version: 66.13
glider: 402
mission: 2
dive: 24
start: 5 24 117 16 49 13
data:
$ID,402
$MISSION,2
$DIVE,24
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,1
$D_TGT,45
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72302
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0060000001
$HD_B,0.0143
$HD_C,2.4999001e-05
$HEADING,-1
$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,325
$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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,495
$PITCH_MAX,3900
$C_PITCH,2535
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,45
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2627
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,20
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-48.895668
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$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,49
$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,2915.98
$GPS1,240517,164452,4743.4829,-12224.9268,4,0.9,4,16.3,0.0,140.9,9,20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-39.2
$GPS2,240517,164805,4743.4668,-12224.8906,5,1.0,5,16.3,0.0,0.0,8,20.6
$SPEED_LIMITS,0.100,0.252
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.072554,-0.241660
$KALMAN_X,-3901.063721,-249.637848,464.559479,3227.448242,71.225403
$KALMAN_Y,-5362.864746,-573.157166,1384.053467,5028.462402,122.769409
$MHEAD_RNG_PITCHd_Wd,180.4,1794,-19.1,-10.000,-21.62,2972
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.75,-195.5,498,2288,1448,222,0.0,0.0,0,20,0.00,0.00,-9.30,0.000,16390,0.000,0.000,499,2287,2860,2860,395,0,0,0,0,0,0,26.79,25.58,26.80,10.66,45.19
$GC,22,-1.75,-195.5,499,2288,2860,395,1.0,-3.2,2,45,17.42,0.00,0.00,0.000,2566,0.131,0.000,1966,2288,2862,2862,600,0,0,0,0,0,0,26.32,26.44,26.39,10.93,45.62
$GC,79,-1.75,-195.5,1966,2288,2863,600,14.8,-14.3,14,86,0.00,2.65,0.00,0.000,260,0.000,0.076,1966,3252,2864,2864,623,0,0,0,0,0,0,26.72,26.36,26.73,10.92,45.35
$GC,109,-1.75,-195.5,1966,3252,2865,623,19.1,-15.3,20,116,0.00,2.45,0.00,0.000,1030,0.000,0.034,1966,2271,2865,2865,643,0,0,0,0,0,0,26.54,26.47,26.56,10.92,44.88
$GC,150,-1.75,-195.5,1966,2272,2866,643,24.6,-11.6,29,157,0.00,2.53,0.00,0.000,516,0.000,0.055,1966,1304,2866,2866,660,0,0,0,0,0,0,26.75,26.41,26.77,10.91,44.60
$GC,283,-1.75,-195.5,1966,1304,2867,660,39.2,-8.7,61,290,0.00,2.42,0.00,0.000,1030,0.000,0.037,1966,2263,2869,2869,662,0,0,0,0,0,0,26.61,26.52,26.63,10.91,44.88
$GC,325,-1.75,-195.5,1966,2264,2870,662,42.2,-7.1,70,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2262,2869,2869,675,0,0,0,0,0,0,26.84,26.85,26.84,10.90,45.03
$STATE,363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,364,begin apogee
$GC,367,-0.38,0.0,1966,2227,2870,672,45.2,-7.8,79,391,4.62,0.00,12.43,0.943,10244,0.079,0.000,2401,2227,2625,2625,3972,0,0,0,0,0,0,26.51,25.97,25.39,10.90,44.44
$STATE,392,end apogee,CONTROL_FINISHED_OK
$STATE,392,begin climb
$GC,394,1.75,195.5,2401,2227,2625,3972,46.0,0.0,83,419,6.75,2.58,11.70,0.929,10756,0.048,0.057,3076,1260,2397,2397,4095,0,0,0,0,0,0,26.34,26.25,25.18,10.85,44.40
$GC,445,1.75,195.5,3076,1260,2396,4095,40.4,14.9,93,452,0.00,2.47,0.00,0.000,1030,0.000,0.037,3076,2229,2396,2396,791,0,0,0,0,0,0,26.22,26.13,26.25,10.81,43.89
$GC,486,1.75,195.5,3076,2230,2395,791,34.0,15.9,102,492,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2230,2395,2395,764,0,0,0,0,0,0,26.48,26.51,26.50,10.80,44.21
$GC,526,1.75,195.5,3076,2230,2394,764,27.8,15.5,111,533,0.00,2.70,0.00,0.000,260,0.000,0.073,3077,3214,2393,2393,749,0,0,0,0,0,0,26.54,26.19,26.55,10.80,44.21
$GC,563,1.75,195.5,3076,3215,2392,749,21.9,16.5,119,570,0.00,2.45,0.00,0.000,1030,0.000,0.034,3076,2241,2392,2392,736,0,0,0,0,0,0,26.38,26.31,26.40,10.81,44.56
$GC,604,1.75,195.5,3076,2241,2391,736,16.2,12.0,128,611,0.00,2.65,0.00,0.000,516,0.000,0.063,3077,1251,2391,2391,727,0,0,0,0,0,0,26.61,26.25,26.62,10.80,44.36
$GC,665,1.75,195.5,3076,1251,2389,727,8.8,12.8,142,672,0.00,2.47,0.00,0.000,1030,0.000,0.042,3076,2229,2389,2389,716,0,0,0,0,0,0,26.45,26.35,26.47,10.80,44.80
$GC,706,1.81,242.7,3076,2230,2388,716,4.4,8.4,151,714,0.15,0.00,3.85,0.343,10246,0.071,0.000,3097,2230,2341,2341,4095,0,0,0,0,0,0,26.44,26.28,25.74,10.80,44.52
$GC,748,2.11,457.6,3096,2230,2340,4095,2.8,2.6,160,766,0.90,0.00,12.10,0.561,10246,0.044,0.000,3191,2230,2090,2090,4020,0,0,0,0,0,0,26.43,26.17,25.66,10.80,44.56
$STATE,775,end climb,SURFACE_DEPTH_REACHED
$STATE,775,begin surface coast
$FINISH,0.1,1.009270
$STATE,841,end surface coast,CONTROL_FINISHED_OK
$STATE,842,begin surface
$SM_CCo,935,0.00,0.000,0,0,2089,461.93
$SM_GC,1.44,27.17,0.15,0.00,0.037,0.099,0.000,500,2295,2089,-6.34,-0.50,461.93,0,0,0,0,0,0,26.35,26.34,26.41
$IRIDIUM_FIX,4808.40,-12337.82,240517,164520
$TT8_MAMPS,0.020972,0.156541
$HUMID,45.07
$INTERNAL_PRESSURE,10.7035
$TCM_TEMP,11.50
$XPDR_PINGS,2
$24V_AH,25.18,6.293
$10V_AH,10.59,3.360
$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,57.025,25.575,40.075,0.000,0.000,0.000,0.000,0.000,0.500,0.000,6.304,473.592,104.745,145.238,268.437,13.614,33.428,321.860,0.000,270.829,0.000,0.545,0.000
$DEVICE_MAMPS,130.815,136.935,943.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,120.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313212
$DATA_FILE_SIZE,7099,181
$CAP_FILE_SIZE,42760,0
$CFSIZE,1024409600,1018920960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,170525,4743.368,-12224.892,5,0.9,5,16.3,0.0,0.0,9,16.3