version: 66.13
glider: 402
mission: 2
dive: 31
start: 5 24 117 20 48 2
data:
$ID,402
$MISSION,2
$DIVE,31
$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,23
$R_STBD_OVSHOOT,11
$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
$GPS1,240517,204143,4741.7427,-12225.4355,4,0.8,4,16.3,0.5,192.4,9,68.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-35.0
$GPS2,240517,204653,4741.6514,-12225.4756,5,1.1,5,16.3,0.0,0.0,7,22.2
$SPEED_LIMITS,0.214,0.375
$TGT_NAME,HEADING
$TGT_LATLONG,4747.051,-12239.395
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.319327,0.196010
$KALMAN_X,-4976.902832,-355.458466,344.444183,3799.129395,-263.978210
$KALMAN_Y,-6240.166016,-492.588501,-13.176311,3867.975342,-489.284882
$MHEAD_RNG_PITCHd_Wd,285.2,20000,-11.8,-10.000,-14.94,7363
$D_GRID,70
$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,-488.8,499,2272,647,588,0.0,0.0,0,16,6.93,0.00,0.00,0.000,2049,0.103,0.000,1107,2272,647,647,539,0,0,0,0,0,0,26.43,28.83,28.83,10.56,46.33
$GC,17,-1.59,-488.8,1107,2272,647,539,0.6,0.0,1,53,9.62,4.72,-17.65,0.000,18948,0.064,1.268,2020,647,3204,3204,693,0,0,0,0,0,0,26.13,24.98,26.20,10.57,46.10
$GC,91,-1.59,-488.8,2019,648,3206,693,7.8,-21.5,16,99,0.00,4.32,0.00,0.000,1030,0.000,0.044,2020,2276,3206,3206,716,0,0,0,0,0,0,26.15,26.04,26.18,11.04,47.32
$GC,133,-1.59,-488.8,2019,2277,3207,716,15.2,-14.7,25,140,0.00,4.22,0.00,0.000,260,0.000,0.089,2020,3747,3208,3208,739,0,0,0,0,0,0,26.42,26.04,26.44,11.02,46.10
$GC,218,-1.59,-488.8,2019,3749,3210,739,28.5,-16.1,45,225,0.00,3.75,0.00,0.000,1030,0.000,0.037,2020,2285,3210,3210,745,0,0,0,0,0,0,26.33,26.26,26.35,11.00,46.02
$GC,259,-1.59,-488.8,2019,2285,3211,745,34.9,-15.0,54,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2284,3212,3212,754,0,0,0,0,0,0,26.56,26.58,26.57,11.01,46.06
$GC,299,-1.59,-488.8,2019,2285,3212,754,40.7,-13.9,63,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2284,3213,3213,761,0,0,0,0,0,0,26.60,26.61,26.60,10.99,45.15
$GC,339,-1.59,-488.8,2019,2285,3214,761,46.1,-13.8,72,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2284,3214,3214,765,0,0,0,0,0,0,26.63,26.64,26.64,10.99,45.62
$GC,379,-1.59,-488.8,2019,2284,3214,765,51.7,-13.6,81,386,0.00,4.15,0.00,0.000,260,0.000,0.087,2020,3747,3215,3215,776,0,0,0,0,0,0,26.65,26.27,26.67,10.99,45.70
$GC,408,-1.59,-488.8,2020,3747,3215,776,56.2,-16.2,87,415,0.00,3.72,0.00,0.000,1030,0.000,0.037,2020,2296,3215,3215,782,0,0,0,0,0,0,26.48,26.40,26.49,10.99,45.27
$GC,449,-1.59,-488.8,2019,2295,3216,782,62.1,-13.6,96,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2296,3217,3217,779,0,0,0,0,0,0,26.69,26.71,26.70,10.99,45.31
$GC,489,-1.59,-488.8,2019,2296,3218,779,68.0,-14.6,105,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2295,3218,3218,777,0,0,0,0,0,0,26.71,26.72,26.72,10.98,45.47
$STATE,503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,504,begin apogee
$GC,507,-0.38,0.0,2020,2220,3218,775,70.2,-14.4,108,543,4.03,0.00,28.40,1.275,10244,0.070,0.000,2404,2220,2626,2626,3432,0,0,0,0,0,0,26.41,25.56,24.60,10.98,45.90
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,545,1.59,488.8,2403,2220,2626,3432,72.5,0.0,114,586,6.47,0.00,27.92,1.261,11270,0.052,0.000,3022,2219,2057,2057,3124,0,0,0,0,0,0,25.75,25.94,24.16,10.86,45.66
$GC,620,1.59,488.8,3021,2219,2057,3124,66.9,11.1,129,626,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2219,2056,2056,772,0,0,0,0,0,0,25.83,25.84,25.84,10.76,44.76
$GC,660,1.59,488.8,3021,2219,2056,772,62.4,11.3,138,666,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2219,2056,2056,743,0,0,0,0,0,0,26.02,26.03,26.03,10.76,44.84
$GC,700,1.59,488.8,3021,2219,2055,743,57.8,11.3,147,707,0.00,4.40,0.00,0.000,260,0.000,0.083,3022,3747,2055,2055,726,0,0,0,0,0,0,26.15,25.78,26.16,10.74,44.88
$GC,729,1.59,488.8,3021,3747,2054,726,54.2,13.5,153,736,0.00,3.95,0.00,0.000,1030,0.000,0.037,3022,2239,2054,2054,709,0,0,0,0,0,0,26.03,25.94,26.05,10.74,45.39
$GC,770,1.59,488.8,3021,2239,2053,709,49.4,10.8,162,776,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2239,2053,2053,692,0,0,0,0,0,0,26.29,26.31,26.31,10.75,45.47
$GC,810,1.59,488.8,3021,2240,2052,692,45.0,11.8,171,816,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2239,2051,2051,678,0,0,0,0,0,0,26.36,26.38,26.38,10.75,45.23
$GC,850,1.59,488.8,3021,2239,2051,678,40.2,11.8,180,857,0.00,4.62,0.00,0.000,516,0.000,0.078,3022,594,2051,2051,671,0,0,0,0,0,0,26.42,26.03,26.44,10.74,45.78
$GC,883,1.59,488.8,3021,595,2051,671,36.6,10.7,187,890,0.00,4.28,0.00,0.000,1030,0.000,0.040,3022,2228,2050,2050,662,0,0,0,0,0,0,26.25,26.15,26.28,10.74,46.02
$GC,925,1.73,591.1,3021,2228,2050,662,32.9,8.6,196,944,0.43,4.35,6.80,0.690,10500,0.053,0.084,3069,3741,1936,1936,3914,0,0,0,0,0,0,26.25,26.03,25.30,10.74,45.98
$GC,970,1.73,591.1,3069,3741,1935,3914,27.9,11.8,205,977,0.00,3.95,0.00,0.000,1030,0.000,0.037,3069,2224,1935,1935,774,0,0,0,0,0,0,26.25,26.17,26.28,10.71,45.90
$GC,1012,1.88,699.1,3069,2223,1934,774,23.8,8.5,214,1031,0.43,4.62,7.20,0.635,10756,0.050,0.080,3116,598,1810,1810,3900,0,0,0,0,0,0,26.25,26.01,25.38,10.72,45.35
$GC,1049,1.91,714.2,3116,598,1809,3900,20.1,9.8,221,1062,0.00,4.30,2.60,0.209,9222,0.000,0.041,3116,2233,1793,1793,4095,0,0,0,0,0,0,26.23,26.13,25.43,10.70,46.02
$GC,1097,2.04,812.5,3116,2233,1792,4095,15.9,8.6,231,1116,0.47,4.35,6.68,0.558,10500,0.052,0.085,3168,3743,1677,1677,3889,0,0,0,0,0,0,26.22,26.03,25.44,10.70,46.06
$GC,1142,2.04,812.5,3168,3743,1676,3889,11.1,11.5,240,1149,0.00,3.92,0.00,0.000,1030,0.000,0.037,3167,2230,1676,1676,766,0,0,0,0,0,0,26.23,26.18,26.25,10.67,46.49
$GC,1184,2.47,1118.3,3166,2230,1675,766,8.2,5.8,249,1207,1.35,0.00,16.50,0.616,10246,0.047,0.000,3304,2229,1320,1320,3582,0,0,0,0,0,0,26.25,25.94,25.40,10.68,45.86
$GC,1242,3.01,1503.5,3303,2228,1320,3582,4.8,4.6,261,1271,1.75,0.00,20.55,0.590,10246,0.047,0.000,3480,2229,871,871,3173,0,0,0,0,0,0,26.11,25.65,25.29,10.63,45.94
$STATE,1276,end climb,SURFACE_DEPTH_REACHED
$STATE,1276,begin surface coast
$FINISH,1.0,1.018105
$STATE,1297,end surface coast,CONTROL_FINISHED_OK
$STATE,1297,begin surface
$SM_CCo,1395,0.00,0.000,0,0,869,1509.42
$SM_GC,0.72,30.48,0.15,0.00,0.037,0.093,0.000,502,2289,869,-6.34,-0.68,1509.42,0,0,0,0,0,0,26.03,25.98,26.09
$IRIDIUM_FIX,4808.40,-12337.82,240517,204230
$TT8_MAMPS,0.020223,0.158788
$HUMID,46.33
$INTERNAL_PRESSURE,10.4985
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,24.16,6.605
$10V_AH,10.52,3.504
$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,61.950,67.950,116.650,0.000,0.000,28.754,21.061,196.838,0.000,0.000,6.304,655.362,122.591,273.516,657.898,27.489,33.476,554.191,0.000,401.173,0.000,0.546,0.000
$DEVICE_MAMPS,103.275,1268.370,1275.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.803,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313196
$DATA_FILE_SIZE,10535,272
$CAP_FILE_SIZE,50057,0
$CFSIZE,1024409600,1018511360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,211155,4741.461,-12225.898,4,0.8,4,16.3,0.7,215.6,9,81.9