version: 66.13
glider: 402
mission: 2
dive: 15
start: 5 24 117 7 35 59
data:
$ID,402
$MISSION,2
$DIVE,15
$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,40
$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,150
$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,520
$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,2500
$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,65
$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,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,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
$GPS1,240517,072824,4743.5723,-12224.9287,4,0.9,4,16.3,0.0,0.0,9,29.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-45.7
$GPS2,240517,073456,4743.4375,-12224.8965,5,0.8,5,16.3,0.0,0.0,10,27.3
$SPEED_LIMITS,0.150,0.244
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.010558,0.243795
$KALMAN_X,-4080.791992,576.044312,352.471130,2686.920898,28.647919
$KALMAN_Y,-5880.416992,1351.641235,464.972198,4496.130859,-542.848938
$MHEAD_RNG_PITCHd_Wd,341.2,1049,-30.0,-15.000,-31.58,1496
$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,-2.52,-146.6,515,2291,2016,754,0.0,0.0,0,16,7.18,0.00,0.00,0.000,2049,0.123,0.000,1119,2290,2017,2017,734,0,0,0,0,0,0,26.44,28.83,28.83,10.72,45.19
$GC,17,-2.52,-146.6,1119,2291,2015,734,1.0,0.0,1,35,6.22,0.00,-5.43,0.000,18438,0.086,0.000,1686,2291,2805,2805,804,0,0,0,0,0,0,26.10,25.70,26.15,10.72,45.11
$GC,69,-2.52,-146.6,1686,2291,2805,804,3.7,-16.8,12,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2290,2806,2806,778,0,0,0,0,0,0,26.38,26.39,26.39,10.88,44.92
$GC,109,-2.52,-146.6,1685,2291,2807,778,10.1,-16.5,21,115,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2290,2807,2807,768,0,0,0,0,0,0,26.44,26.45,26.44,10.88,45.70
$GC,149,-2.52,-146.6,1685,2291,2808,768,16.6,-16.3,30,156,0.00,3.92,0.00,0.000,260,0.000,0.080,1686,3686,2808,2808,765,0,0,0,0,0,0,26.48,26.11,26.49,10.88,44.92
$GC,194,-2.52,-146.6,1685,3686,2810,765,24.6,-17.7,40,201,0.00,3.65,0.00,0.000,1030,0.000,0.034,1686,2271,2810,2810,759,0,0,0,0,0,0,26.33,26.26,26.36,10.87,44.36
$GC,235,-2.52,-146.6,1686,2272,2811,759,31.5,-16.0,49,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2271,2811,2811,754,0,0,0,0,0,0,26.56,26.57,26.58,10.87,44.36
$GC,275,-2.52,-146.6,1686,2271,2812,754,37.8,-15.7,58,282,0.00,3.83,0.00,0.000,516,0.000,0.062,1686,861,2813,2813,754,0,0,0,0,0,0,26.60,26.24,26.61,10.86,44.48
$GC,372,-2.52,-146.6,1685,861,2815,754,52.9,-16.0,81,379,0.00,3.58,0.00,0.000,1030,0.000,0.037,1686,2258,2815,2815,743,0,0,0,0,0,0,26.45,26.34,26.47,10.87,44.68
$GC,413,-2.52,-146.6,1686,2258,2817,743,59.2,-15.0,90,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2258,2817,2817,741,0,0,0,0,0,0,26.69,26.70,26.70,10.86,44.48
$GC,453,-2.52,-146.6,1686,2258,2818,741,65.3,-15.6,99,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2258,2818,2818,741,0,0,0,0,0,0,26.71,26.72,26.72,10.86,44.25
$GC,493,-2.52,-146.6,1686,2258,2819,741,71.9,-17.2,108,500,0.00,3.78,0.00,0.000,516,0.000,0.063,1686,858,2819,2819,744,0,0,0,0,0,0,26.73,26.36,26.74,10.86,44.25
$GC,650,-2.52,-146.6,1686,858,2824,744,99.7,-17.7,146,657,0.00,3.60,0.00,0.000,1030,0.000,0.042,1687,2268,2824,2824,729,0,0,0,0,0,0,26.58,26.48,26.61,10.86,44.68
$GC,691,-2.52,-146.6,1686,2268,2825,729,106.6,-16.3,155,698,0.00,4.00,0.00,0.000,260,0.000,0.083,1686,3701,2825,2825,736,0,0,0,0,0,0,26.82,26.42,26.82,10.86,45.11
$GC,740,-2.52,-146.6,1686,3701,2826,736,114.9,-17.9,166,747,0.00,3.60,0.00,0.000,1030,0.000,0.035,1686,2276,2827,2827,738,0,0,0,0,0,0,26.63,26.56,26.65,10.86,44.48
$GC,782,-2.52,-146.6,1686,2276,2828,738,121.2,-13.7,175,788,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2276,2827,2827,738,0,0,0,0,0,0,26.84,26.85,26.84,10.86,44.76
$GC,822,-2.52,-146.6,1686,2276,2829,738,127.3,-14.9,184,828,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2276,2829,2829,739,0,0,0,0,0,0,26.84,26.86,26.86,10.86,44.88
$GC,862,-2.52,-146.6,1686,2276,2830,739,133.0,-14.7,193,868,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2275,2830,2830,739,0,0,0,0,0,0,26.86,26.88,26.88,10.86,44.64
$GC,902,-2.52,-146.6,1686,2276,2831,739,139.2,-15.5,202,908,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2275,2831,2831,740,0,0,0,0,0,0,26.87,26.89,26.89,10.86,45.39
$GC,942,-2.52,-146.6,1686,2276,2832,740,145.2,-14.8,211,948,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2276,2833,2833,740,0,0,0,0,0,0,26.89,26.90,26.90,10.86,44.40
$GC,982,-2.52,-146.6,1686,2275,2834,740,151.8,-17.3,220,989,0.00,3.78,0.00,0.000,516,0.000,0.063,1686,866,2834,2834,744,0,0,0,0,0,0,26.90,26.53,26.91,10.86,45.11
$GC,1027,-2.52,-146.6,1686,866,2836,744,160.2,-20.0,230,1034,0.00,3.58,0.00,0.000,1030,0.000,0.037,1686,2277,2836,2836,745,0,0,0,0,0,0,26.68,26.59,26.71,10.85,44.21
$GC,1068,-2.52,-146.6,1686,2278,2838,745,168.3,-18.8,239,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,1687,2278,2838,2838,744,0,0,0,0,0,0,26.91,26.93,26.92,10.86,44.88
$GC,1108,-2.52,-146.6,1686,2278,2839,744,174.9,-15.8,248,1115,0.00,3.78,0.00,0.000,516,0.000,0.062,1687,866,2839,2839,748,0,0,0,0,0,0,26.91,26.55,26.94,10.86,44.44
$STATE,1124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1124,begin apogee
$GC,1131,-0.38,0.0,1686,2235,2840,753,177.6,-15.6,251,1155,7.43,0.00,12.35,2.104,10244,0.099,0.000,2367,2235,2626,2626,4095,0,0,0,0,0,0,26.55,25.78,24.22,10.86,44.64
$STATE,1156,end apogee,CONTROL_FINISHED_OK
$STATE,1156,begin climb
$GC,1158,2.52,146.6,2367,2235,2626,4095,180.3,0.0,255,1182,9.40,0.00,10.43,2.018,11270,0.045,0.000,3286,2235,2455,2455,4095,0,0,0,0,0,0,26.08,26.25,23.87,10.82,44.88
$GC,1216,2.52,146.6,3286,2235,2453,4095,172.3,20.5,267,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2235,2453,2453,791,0,0,0,0,0,0,26.09,26.10,26.10,10.79,44.21
$GC,1256,2.52,146.6,3286,2235,2452,791,164.3,19.9,276,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2235,2452,2452,768,0,0,0,0,0,0,26.21,26.23,26.22,10.80,44.01
$GC,1296,2.52,146.6,3286,2235,2450,768,156.8,18.3,285,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2234,2450,2450,752,0,0,0,0,0,0,26.30,26.32,26.32,10.78,44.48
$GC,1336,2.52,146.6,3286,2235,2448,752,148.6,19.6,294,1343,0.00,3.97,0.00,0.000,260,0.000,0.070,3287,3655,2448,2448,744,0,0,0,0,0,0,26.36,26.01,26.38,10.79,44.48
$GC,1389,2.52,146.6,3286,3655,2445,744,136.6,23.4,306,1396,0.00,3.67,0.00,0.000,1030,0.000,0.034,3287,2226,2446,2446,732,0,0,0,0,0,0,26.25,26.16,26.27,10.79,44.44
$GC,1430,2.52,146.6,3286,2226,2444,732,127.5,21.7,315,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2226,2444,2444,725,0,0,0,0,0,0,26.48,26.50,26.50,10.79,44.80
$GC,1470,2.52,146.6,3286,2226,2442,725,119.0,21.2,324,1477,0.00,3.97,0.00,0.000,260,0.000,0.073,3286,3650,2442,2442,722,0,0,0,0,0,0,26.53,26.16,26.54,10.78,44.95
$GC,1499,2.52,146.6,3286,3650,2441,722,112.0,25.8,330,1506,0.00,3.65,0.00,0.000,1030,0.000,0.035,3287,2231,2440,2440,718,0,0,0,0,0,0,26.34,26.26,26.37,10.78,44.72
$GC,1540,2.52,146.6,3286,2231,2439,718,102.6,22.4,339,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2230,2439,2439,712,0,0,0,0,0,0,26.58,26.60,26.59,10.79,44.52
$GC,1580,2.52,146.6,3286,2231,2437,712,94.4,19.4,348,1587,0.00,3.95,0.00,0.000,260,0.000,0.071,3287,3651,2437,2437,710,0,0,0,0,0,0,26.61,26.25,26.63,10.78,44.32
$GC,1629,2.52,146.6,3286,3652,2435,710,83.9,23.1,359,1636,0.00,3.62,0.00,0.000,1030,0.000,0.034,3287,2232,2435,2435,705,0,0,0,0,0,0,26.44,26.36,26.47,10.78,44.32
$GC,1670,2.52,146.6,3285,2231,2433,705,75.2,20.3,368,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2231,2432,2432,701,0,0,0,0,0,0,26.67,26.68,26.68,10.77,44.76
$GC,1710,2.52,146.6,3286,2231,2431,701,67.5,18.5,377,1717,0.00,3.85,0.00,0.000,516,0.000,0.067,3287,814,2431,2431,700,0,0,0,0,0,0,26.69,26.32,26.70,10.77,44.44
$GC,1787,2.52,146.6,3286,814,2427,700,51.6,21.9,395,1794,0.00,3.62,0.00,0.000,1030,0.000,0.037,3287,2234,2427,2427,695,0,0,0,0,0,0,26.52,26.42,26.55,10.77,44.99
$GC,1828,2.52,146.6,3286,2235,2426,695,43.1,20.7,404,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2235,2426,2426,691,0,0,0,0,0,0,26.74,26.76,26.76,10.76,44.92
$GC,1868,2.52,146.6,3286,2235,2424,691,35.0,20.2,413,1875,0.00,3.83,0.00,0.000,516,0.000,0.065,3287,814,2424,2424,692,0,0,0,0,0,0,26.77,26.40,26.77,10.76,44.84
$GC,1973,2.52,146.6,3286,814,2419,692,14.2,19.2,438,1980,0.00,3.62,0.00,0.000,1030,0.000,0.037,3287,2228,2420,2420,684,0,0,0,0,0,0,26.60,26.50,26.63,10.76,45.47
$GC,2014,2.52,146.6,3286,2229,2418,684,7.9,15.5,447,2021,0.00,3.95,0.00,0.000,260,0.000,0.079,3287,3650,2417,2417,687,0,0,0,0,0,0,26.82,26.44,26.84,10.77,45.23
$STATE,2058,end climb,SURFACE_DEPTH_REACHED
$STATE,2058,begin surface coast
$FINISH,0.2,1.020258
$STATE,2076,end surface coast,CONTROL_FINISHED_OK
$STATE,2076,begin surface
$SM_CCo,2114,18.08,0.571,0,0,2017,520.31
$SM_GC,1.85,28.05,3.58,18.08,0.043,0.035,0.571,512,2267,2017,-6.19,0.82,520.31,0,0,0,0,0,0,26.55,26.58,25.70
$IRIDIUM_FIX,4808.40,-12337.82,240517,072934
$TT8_MAMPS,0.020972,0.104111
$HUMID,45.39
$INTERNAL_PRESSURE,10.6449
$TCM_TEMP,10.50
$XPDR_PINGS,1
$24V_AH,23.87,5.813
$10V_AH,10.60,3.054
$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,58.275,89.925,22.775,18.075,0.000,32.975,27.511,255.838,0.250,0.000,6.558,1125.190,119.994,259.397,1000.719,36.973,33.456,668.447,0.000,668.273,0.000,0.545,0.000
$DEVICE_MAMPS,123.165,82.620,2103.750,571.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313204
$DATA_FILE_SIZE,17434,461
$CAP_FILE_SIZE,69074,0
$CFSIZE,1024409600,1019461632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,081210,4743.458,-12225.084,4,0.9,4,16.3,0.0,0.0,9,26.1