version: 66.13
glider: 402
mission: 2
dive: 30
start: 5 24 117 20 18 19
data:
$ID,402
$MISSION,2
$DIVE,30
$N_DIVES,32
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,150
$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,50
$T_MISSION,60
$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,25
$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,300
$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,21
$R_STBD_OVSHOOT,24
$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
$GPS1,240517,201203,4741.9746,-12224.9492,5,1.1,5,16.3,0.0,187.1,8,36.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-35.7
$GPS2,240517,201710,4741.9341,-12224.9424,5,1.0,5,16.3,0.0,0.0,8,80.8
$SPEED_LIMITS,0.214,0.375
$TGT_NAME,HEADING
$TGT_LATLONG,4747.333,-12238.862
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.319731,0.195351
$KALMAN_X,-4869.947266,-358.574554,474.529144,4232.824219,-243.713440
$KALMAN_Y,-5862.717773,-443.213318,314.676605,3637.047852,-456.073639
$MHEAD_RNG_PITCHd_Wd,285.1,20000,-11.8,-10.000,-14.94,7363
$D_GRID,68
$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,6,-1.59,-488.8,500,2288,814,558,0.0,0.0,0,16,7.18,0.00,0.00,0.000,2049,0.105,0.000,1129,2288,814,814,520,0,0,0,0,0,0,26.43,28.83,28.83,10.58,46.33
$GC,17,-1.59,-488.8,1129,2288,814,520,0.6,0.0,1,53,9.30,4.80,-16.40,0.000,18948,0.062,1.271,2018,645,3202,3202,725,0,0,0,0,0,0,26.13,24.99,26.21,10.58,45.62
$GC,107,-1.59,-488.8,2018,646,3205,725,12.2,-25.1,20,115,0.00,4.32,0.00,0.000,1030,0.000,0.047,2019,2265,3205,3205,739,0,0,0,0,0,0,26.15,26.04,26.18,11.03,46.61
$GC,149,-1.59,-488.8,2018,2267,3207,739,21.6,-18.6,29,154,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2266,3207,3207,750,0,0,0,0,0,0,26.42,26.44,26.44,11.02,45.43
$GC,188,-1.59,-488.8,2018,2267,3208,750,27.1,-12.7,38,194,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2266,3208,3208,758,0,0,0,0,0,0,26.48,26.48,26.49,11.01,45.74
$GC,228,-1.59,-488.8,2018,2267,3209,758,32.4,-13.9,47,235,0.00,4.22,0.00,0.000,260,0.000,0.089,2018,3747,3210,3210,771,0,0,0,0,0,0,26.51,26.13,26.53,11.00,45.35
$GC,273,-1.59,-488.8,2018,3747,3210,771,39.2,-15.3,57,280,0.00,3.80,0.00,0.000,1030,0.000,0.037,2018,2276,3211,3211,774,0,0,0,0,0,0,26.36,26.29,26.39,10.99,45.15
$GC,314,-1.59,-488.8,2018,2276,3211,774,45.3,-14.3,66,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2276,3212,3212,773,0,0,0,0,0,0,26.59,26.60,26.60,10.99,45.07
$GC,354,-1.59,-488.8,2018,2276,3214,773,50.9,-14.1,75,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2275,3213,3213,774,0,0,0,0,0,0,26.62,26.63,26.63,10.99,45.47
$GC,394,-1.59,-488.8,2017,2276,3214,774,56.6,-14.4,84,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2275,3214,3214,774,0,0,0,0,0,0,26.65,26.66,26.66,10.99,45.39
$GC,433,-1.59,-488.8,2018,2277,3214,774,62.4,-14.2,93,440,0.00,4.18,0.00,0.000,260,0.000,0.091,2019,3747,3215,3215,782,0,0,0,0,0,0,26.67,26.29,26.68,10.98,45.39
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,477,-0.38,0.0,2018,2225,3216,782,68.1,-16.2,101,512,4.00,0.00,28.27,1.268,10244,0.070,0.000,2402,2224,2626,2626,3427,0,0,0,0,0,0,26.37,25.54,24.60,10.99,45.43
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,514,1.59,488.8,2402,2224,2626,3427,71.2,0.0,107,555,6.50,0.00,27.98,1.252,11270,0.052,0.000,3022,2224,2054,2054,3131,0,0,0,0,0,0,25.73,25.92,24.17,10.87,45.11
$GC,589,1.59,488.8,3021,2224,2054,3131,64.9,11.3,122,595,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2223,2053,2053,773,0,0,0,0,0,0,25.82,25.84,25.82,10.76,44.64
$GC,629,1.59,488.8,3021,2224,2053,773,60.2,11.5,131,636,0.00,4.40,0.00,0.000,260,0.000,0.083,3022,3746,2053,2053,748,0,0,0,0,0,0,26.01,25.65,26.02,10.75,44.56
$GC,670,1.59,488.8,3021,3746,2052,748,55.6,11.2,140,677,0.00,3.97,0.00,0.000,1030,0.000,0.037,3022,2237,2052,2052,726,0,0,0,0,0,0,25.95,25.86,25.97,10.75,44.29
$GC,712,1.73,591.7,3021,2237,2051,726,51.7,8.6,149,731,0.43,4.70,7.03,0.841,10756,0.053,0.079,3068,598,1935,1935,3925,0,0,0,0,0,0,25.98,25.73,24.90,10.75,44.60
$GC,749,1.73,591.7,3068,598,1934,3925,48.0,10.3,156,756,0.00,4.32,0.00,0.000,1030,0.000,0.038,3069,2239,1935,1935,781,0,0,0,0,0,0,26.00,25.90,26.03,10.73,44.88
$GC,791,1.83,657.8,3068,2239,1934,781,44.1,9.1,165,805,0.25,4.35,5.30,0.689,10500,0.058,0.087,3099,3745,1858,1858,4095,0,0,0,0,0,0,26.04,25.63,25.04,10.72,44.95
$GC,831,1.83,657.8,3098,3745,1856,4095,39.4,13.4,173,838,0.00,3.92,0.00,0.000,1030,0.000,0.037,3099,2244,1856,1856,770,0,0,0,0,0,0,26.08,25.99,26.11,10.71,45.31
$GC,872,1.83,657.8,3098,2245,1856,770,34.7,11.8,182,879,0.00,4.68,0.00,0.000,516,0.000,0.078,3099,593,1856,1856,737,0,0,0,0,0,0,26.35,25.96,26.36,10.71,45.86
$GC,893,1.83,657.8,3098,593,1855,737,32.3,10.7,186,900,0.00,4.35,0.00,0.000,1030,0.000,0.041,3099,2244,1855,1855,713,0,0,0,0,0,0,26.17,26.06,26.20,10.70,45.03
$GC,935,1.90,713.9,3098,2244,1853,713,28.2,9.2,195,949,0.20,4.28,4.55,0.529,10500,0.064,0.086,3123,3745,1792,1792,4095,0,0,0,0,0,0,26.19,26.01,25.32,10.70,45.86
$GC,975,1.90,713.9,3123,3745,1791,4095,23.8,11.4,203,982,0.00,3.88,0.00,0.000,1030,0.000,0.037,3123,2251,1791,1791,769,0,0,0,0,0,0,26.23,26.16,26.26,10.69,45.74
$GC,1016,2.03,806.8,3123,2251,1790,769,20.2,8.7,212,1035,0.38,4.65,6.38,0.578,10756,0.056,0.076,3164,595,1683,1683,3882,0,0,0,0,0,0,26.22,25.86,25.41,10.69,45.39
$GC,1049,2.03,806.8,3164,594,1683,3882,16.1,12.7,218,1057,0.00,4.35,0.00,0.000,1030,0.000,0.040,3165,2250,1683,1683,782,0,0,0,0,0,0,26.22,26.12,26.25,10.68,45.62
$GC,1091,2.03,806.8,3164,2250,1681,782,11.4,10.1,227,1098,0.00,4.30,0.00,0.000,260,0.000,0.086,3165,3749,1681,1681,741,0,0,0,0,0,0,26.48,26.10,26.50,10.68,46.29
$GC,1116,2.22,939.7,3163,3749,1681,741,9.3,8.2,232,1136,0.60,3.90,8.12,0.542,11270,0.050,0.038,3226,2243,1529,1529,4095,0,0,0,0,0,0,26.23,26.25,25.50,10.68,46.06
$GC,1171,2.87,1402.7,3225,2242,1529,4095,6.9,3.6,243,1207,2.05,4.68,24.38,0.617,10756,0.046,0.078,3432,600,990,990,2843,0,0,0,0,0,0,26.20,25.79,25.31,10.66,45.90
$GC,1221,3.32,1723.4,3433,599,990,2843,3.7,5.5,252,1247,1.58,4.35,16.10,0.548,11266,0.052,0.042,3588,2253,647,647,3848,0,0,0,0,0,0,25.98,25.96,26.01,10.58,45.94
$STATE,1248,end climb,SURFACE_DEPTH_REACHED
$STATE,1248,begin surface coast
$FINISH,0.0,0.999315
$STATE,1269,end surface coast,CONTROL_FINISHED_OK
$STATE,1269,begin surface
$SM_CCo,1367,0.00,0.000,0,0,647,1700.03
$SM_GC,0.64,31.73,0.05,0.00,0.037,0.158,0.000,500,2271,647,-6.34,-0.96,1700.03,0,0,0,0,0,0,25.98,25.98,26.03
$IRIDIUM_FIX,4808.40,-12337.82,240517,201248
$TT8_MAMPS,0.021721,0.15729
$HUMID,45.55
$INTERNAL_PRESSURE,10.4692
$TCM_TEMP,11.40
$XPDR_PINGS,3
$24V_AH,24.17,6.557
$10V_AH,10.52,3.486
$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,64.175,94.425,128.100,0.000,0.000,29.454,14.674,198.895,0.750,0.000,6.302,632.185,116.481,290.736,639.640,28.150,33.446,566.367,0.000,385.676,0.000,0.546,0.000
$DEVICE_MAMPS,104.805,1271.430,1267.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,172.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10511,261
$CAP_FILE_SIZE,51244,0
$CFSIZE,1024409600,1018560512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,204143,4741.743,-12225.436,4,0.8,4,16.3,0.5,192.4,9,68.3