150,765,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2279,1488,1488,606,0,0,0,0,0,0,26.45,26.47,26.46,10.30,33.85
$GC,782,3.44,977.5,3468,2279,1486,607,80.5,46.8,155,788,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1485,1485,588,0,0,0,0,0,0,26.51,26.52,26.52,10.29,33.81
$GC,806,3.44,977.5,3468,2279,1483,588,69.9,44.3,160,812,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1483,1483,571,0,0,0,0,0,0,26.55,26.57,26.57,10.29,33.85
$GC,830,3.44,977.5,3468,2279,1481,572,59.9,43.4,165,837,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1480,1480,556,0,0,0,0,0,0,26.60,26.62,26.61,10.28,33.77
$GC,854,3.44,977.5,3468,2279,1478,556,49.4,43.3,170,860,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1477,1477,544,0,0,0,0,0,0,26.64,26.65,26.65,10.29,34.01
$GC,877,3.44,977.5,3468,2279,1475,544,38.8,44.2,175,883,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1475,1475,534,0,0,0,0,0,0,26.67,26.69,26.68,10.28,34.13
$GC,900,3.44,977.5,3468,2279,1472,533,28.4,46.0,180,906,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1472,1472,524,0,0,0,0,0,0,26.70,26.72,26.72,10.28,34.20
$GC,925,3.44,977.5,3468,2279,1470,524,17.1,45.7,185,932,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1469,1469,514,0,0,0,0,0,0,26.72,26.74,26.74,10.28,34.28
$GC,949,3.44,977.5,3468,2279,1466,514,6.8,43.2,190,955,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1466,1466,507,0,0,0,0,0,0,26.77,26.78,26.77,10.27,34.32
$STATE,964,end climb,SURFACE_DEPTH_REACHED
$STATE,964,begin surface coast
$FINISH,0.1,1.001137
$STATE,970,end surface coast,CONTROL_FINISHED_OK
$STATE,970,begin surface
$SM_CCo,1085,0.00,0.000,0,0,1464,1016.60
$SM_GC,0.24,49.12,0.00,0.00,1.028,0.000,0.000,1326,2279,1464,-3.34,0.05,1016.60,35,1,0,0,0,0,25.78,26.80,26.03
$IRIDIUM_FIX,4748.51,-12337.82,180417,203826
$TT8_MAMPS,0.023219,0.162533
$HUMID,34.76
$INTERNAL_PRESSURE,10.2348
$TCM_TEMP,9.60
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.6,18.9
$ALTIM_BOTTOM_PING,102.8,84.6
$24V_AH,23.11,1.643
$10V_AH,10.41,1.646
$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,102.225,26.150,121.550,0.000,0.000,25.999,19.012,131.893,5.250,0.000,9.866,479.440,59.719,307.640,490.613,21.201,33.433,538.218,0.000,291.188,0.000,9.180,0.000
$DEVICE_MAMPS,1206.738,297.960,7833.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,126.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323572
$DATA_FILE_SIZE,7110,194
$CAP_FILE_SIZE,40412,7
$CFSIZE,1024409600,1020182528
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,71,4,0,1,0
$CURRENT,0.151,356.60,1
$GPS,180417,210207,4744.137,-12224.425,7,1.2,36,16.3,0.5,79.8,9,9.5