version: 66.13
glider: 402
mission: 2
dive: 26
start: 5 24 117 17 31 52
data:
$ID,402
$MISSION,2
$DIVE,26
$N_DIVES,30
$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,30
$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,20
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,240517,172626,4743.2104,-12224.8994,5,0.8,5,16.3,0.0,0.0,10,19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-56.0
$GPS2,240517,173046,4743.1860,-12224.9004,5,0.8,5,16.3,0.0,0.0,10,19.1
$SPEED_LIMITS,0.275,0.341
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.017753,-0.340903
$KALMAN_X,-3923.908203,-276.114471,608.605591,3119.174561,69.227325
$KALMAN_Y,-5511.569336,-566.142151,1493.174683,4544.707031,-219.543640
$MHEAD_RNG_PITCHd_Wd,160.7,1277,-13.3,-10.000,-16.33,5907
$D_GRID,178
$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,-1.57,-391.0,501,2288,2116,520,0.0,0.0,0,16,6.82,0.00,0.00,0.000,2049,0.136,0.000,1064,2287,2116,2116,550,0,0,0,0,0,0,26.53,28.83,28.83,10.78,45.11
$GC,17,-1.57,-391.0,1064,2287,2116,550,1.3,0.0,1,41,11.02,0.00,-6.35,0.000,18438,0.114,0.000,2021,2287,3086,3086,714,0,0,0,0,0,0,26.15,25.76,26.27,10.78,45.74
$GC,75,-1.57,-391.0,2021,2287,3087,714,5.9,-16.9,13,82,0.00,4.15,0.00,0.000,260,0.000,0.091,2022,3734,3087,3087,732,0,0,0,0,0,0,26.45,26.07,26.46,10.97,45.66
$GC,100,-1.57,-391.0,2021,3735,3088,732,11.2,-21.8,18,107,0.00,3.75,0.00,0.000,1030,0.000,0.037,2021,2277,3089,3089,747,0,0,0,0,0,0,26.29,26.22,26.30,10.97,46.18
$GC,141,-1.57,-391.0,2021,2278,3090,747,18.5,-15.1,27,147,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2277,3090,3090,753,0,0,0,0,0,0,26.52,26.53,26.53,10.96,44.92
$GC,181,-1.57,-391.0,2021,2278,3090,753,23.4,-11.5,36,188,0.00,4.53,0.00,0.000,516,0.000,0.073,2022,648,3090,3090,763,0,0,0,0,0,0,26.56,26.17,26.58,10.95,45.27
$GC,242,-1.57,-391.0,2021,648,3092,763,31.1,-12.2,50,249,0.00,4.20,0.00,0.000,1030,0.000,0.041,2022,2258,3092,3092,763,0,0,0,0,0,0,26.40,26.29,26.43,10.95,44.88
$GC,283,-1.57,-391.0,2021,2260,3092,763,35.2,-10.3,59,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2259,3093,3093,764,0,0,0,0,0,0,26.64,26.65,26.65,10.94,45.03
$GC,323,-1.57,-391.0,2021,2258,3094,764,39.2,-10.0,68,330,0.00,4.25,0.00,0.000,260,0.000,0.090,2022,3746,3094,3094,771,0,0,0,0,0,0,26.67,26.28,26.68,10.94,44.09
$GC,360,-1.57,-391.0,2021,3746,3094,771,43.7,-13.2,76,367,0.00,3.78,0.00,0.000,1030,0.000,0.038,2022,2272,3095,3095,774,0,0,0,0,0,0,26.48,26.41,26.51,10.94,44.52
$GC,401,-1.57,-391.0,2021,2272,3095,774,48.5,-11.3,85,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2271,3095,3095,771,0,0,0,0,0,0,26.70,26.72,26.72,10.94,44.60
$GC,441,-1.57,-391.0,2021,2272,3096,771,53.0,-11.5,94,448,0.00,4.18,0.00,0.000,260,0.000,0.087,2022,3747,3096,3096,777,0,0,0,0,0,0,26.72,26.34,26.74,10.93,44.76
$GC,490,-1.57,-391.0,2021,3747,3097,777,59.9,-15.6,105,497,0.00,3.75,0.00,0.000,1030,0.000,0.038,2022,2276,3098,3098,774,0,0,0,0,0,0,26.55,26.48,26.57,10.93,44.32
$GC,531,-1.57,-391.0,2021,2276,3098,774,65.1,-11.5,114,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2276,3099,3099,771,0,0,0,0,0,0,26.77,26.78,26.77,10.93,44.92
$GC,571,-1.57,-391.0,2021,2276,3099,771,70.0,-12.8,123,578,0.00,4.50,0.00,0.000,516,0.000,0.073,2022,645,3099,3099,776,0,0,0,0,0,0,26.78,26.39,26.79,10.93,44.40
$GC,592,-1.57,-391.0,2021,645,3099,776,72.9,-13.8,127,599,0.00,4.20,0.00,0.000,1030,0.000,0.043,2022,2273,3100,3100,784,0,0,0,0,0,0,26.57,26.46,26.60,10.93,44.21
$GC,633,-1.57,-391.0,2021,2273,3101,784,78.2,-12.2,136,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2273,3101,3101,778,0,0,0,0,0,0,26.79,26.82,26.81,10.93,44.52
$GC,673,-1.57,-391.0,2021,2273,3101,778,83.0,-11.8,145,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2273,3102,3102,775,0,0,0,0,0,0,26.82,26.83,26.82,10.93,44.88
$GC,713,-1.57,-391.0,2021,2273,3102,775,87.7,-11.8,154,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2273,3102,3102,773,0,0,0,0,0,0,26.83,26.84,26.84,10.93,44.25
$GC,753,-1.57,-391.0,2021,2273,3103,773,92.5,-12.4,163,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2273,3103,3103,771,0,0,0,0,0,0,26.84,26.86,26.86,10.92,44.32
$GC,792,-1.57,-391.0,2021,2274,3103,771,97.3,-12.0,172,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2273,3105,3105,772,0,0,0,0,0,0,26.86,26.87,26.87,10.93,44.84
$GC,832,-1.57,-391.0,2021,2273,3105,772,102.1,-12.0,181,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2273,3105,3105,772,0,0,0,0,0,0,26.86,26.89,26.88,10.92,44.60
$GC,872,-1.57,-391.0,2021,2273,3106,772,106.9,-12.2,190,879,0.00,4.47,0.00,0.000,516,0.000,0.073,2022,645,3106,3106,778,0,0,0,0,0,0,26.88,26.49,26.89,10.93,45.15
$GC,901,-1.57,-391.0,2021,646,3106,778,110.9,-14.8,196,908,0.00,4.18,0.00,0.000,1030,0.000,0.042,2022,2267,3105,3105,783,0,0,0,0,0,0,26.67,26.55,26.70,10.92,44.25
$STATE,913,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,913,begin apogee
$GC,917,-0.38,0.0,2021,2220,3106,782,112.8,-14.4,198,952,3.95,0.00,24.17,1.672,10244,0.070,0.000,2402,2220,2625,2625,3474,0,0,0,0,0,0,26.56,25.29,24.41,10.92,44.84
$STATE,953,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,954,1.57,391.0,2402,2220,2625,3474,115.0,0.0,204,989,6.38,0.00,23.40,1.656,11270,0.049,0.000,3019,2220,2170,2170,3530,0,0,0,0,0,0,25.82,26.01,23.87,10.83,44.64
$GC,1024,1.57,391.0,3018,2220,2170,3530,109.5,11.6,218,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2220,2169,2169,781,0,0,0,0,0,0,25.82,25.83,25.82,10.75,44.40
$GC,1063,1.57,391.0,3019,2220,2168,781,104.5,12.6,227,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2219,2168,2168,754,0,0,0,0,0,0,26.01,26.03,26.02,10.75,44.17
$GC,1103,1.57,391.0,3018,2220,2167,754,99.4,12.8,236,1110,0.00,4.60,0.00,0.000,516,0.000,0.076,3019,604,2167,2167,738,0,0,0,0,0,0,26.14,25.77,26.15,10.75,44.25
$GC,1136,1.57,391.0,3018,604,2166,738,95.0,13.2,243,1143,0.00,4.30,0.00,0.000,1030,0.000,0.041,3019,2224,2166,2166,722,0,0,0,0,0,0,26.02,25.91,26.05,10.74,44.92
$GC,1177,1.57,391.0,3018,2224,2166,722,89.9,12.2,252,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2224,2165,2165,708,0,0,0,0,0,0,26.29,26.32,26.31,10.74,45.07
$GC,1217,1.57,391.0,3018,2224,2164,708,84.9,12.8,261,1224,0.00,4.35,0.00,0.000,260,0.000,0.085,3019,3744,2164,2164,700,0,0,0,0,0,0,26.36,25.99,26.37,10.74,45.03
$GC,1254,1.57,391.0,3018,3745,2163,700,79.0,17.0,269,1261,0.00,3.90,0.00,0.000,1030,0.000,0.038,3019,2237,2163,2163,690,0,0,0,0,0,0,26.22,26.13,26.24,10.74,44.60
$GC,1295,1.57,391.0,3018,2237,2162,690,73.1,13.2,278,1302,0.00,4.60,0.00,0.000,516,0.000,0.077,3019,596,2162,2162,684,0,0,0,0,0,0,26.46,26.07,26.48,10.73,44.99
$GC,1328,1.57,391.0,3018,596,2160,684,68.6,13.6,285,1335,0.00,4.28,0.00,0.000,1030,0.000,0.040,3019,2226,2160,2160,677,0,0,0,0,0,0,26.29,26.18,26.31,10.74,44.99
$GC,1370,1.57,391.0,3018,2226,2159,677,63.6,11.9,294,1377,0.00,4.32,0.00,0.000,260,0.000,0.086,3019,3746,2159,2159,673,0,0,0,0,0,0,26.53,26.15,26.54,10.73,45.11
$GC,1411,1.57,391.0,3018,3746,2158,673,57.5,15.9,303,1418,0.00,3.90,0.00,0.000,1030,0.000,0.037,3019,2233,2158,2158,666,0,0,0,0,0,0,26.36,26.28,26.39,10.73,44.80
$GC,1452,1.57,391.0,3018,2234,2156,666,51.9,12.5,312,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2233,2157,2157,658,0,0,0,0,0,0,26.60,26.61,26.60,10.73,44.76
$GC,1492,1.57,391.0,3018,2234,2157,658,46.9,12.5,321,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2233,2156,2156,652,0,0,0,0,0,0,26.63,26.64,26.64,10.73,44.88
$GC,1532,1.57,391.0,3018,2234,2154,652,42.2,11.5,330,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2233,2154,2154,646,0,0,0,0,0,0,26.65,26.67,26.67,10.73,44.92
$GC,1572,1.57,391.0,3018,2233,2154,646,37.6,11.1,339,1579,0.00,4.28,0.00,0.000,260,0.000,0.084,3019,3744,2154,2154,646,0,0,0,0,0,0,26.68,26.30,26.70,10.73,45.58
$GC,1621,1.57,391.0,3018,3745,2152,646,30.8,15.6,350,1628,0.00,3.88,0.00,0.000,1030,0.000,0.037,3019,2232,2152,2152,642,0,0,0,0,0,0,26.50,26.42,26.53,10.73,45.11
$GC,1662,1.57,391.0,3018,2231,2152,642,25.7,11.1,359,1669,0.00,4.55,0.00,0.000,516,0.000,0.079,3019,592,2151,2151,642,0,0,0,0,0,0,26.72,26.32,26.73,10.73,45.23
$GC,1711,1.57,391.0,3018,593,2150,642,20.3,10.9,370,1719,0.00,4.22,0.00,0.000,1030,0.000,0.041,3019,2219,2150,2150,639,0,0,0,0,0,0,26.53,26.42,26.55,10.73,45.90
$GC,1753,1.57,391.0,3018,2221,2148,639,16.1,10.5,379,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2221,2149,2149,634,0,0,0,0,0,0,26.75,26.77,26.77,10.73,45.31
$GC,1792,1.57,391.0,3018,2221,2147,634,11.5,11.2,388,1799,0.00,4.32,0.00,0.000,260,0.000,0.086,3019,3751,2147,2147,636,0,0,0,0,0,0,26.78,26.39,26.79,10.73,46.10
$GC,1810,4.20,2266.8,3018,3751,2147,636,10.0,9.1,391,1858,8.30,3.95,31.70,0.633,11266,0.037,0.044,3858,2207,1413,1413,2924,0,0,0,0,0,0,26.51,26.48,26.55,10.73,45.19
$STATE,1859,end climb,SURFACE_DEPTH_REACHED
$STATE,1859,begin surface coast
$FINISH,0.1,1.017941
$STATE,1864,end surface coast,CONTROL_FINISHED_OK
$STATE,1864,begin surface
$SM_CCo,1966,0.00,0.000,0,0,1412,1043.20
$SM_GC,0.74,34.25,0.22,0.00,0.037,0.087,0.000,500,2294,1412,-6.34,-0.36,1043.20,0,0,0,0,0,0,26.15,26.03,26.21
$IRIDIUM_FIX,4808.40,-12337.82,240517,172715
$TT8_MAMPS,0.020972,0.15729
$HUMID,45.23
$INTERNAL_PRESSURE,10.5668
$TCM_TEMP,11.20
$XPDR_PINGS,4
$24V_AH,23.87,6.356
$10V_AH,10.52,3.394
$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,70.725,109.700,79.275,0.000,0.000,27.976,19.894,144.907,1.000,0.000,6.353,967.335,155.097,304.481,791.624,33.661,33.445,692.553,0.000,582.259,0.000,0.545,0.000
$DEVICE_MAMPS,136.170,91.035,1672.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313172
$DATA_FILE_SIZE,13972,400
$CAP_FILE_SIZE,66599,1
$CFSIZE,1024409600,1018789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,180517,4742.810,-12224.921,8,0.7,8,16.3,0.0,250.0,11,29.6