version: 66.13
glider: 402
mission: 2
dive: 28
start: 5 24 117 19 30 58
data:
$ID,402
$MISSION,2
$DIVE,28
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,180
$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,79
$T_MISSION,90
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72262
$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,500
$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,75
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,12
$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
$GPS1,240517,192119,4742.2783,-12224.6064,36,1.1,36,16.3,0.5,185.1,7,10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-53.6
$GPS2,240517,192949,4742.1494,-12224.6377,5,1.0,5,16.3,0.6,195.2,9,16.6
$SPEED_LIMITS,0.076,0.306
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.072130,0.297805
$KALMAN_X,-4537.875977,-307.681152,627.021240,4074.370117,-94.212067
$KALMAN_Y,-5431.166016,-422.043945,745.493408,3150.919678,-89.080811
$MHEAD_RNG_PITCHd_Wd,357.3,680,-10.1,-7.595,-13.92,7704
$D_GRID,28
$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,-1.32,-391.0,513,2286,2037,748,0.0,0.0,0,16,6.68,0.00,0.00,0.000,2049,0.135,0.000,1062,2286,2038,2038,733,0,0,0,0,0,0,26.46,28.83,28.83,10.77,45.58
$GC,17,-1.32,-391.0,1062,2286,2038,733,1.2,0.0,1,48,11.85,4.78,-7.22,0.000,18948,0.108,1.273,2102,645,3088,3088,891,0,0,0,0,0,0,26.09,25.01,26.17,10.77,45.86
$GC,150,-1.32,-391.0,2101,645,3092,891,18.2,-15.2,31,157,0.00,4.28,0.00,0.000,1030,0.000,0.042,2102,2278,3092,3092,770,0,0,0,0,0,0,26.22,26.12,26.25,10.96,44.95
$GC,191,-1.32,-391.0,2101,2277,3094,770,23.8,-13.3,40,198,0.00,4.20,0.00,0.000,260,0.000,0.090,2102,3744,3093,3093,776,0,0,0,0,0,0,26.48,26.10,26.50,10.96,45.15
$STATE,223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,223,begin apogee
$GC,231,-0.38,0.0,2102,2230,3094,777,28.6,-14.9,47,260,3.12,0.00,22.00,0.874,10244,0.070,0.000,2402,2229,2625,2625,3529,0,0,0,0,0,0,26.21,25.75,25.04,10.96,45.19
$STATE,261,end apogee,CONTROL_FINISHED_OK
$STATE,261,begin climb
$GC,262,1.32,391.0,2402,2229,2625,3529,31.9,0.0,52,293,5.60,0.00,21.70,0.880,11270,0.053,0.000,2938,2229,2169,2169,3623,0,0,0,0,0,0,25.88,26.10,24.75,10.85,44.56
$GC,327,1.66,632.2,2937,2229,2169,3623,30.4,4.4,65,346,1.05,0.00,14.12,0.812,10246,0.043,0.000,3045,2229,1888,1888,4047,0,0,0,0,0,0,25.77,25.45,24.78,10.78,43.73
$GC,380,1.89,795.7,3044,2228,1888,4047,27.4,5.4,76,394,0.73,0.00,10.07,0.732,10246,0.046,0.000,3120,2229,1698,1698,4095,0,0,0,0,0,0,25.76,25.51,24.86,10.72,44.09
$GC,428,1.92,819.9,3119,2228,1697,4095,24.1,7.3,86,441,0.00,4.38,3.10,0.329,8452,0.000,0.084,3120,3745,1670,1670,4095,0,0,0,0,0,0,26.04,25.67,25.01,10.68,44.21
$GC,455,1.92,819.9,3119,3744,1670,4095,21.7,8.4,91,462,0.00,3.97,0.00,0.000,1030,0.000,0.038,3120,2228,1669,1669,780,0,0,0,0,0,0,25.92,25.84,25.95,10.68,43.66
$GC,496,1.92,819.9,3119,2229,1669,780,18.0,8.8,100,502,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2228,1669,1669,738,0,0,0,0,0,0,26.21,26.22,26.22,10.67,44.13
$GC,536,1.92,819.9,3119,2228,1668,738,14.7,7.7,109,542,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2228,1667,1667,706,0,0,0,0,0,0,26.29,26.31,26.31,10.67,43.58
$GC,576,1.99,871.1,3119,2228,1667,706,11.7,6.9,118,584,0.30,0.00,4.30,0.414,10246,0.058,0.000,3153,2229,1610,1610,4095,0,0,0,0,0,0,26.10,25.96,25.39,10.68,44.05
$GC,618,2.14,977.8,3152,2228,1608,4095,9.0,6.2,127,631,0.43,0.00,7.05,0.523,10246,0.054,0.000,3199,2228,1485,1485,4095,0,0,0,0,0,0,26.13,25.95,25.39,10.67,44.05
$GC,665,2.60,1306.8,3198,2226,1485,4095,6.8,3.2,137,689,1.48,0.00,17.88,0.616,10246,0.047,0.000,3347,2228,1101,1101,3574,0,0,0,0,0,0,26.12,25.80,25.29,10.65,43.85
$GC,724,3.10,1660.4,3346,2227,1100,3574,4.5,2.9,149,748,1.70,0.00,18.98,0.591,10246,0.048,0.000,3518,2227,690,690,3551,0,0,0,0,0,0,26.00,25.71,25.20,10.59,44.09
$STATE,769,end climb,SURFACE_DEPTH_REACHED
$STATE,769,begin surface coast
$FINISH,0.1,0.999334
$STATE,818,end surface coast,CONTROL_FINISHED_OK
$STATE,818,begin surface
$SM_CCo,916,0.00,0.000,0,0,689,1664.83
$SM_GC,0.63,30.83,0.15,0.00,0.037,0.094,0.000,502,2291,689,-6.34,-0.73,1664.83,0,0,0,0,0,0,26.05,26.00,26.10
$IRIDIUM_FIX,4808.40,-12337.82,240517,192226
$TT8_MAMPS,0.020223,0.158788
$HUMID,44.84
$INTERNAL_PRESSURE,10.4692
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,24.75,6.465
$10V_AH,10.49,3.454
$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,63.750,25.750,119.200,0.000,0.000,30.493,18.679,379.273,0.000,0.000,6.339,430.871,100.436,195.962,691.181,25.470,33.422,376.437,0.000,257.320,0.000,0.545,0.000
$DEVICE_MAMPS,135.405,1272.960,879.750,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,112.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313136
$DATA_FILE_SIZE,7074,170
$CAP_FILE_SIZE,35325,0
$CFSIZE,1024409600,1018675200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,194651,4742.100,-12224.791,5,1.1,5,16.3,0.0,223.1,8,16.2