version: 66.12
glider: 402
mission: 1
dive: 8
start: 4 18 117 21 15 53
data:
$ID,402
$MISSION,1
$DIVE,8
$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,2218.5
$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,21
$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
$GPS1,180417,210207,4744.1372,-12224.4248,7,1.2,36,16.3,0.5,79.8,9,9.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-9.4
$GPS2,180417,211449,4744.2832,-12224.3730,5,1.6,48,16.3,0.0,0.0,7,12.7
$SPEED_LIMITS,0.232,0.470
$TGT_NAME,HEADING
$TGT_LATLONG,4755.042,-12222.969
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.144933,0.446769
$KALMAN_X,-362.237915,-560.232666,-97.467636,1659.650879,-533.404297
$KALMAN_Y,615.321289,-2526.427979,-689.590088,5151.971191,-1380.005737
$MHEAD_RNG_PITCHd_Wd,351.5,20000,-5.1,-8.462,-10.21,16554
$D_GRID,175
$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,-977.5,1325,2269,1464,249,0.0,0.0,0,45,0.00,0.00,-23.00,0.000,16390,0.000,0.000,1325,2270,3815,3815,651,0,0,0,0,0,0,26.96,25.72,26.98,10.31,36.25
$GC,46,-3.44,-977.5,1325,2269,3815,650,0.9,-2.2,5,54,0.00,3.20,0.00,0.000,516,0.000,0.216,1325,1082,3816,3816,711,0,0,1,0,0,0,26.77,26.46,26.78,10.85,36.73
$GC,143,-3.44,-977.5,1325,1082,3821,695,35.5,-35.7,29,151,0.00,3.17,0.00,0.000,1030,0.000,0.186,1325,2279,3821,3821,747,0,0,0,0,0,0,26.71,26.58,26.74,10.83,35.27
$GC,168,-3.44,-977.5,1325,2279,3822,743,44.3,-35.4,34,175,0.00,3.42,0.00,0.000,260,0.000,0.305,1325,3482,3822,3822,785,0,0,1,0,0,0,26.95,26.55,26.96,10.83,35.50
$GC,226,-3.44,-977.5,1325,3482,3827,767,73.8,-52.5,48,234,0.10,3.10,0.00,0.000,5126,0.283,0.134,1311,2285,3827,3827,803,0,0,0,0,0,0,26.70,26.67,26.77,10.82,35.15
$GC,251,-3.44,-977.5,1311,2285,3828,791,85.0,-44.1,53,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1311,2285,3829,3829,826,0,0,0,0,0,0,26.99,27.01,27.01,10.83,35.94
$GC,275,-3.44,-977.5,1311,2285,3830,807,96.4,-47.5,58,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1311,2285,3830,3830,835,0,0,0,0,0,0,27.01,27.03,27.02,10.83,34.91
$GC,303,-3.44,-977.5,1311,2284,3831,806,110.5,-50.4,63,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1311,2284,3832,3832,834,0,0,0,0,0,0,27.02,27.04,27.03,10.83,35.11
$GC,326,-3.44,-977.5,1311,2284,3833,811,122.0,-50.6,68,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1312,2284,3834,3834,838,0,0,0,0,0,0,27.03,27.05,27.05,10.83,34.91
$GC,350,-3.44,-977.5,1311,2284,3835,812,133.3,-49.2,73,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1312,2284,3835,3835,843,0,0,0,0,0,0,27.05,27.06,27.06,10.83,34.76
$GC,374,-3.44,-977.5,1311,2284,3837,815,145.9,-50.6,78,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1312,2284,3837,3837,841,0,0,0,0,0,0,27.05,27.08,27.07,10.84,35.43
$GC,397,-3.44,-977.5,1311,2284,3839,815,157.6,-48.9,83,404,0.00,3.38,0.00,0.000,260,0.000,0.286,1312,3482,3839,3839,848,0,0,1,0,0,0,27.06,26.67,27.08,10.83,35.07
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,420,-0.50,0.0,1311,2272,3841,842,165.9,-50.6,86,497,10.50,0.00,61.17,7.772,10246,0.338,0.000,2226,2272,2659,2659,2822,0,0,0,0,0,0,26.67,24.64,23.15,10.83,35.07
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,499,begin climb
$GC,500,3.44,977.5,2226,2272,2660,877,179.7,0.0,99,616,46.42,3.50,60.28,7.543,10756,1.269,0.228,3469,1082,1508,1508,2519,44,0,1,0,0,0,24.85,24.59,23.18,10.57,34.56
$GC,649,3.44,977.5,3468,1082,1505,814,150.5,37.7,126,655,0.00,3.28,0.00,0.000,1030,0.000,0.159,3469,2278,1504,1504,772,0,0,0,0,0,0,25.65,25.53,25.67,10.31,33.93
$GC,673,3.44,977.5,3468,2279,1502,772,141.7,35.1,131,679,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1502,1502,734,0,0,0,0,0,0,26.00,26.01,26.01,10.31,33.65
$GC,697,3.44,977.5,3468,2279,1500,735,132.5,40.5,136,703,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1500,1500,700,0,0,0,0,0,0,26.14,26.15,26.15,10.30,33.57
$GC,720,3.44,977.5,3468,2279,1497,702,122.2,42.2,141,727,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1497,1497,667,0,0,0,0,0,0,26.24,26.26,26.25,10.30,34.01
$GC,744,3.44,977.5,3468,2279,1495,668,112.2,41.9,146,750,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2279,1493,1493,642,0,0,0,0,0,0,26.33,26.34,26.34,10.29,33.65
$GC,767,3.44,977.5,3468,2279,1492,643,102.2,41.2,151,773,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1492,1492,620,0,0,0,0,0,0,26.39,26.41,26.41,10.30,33.61
$GC,792,3.44,977.5,3468,2279,1490,620,92.5,42.8,156,798,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1489,1489,600,0,0,0,0,0,0,26.46,26.48,26.47,10.29,34.13
$GC,815,3.44,977.5,3468,2279,1487,601,82.2,42.5,161,822,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1487,1487,581,0,0,0,0,0,0,26.51,26.53,26.53,10.29,34.13
$GC,839,3.44,977.5,3468,2279,1485,580,72.3,41.0,166,845,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1484,1484,565,0,0,0,0,0,0,26.55,26.58,26.57,10.29,33.65
$GC,862,3.44,977.5,3468,2279,1482,565,62.6,41.9,171,869,0.00,3.28,0.00,0.000,516,0.000,0.221,3469,1081,1482,1482,555,0,0,1,0,0,0,26.60,26.25,26.61,10.28,33.77
$GC,894,3.44,977.5,3468,1082,1479,554,49.5,41.3,178,901,0.00,3.15,0.00,0.000,1030,0.000,0.154,3469,2279,1478,1478,544,0,0,0,0,0,0,26.44,26.32,26.46,10.28,34.32
$GC,918,3.44,977.5,3468,2279,1476,544,40.6,35.8,183,924,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1476,1476,534,0,0,0,0,0,0,26.67,26.70,26.69,10.28,34.05
$GC,942,3.44,977.5,3468,2279,1474,533,31.2,41.4,188,948,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2279,1473,1473,524,0,0,0,0,0,0,26.71,26.72,26.72,10.28,34.56
$GC,966,3.44,977.5,3468,2279,1471,523,21.5,42.5,193,975,0.00,3.40,0.00,0.000,260,0.000,0.266,3469,3483,1470,1470,517,0,0,0,0,0,0,26.73,26.37,26.75,10.27,34.32
$GC,999,3.44,977.5,3468,3483,1467,515,6.4,43.7,200,1006,0.00,3.12,0.00,0.000,1030,0.000,0.129,3469,2282,1467,1467,510,0,0,0,0,0,0,26.56,26.47,26.59,10.27,33.61
$STATE,1015,end climb,SURFACE_DEPTH_REACHED
$STATE,1015,begin surface coast
$FINISH,0.3,1.019956
$STATE,1024,end surface coast,CONTROL_FINISHED_OK
$STATE,1024,begin surface
$SM_CCo,1062,60.28,1.924,0,0,47,2218.50
$SM_GC,0.52,31.98,0.00,60.28,0.107,0.000,1.924,356,2281,47,-6.35,0.14,2218.50,0,0,0,0,0,0,26.53,26.74,25.34
$IRIDIUM_FIX,4748.51,-12337.82,180417,211224
$TT8_MAMPS,0.02247,0.163282
$HUMID,33.57
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,10.00
$XPDR_PINGS,20
$ALTIM_TOP_PING,18.9,17.2
$ALTIM_BOTTOM_PING,102.6,87.1
$24V_AH,23.15,1.969
$10V_AH,10.42,1.666
$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,89.000,39.150,121.450,60.275,0.000,162.736,174.153,38.608,5.750,0.000,49.659,504.369,239.210,365.573,775.639,31.190,33.406,607.792,0.000,306.726,0.000,9.178,0.000
$DEVICE_MAMPS,1268.813,305.409,7771.790,1924.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,133.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323592
$DATA_FILE_SIZE,7058,205
$CAP_FILE_SIZE,45339,0
$CFSIZE,1024409600,1020035072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,44,6,0,1,0
$CURRENT,0.131,359.85,1
$GPS,180417,213553,4744.682,-12224.277,2,1.8,43,16.3,0.0,0.0,7,3.5