version: 66.13
glider: 402
mission: 2
dive: 29
start: 5 24 117 19 52 34
data:
$ID,402
$MISSION,2
$DIVE,29
$N_DIVES,32
$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,60
$T_MISSION,80
$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,500
$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,550
$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,20
$R_STBD_OVSHOOT,25
$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,15
$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
$GPS1,240517,194651,4742.1001,-12224.7910,5,1.1,5,16.3,0.0,223.1,8,16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-34.0
$GPS2,240517,195121,4742.0410,-12224.8184,5,1.1,5,16.3,0.0,0.0,8,17.3
$SPEED_LIMITS,0.100,0.375
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.148910,0.343783
$KALMAN_X,-4697.835938,-333.291656,569.841125,4095.369141,-161.094391
$KALMAN_Y,-5616.983398,-434.108307,584.487488,3312.040771,-259.123016
$MHEAD_RNG_PITCHd_Wd,7.1,850,-11.8,-10.000,-14.94,7361
$D_GRID,55
$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,-1.59,-488.7,501,2291,688,537,0.0,0.0,0,16,6.95,0.00,0.00,0.000,2049,0.103,0.000,1114,2290,688,688,498,0,0,0,0,0,0,26.45,28.83,28.83,10.56,45.23
$GC,17,-1.59,-488.7,1115,2292,688,498,0.6,0.0,1,53,9.48,4.80,-17.45,0.000,18948,0.060,1.274,2020,643,3202,3202,686,0,0,0,0,0,0,26.15,25.01,26.23,10.56,45.70
$GC,195,-1.59,-488.7,2019,643,3209,686,27.1,-15.8,42,203,0.00,4.22,0.00,0.000,1030,0.000,0.041,2020,2267,3209,3209,698,0,0,0,0,0,0,26.30,26.20,26.33,11.00,45.47
$GC,237,-1.59,-488.7,2019,2267,3209,698,32.9,-13.7,51,244,0.00,4.20,0.00,0.000,260,0.000,0.087,2020,3744,3210,3210,724,0,0,0,0,0,0,26.55,26.17,26.56,11.00,44.44
$GC,294,-1.59,-488.7,2019,3745,3211,724,41.5,-15.4,64,301,0.00,3.72,0.00,0.000,1030,0.000,0.037,2020,2286,3211,3211,739,0,0,0,0,0,0,26.40,26.33,26.42,10.99,44.29
$GC,335,-1.59,-488.7,2019,2286,3212,739,47.0,-13.0,73,342,0.00,4.53,0.00,0.000,516,0.000,0.074,2020,647,3212,3212,756,0,0,0,0,0,0,26.63,26.23,26.63,10.98,44.60
$GC,372,-1.59,-488.7,2020,648,3213,756,52.6,-15.9,81,379,0.00,4.25,0.00,0.000,1030,0.000,0.041,2020,2286,3213,3213,767,0,0,0,0,0,0,26.43,26.32,26.46,10.98,44.64
$STATE,388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,388,begin apogee
$GC,392,-0.38,0.0,2020,2217,3213,765,55.0,-14.4,84,427,4.00,0.00,27.75,1.132,10244,0.070,0.000,2402,2217,2626,2626,3380,0,0,0,0,0,0,26.34,25.60,24.75,10.98,44.36
$STATE,428,end apogee,CONTROL_FINISHED_OK
$STATE,429,begin climb
$GC,430,1.59,488.7,2402,2217,2626,3380,57.0,0.0,90,470,6.45,0.00,27.42,1.115,11270,0.051,0.000,3022,2216,2055,2055,3092,0,0,0,0,0,0,25.78,25.96,24.35,10.87,44.56
$GC,504,1.59,488.7,3021,2217,2054,3092,50.3,11.8,105,510,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2216,2054,2054,772,0,0,0,0,0,0,25.86,25.88,25.88,10.76,43.54
$GC,544,1.59,488.7,3021,2217,2053,772,45.5,12.3,114,551,0.00,4.57,0.00,0.000,516,0.000,0.075,3022,609,2053,2053,747,0,0,0,0,0,0,26.04,25.67,26.05,10.76,43.97
$GC,573,1.59,488.7,3021,609,2053,747,42.0,11.5,120,580,0.00,4.25,0.00,0.000,1030,0.000,0.041,3021,2216,2052,2052,727,0,0,0,0,0,0,25.93,25.83,25.96,10.75,44.21
$GC,614,1.59,488.7,3020,2218,2051,727,37.2,12.2,129,621,0.00,4.45,0.00,0.000,260,0.000,0.090,3022,3745,2051,2051,712,0,0,0,0,0,0,26.22,25.85,26.24,10.75,44.13
$GC,647,1.59,488.7,3021,3745,2050,712,32.3,15.7,136,655,0.00,3.92,0.00,0.000,1030,0.000,0.037,3022,2236,2050,2050,697,0,0,0,0,0,0,26.09,26.01,26.12,10.74,44.36
$GC,689,1.59,488.7,3021,2236,2049,697,27.2,11.9,145,694,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2236,2049,2049,682,0,0,0,0,0,0,26.36,26.37,26.37,10.75,44.68
$GC,728,1.59,488.7,3021,2236,2048,682,22.9,10.7,154,735,0.00,4.30,0.00,0.000,260,0.000,0.083,3022,3746,2047,2047,674,0,0,0,0,0,0,26.41,26.04,26.42,10.74,44.29
$GC,761,1.59,488.7,3021,3746,2047,674,19.2,11.8,161,768,0.00,3.95,0.00,0.000,1030,0.000,0.037,3023,2218,2047,2047,664,0,0,0,0,0,0,26.25,26.17,26.27,10.74,44.32
$GC,803,1.84,664.7,3022,2219,2046,664,15.5,7.6,170,822,0.75,4.60,10.20,0.632,10756,0.045,0.079,3101,596,1849,1849,3930,0,0,0,0,0,0,26.25,25.96,25.40,10.74,44.44
$GC,836,2.15,890.8,3101,596,1849,3930,13.2,6.9,176,858,1.02,4.30,12.77,0.631,11270,0.043,0.041,3205,2233,1586,1586,4095,0,0,0,0,0,0,26.13,26.08,25.31,10.71,45.23
$GC,893,2.48,1123.3,3205,2232,1585,4095,9.2,6.8,187,919,0.98,4.35,13.20,0.597,10500,0.048,0.088,3305,3745,1315,1315,3368,0,0,0,0,0,0,26.06,25.79,25.27,10.67,45.35
$GC,933,2.71,1288.3,3305,3744,1315,3368,6.1,7.7,194,953,0.75,3.95,9.85,0.534,11270,0.051,0.039,3381,2227,1123,1123,4095,0,0,0,0,0,0,25.96,25.97,25.27,10.63,45.15
$GC,988,3.25,1675.3,3380,2226,1122,4095,3.0,4.6,205,1007,1.75,0.00,14.62,0.544,10754,0.047,0.000,3556,2227,814,814,3985,0,0,0,0,0,0,25.98,28.83,26.05,10.60,45.66
$STATE,1008,end climb,SURFACE_DEPTH_REACHED
$STATE,1008,begin surface coast
$FINISH,0.1,1.008725
$STATE,1033,end surface coast,CONTROL_FINISHED_OK
$STATE,1033,begin surface
$SM_CCo,1132,0.00,0.000,0,0,815,1555.78
$SM_GC,0.65,31.42,0.15,0.00,0.039,0.243,0.000,501,2288,815,-6.34,-0.73,1555.78,0,0,0,0,0,0,25.98,25.59,26.04
$IRIDIUM_FIX,4808.40,-12337.82,240517,194735
$TT8_MAMPS,0.020972,0.128828
$HUMID,44.56
$INTERNAL_PRESSURE,10.4887
$TCM_TEMP,11.40
$XPDR_PINGS,3
$24V_AH,24.35,6.507
$10V_AH,10.56,3.469
$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,63.550,68.675,115.825,0.000,0.000,28.709,18.629,163.408,0.750,0.000,12.334,526.963,107.022,239.591,544.529,23.508,33.446,464.851,0.000,319.101,0.000,0.546,0.000
$DEVICE_MAMPS,102.510,1273.725,1132.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,141.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313148
$DATA_FILE_SIZE,7085,214
$CAP_FILE_SIZE,41084,0
$CFSIZE,1024409600,1018626048
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,843.91,0x236164,1,24
$INTR,1,911.13,0x236162,1,24
$GPS,240517,201203,4741.975,-12224.949,5,1.1,5,16.3,0.0,187.1,8,36.4