version: 66.13
glider: 402
mission: 2
dive: 14
start: 5 24 117 6 51 10
data:
$ID,402
$MISSION,2
$DIVE,14
$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,24
$R_STBD_OVSHOOT,13
$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
$GPS1,240517,064024,4743.6138,-12224.8584,4,0.8,4,16.3,0.0,131.6,11,37.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-42.1
$GPS2,240517,065007,4743.4873,-12224.8350,6,0.8,6,16.3,0.0,0.0,11,39.0
$SPEED_LIMITS,0.150,0.244
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.010361,0.243809
$KALMAN_X,-3848.111572,475.323212,311.739105,2671.044678,-8.527039
$KALMAN_Y,-5137.733398,1159.767456,541.898193,3967.104980,-230.547333
$MHEAD_RNG_PITCHd_Wd,346.1,951,-30.0,-15.000,-31.58,1496
$D_GRID,175
$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,-2.52,-146.6,514,2273,2017,747,0.0,0.0,0,15,6.35,0.00,0.00,0.000,2049,0.119,0.000,1055,2273,2017,2017,731,0,0,0,0,0,0,26.42,28.83,28.83,10.72,44.84
$GC,16,-2.52,-146.6,1055,2273,2017,731,0.9,0.0,1,36,6.70,4.28,-5.53,0.000,18692,0.070,1.286,1688,3696,2803,2803,808,0,0,0,0,0,0,26.13,24.89,26.17,10.73,45.39
$GC,46,-2.52,-146.6,1687,3697,2803,808,0.1,1.2,6,53,0.00,3.70,0.00,0.000,1030,0.000,0.037,1688,2275,2803,2803,794,0,0,0,0,0,0,26.13,26.07,26.15,10.89,45.55
$GC,88,-2.52,-146.6,1687,2274,2803,794,0.7,-2.9,15,95,0.00,4.00,0.00,0.000,260,0.000,0.073,1688,3703,2803,2803,779,0,0,0,0,0,0,26.39,26.02,26.40,10.88,44.80
$GC,140,-2.52,-146.6,1687,3704,2806,779,11.2,-23.3,27,148,0.00,3.67,0.00,0.000,1030,0.000,0.035,1688,2273,2806,2806,765,0,0,0,0,0,0,26.27,26.20,26.29,10.89,45.31
$GC,182,-2.52,-146.6,1687,2273,2807,765,18.0,-16.5,36,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,2273,2807,2807,758,0,0,0,0,0,0,26.50,26.51,26.51,10.88,44.64
$GC,221,-2.52,-146.6,1687,2273,2808,758,24.8,-16.8,45,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,2272,2808,2808,753,0,0,0,0,0,0,26.54,26.55,26.55,10.87,44.01
$GC,261,-2.52,-146.6,1687,2273,2809,753,31.0,-15.3,54,268,0.00,3.83,0.00,0.000,516,0.000,0.063,1688,863,2808,2808,753,0,0,0,0,0,0,26.58,26.22,26.59,10.87,44.48
$GC,394,-2.52,-146.6,1687,864,2813,753,52.2,-16.2,86,401,0.00,3.67,0.00,0.000,1030,0.000,0.038,1687,2288,2813,2813,736,0,0,0,0,0,0,26.46,26.35,26.48,10.86,44.36
$GC,435,-2.52,-146.6,1687,2289,2815,736,58.4,-14.6,95,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,2288,2815,2815,735,0,0,0,0,0,0,26.70,26.71,26.71,10.86,44.40
$GC,475,-2.52,-146.6,1687,2289,2815,735,64.5,-15.5,104,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,2289,2816,2816,736,0,0,0,0,0,0,26.72,26.73,26.72,10.86,44.52
$GC,515,-2.52,-146.6,1687,2288,2817,736,71.3,-17.2,113,522,0.00,3.85,0.00,0.000,516,0.000,0.062,1688,864,2817,2817,740,0,0,0,0,0,0,26.74,26.37,26.74,10.86,44.48
$GC,632,-2.52,-146.6,1687,865,2821,740,92.0,-17.2,141,639,0.00,3.67,0.00,0.000,1030,0.000,0.038,1688,2296,2821,2821,731,0,0,0,0,0,0,26.57,26.47,26.60,10.86,44.09
$GC,674,-2.52,-146.6,1687,2296,2822,731,98.8,-16.4,150,679,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,2296,2822,2822,732,0,0,0,0,0,0,26.80,26.82,26.82,10.86,43.93
$GC,713,-2.52,-146.6,1686,2296,2823,732,105.1,-15.7,159,719,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,2296,2823,2823,733,0,0,0,0,0,0,26.82,26.84,26.83,10.86,44.32
$GC,753,-2.52,-146.6,1687,2296,2824,733,111.1,-14.6,168,760,0.00,3.90,0.00,0.000,260,0.000,0.083,1688,3697,2824,2824,740,0,0,0,0,0,0,26.83,26.44,26.84,10.86,45.15
$GC,818,-2.52,-146.6,1687,3698,2826,740,121.1,-16.5,183,825,0.00,3.55,0.00,0.000,1030,0.000,0.034,1688,2298,2826,2826,738,0,0,0,0,0,0,26.65,26.58,26.67,10.86,43.97
$GC,860,-2.52,-146.6,1687,2299,2827,738,126.8,-14.4,192,866,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,2297,2827,2827,738,0,0,0,0,0,0,26.86,26.87,26.87,10.86,44.09
$GC,900,-2.52,-146.6,1687,2298,2828,738,132.9,-15.1,201,907,0.00,3.85,0.00,0.000,516,0.000,0.063,1688,864,2828,2828,743,0,0,0,0,0,0,26.87,26.51,26.88,10.86,44.36
$GC,941,-2.52,-146.6,1687,865,2831,743,140.0,-17.3,210,948,0.00,3.67,0.00,0.000,1030,0.000,0.040,1688,2297,2830,2830,745,0,0,0,0,0,0,26.65,26.55,26.68,10.86,44.68
$GC,982,-2.52,-146.6,1687,2297,2831,745,146.2,-14.6,219,988,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,2297,2831,2831,743,0,0,0,0,0,0,26.89,26.90,26.90,10.86,44.99
$GC,1022,-2.52,-146.6,1687,2298,2833,743,152.4,-15.4,228,1029,0.00,3.85,0.00,0.000,516,0.000,0.063,1688,867,2833,2833,747,0,0,0,0,0,0,26.89,26.53,26.91,10.86,44.76
$GC,1067,-2.52,-146.6,1686,867,2834,747,160.4,-18.2,238,1074,0.00,3.62,0.00,0.000,1030,0.000,0.040,1688,2292,2834,2834,747,0,0,0,0,0,0,26.68,26.58,26.72,10.86,44.68
$GC,1110,-2.52,-146.6,1687,2292,2836,747,167.7,-17.7,247,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,2292,2836,2836,746,0,0,0,0,0,0,26.91,26.93,26.93,10.86,44.21
$GC,1149,-2.52,-146.6,1687,2292,2837,746,174.7,-15.9,256,1156,0.00,3.83,0.00,0.000,516,0.000,0.062,1688,867,2837,2837,749,0,0,0,0,0,0,26.92,26.55,26.93,10.86,45.11
$STATE,1163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1163,begin apogee
$GC,1170,-0.38,0.0,1688,2232,2838,754,176.7,-15.7,258,1194,7.47,0.00,12.40,2.100,10244,0.100,0.000,2366,2233,2627,2627,4095,0,0,0,0,0,0,26.55,25.78,24.22,10.85,44.52
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1196,2.52,146.6,2366,2233,2626,4095,180.2,0.0,262,1227,9.45,4.07,10.48,2.011,10500,0.048,0.083,3288,3655,2455,2455,4095,0,0,0,0,0,0,26.10,25.94,23.88,10.82,44.95
$GC,1269,2.52,146.6,3288,3655,2453,4095,168.3,25.0,277,1276,0.00,3.70,0.00,0.000,1030,0.000,0.034,3288,2235,2453,2453,785,0,0,0,0,0,0,25.95,25.86,25.97,10.79,44.64
$GC,1310,2.52,146.6,3288,2235,2451,785,159.5,19.8,286,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2235,2451,2451,764,0,0,0,0,0,0,26.24,26.26,26.25,10.79,44.92
$GC,1350,2.52,146.6,3288,2235,2449,764,151.6,19.6,295,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2234,2450,2450,750,0,0,0,0,0,0,26.32,26.34,26.33,10.79,44.21
$GC,1390,2.52,146.6,3287,2235,2448,750,143.9,19.7,304,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2234,2448,2448,739,0,0,0,0,0,0,26.39,26.40,26.40,10.79,44.44
$GC,1430,2.52,146.6,3287,2235,2446,739,135.4,21.5,313,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2234,2446,2446,729,0,0,0,0,0,0,26.44,26.46,26.45,10.78,44.60
$GC,1470,2.52,146.6,3287,2235,2444,729,127.2,20.2,322,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2234,2443,2443,722,0,0,0,0,0,0,26.49,26.51,26.50,10.78,44.40
$GC,1510,2.52,146.6,3288,2235,2443,722,118.9,20.9,331,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2234,2442,2442,715,0,0,0,0,0,0,26.53,26.54,26.54,10.78,44.64
$GC,1550,2.52,146.6,3287,2235,2441,715,110.7,20.5,340,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2234,2441,2441,709,0,0,0,0,0,0,26.57,26.58,26.58,10.78,44.60
$GC,1590,2.52,146.6,3288,2235,2439,709,102.7,19.0,349,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2235,2439,2439,704,0,0,0,0,0,0,26.60,26.62,26.61,10.78,44.88
$GC,1630,2.52,146.6,3288,2235,2438,704,94.7,20.6,358,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2234,2437,2437,701,0,0,0,0,0,0,26.63,26.65,26.64,10.78,44.56
$GC,1669,2.52,146.6,3288,2235,2435,701,86.5,20.7,367,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2235,2435,2435,697,0,0,0,0,0,0,26.65,26.67,26.67,10.78,44.88
$GC,1709,2.52,146.6,3288,2235,2435,697,79.0,17.8,376,1716,0.00,3.92,0.00,0.000,260,0.000,0.072,3288,3651,2434,2434,697,0,0,0,0,0,0,26.68,26.32,26.70,10.77,45.23
$GC,1726,2.52,146.6,3288,3652,2434,697,75.6,19.7,379,1733,0.00,3.65,0.00,0.000,1030,0.000,0.034,3288,2231,2433,2433,698,0,0,0,0,0,0,26.48,26.40,26.51,10.77,45.07
$GC,1767,2.52,146.6,3288,2231,2432,698,67.3,18.7,388,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2231,2432,2432,694,0,0,0,0,0,0,26.70,26.72,26.72,10.77,44.56
$GC,1807,2.52,146.6,3288,2231,2430,694,60.6,16.4,397,1814,0.00,3.85,0.00,0.000,516,0.000,0.067,3289,810,2430,2430,695,0,0,0,0,0,0,26.73,26.36,26.74,10.77,44.25
$GC,1836,2.52,146.6,3288,810,2428,695,55.5,18.2,403,1843,0.00,3.60,0.00,0.000,1030,0.000,0.037,3289,2220,2429,2429,695,0,0,0,0,0,0,26.53,26.42,26.55,10.77,44.72
$GC,1877,2.52,146.6,3288,2220,2427,695,48.1,18.1,412,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2220,2427,2427,692,0,0,0,0,0,0,26.75,26.77,26.77,10.77,44.36
$GC,1917,2.52,146.6,3288,2220,2426,692,40.9,18.1,421,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2220,2426,2426,689,0,0,0,0,0,0,26.77,26.79,26.79,10.76,44.80
$GC,1957,2.52,146.6,3288,2220,2424,689,33.1,20.2,430,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2220,2424,2424,686,0,0,0,0,0,0,26.79,26.81,26.80,10.76,44.80
$GC,1996,2.52,146.6,3288,2220,2422,686,25.6,18.4,439,2003,0.00,3.83,0.00,0.000,516,0.000,0.067,3288,809,2422,2422,688,0,0,0,0,0,0,26.80,26.44,26.82,10.75,44.88
$GC,2113,2.52,146.6,3288,809,2418,688,5.5,16.4,467,2120,0.00,3.58,0.00,0.000,1030,0.000,0.036,3288,2216,2418,2418,680,0,0,0,0,0,0,26.63,26.53,26.65,10.77,45.51
$STATE,2133,end climb,SURFACE_DEPTH_REACHED
$STATE,2133,begin surface coast
$FINISH,0.5,1.019679
$STATE,2143,end surface coast,CONTROL_FINISHED_OK
$STATE,2143,begin surface
$SM_CCo,2177,18.20,0.595,0,0,2018,521.17
$SM_GC,4.12,27.85,0.17,18.20,0.039,0.158,0.595,516,2290,2018,-6.19,-0.68,521.17,0,0,0,0,0,0,26.56,26.46,25.67
$IRIDIUM_FIX,4808.40,-12337.82,240517,064454
$TT8_MAMPS,0.020972,0.168525
$HUMID,44.88
$INTERNAL_PRESSURE,10.6449
$TCM_TEMP,10.60
$XPDR_PINGS,1
$24V_AH,23.88,5.776
$10V_AH,10.49,3.028
$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,57.825,90.875,22.875,18.200,0.000,60.526,39.822,336.484,0.250,0.000,6.572,1154.532,180.223,273.928,1148.646,41.109,33.466,698.796,0.000,685.017,0.000,0.544,0.000
$DEVICE_MAMPS,118.575,1285.965,2099.925,595.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313140
$DATA_FILE_SIZE,17401,473
$CAP_FILE_SIZE,75455,0
$CFSIZE,1024409600,1019527168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,240517,072824,4743.572,-12224.929,4,0.9,4,16.3,0.0,0.0,9,29.5