version: 66.13
glider: 402
mission: 2
dive: 8
start: 5 24 117 0 27 37
data:
$ID,402
$MISSION,2
$DIVE,8
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,190
$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,79
$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,200
$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,55
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,16
$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
$GPS1,240517,001841,4743.2939,-12225.2998,7,0.9,7,16.3,0.0,209.6,7,114.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-42.3
$GPS2,240517,002623,4743.3130,-12225.4561,9,0.9,9,16.3,0.0,0.0,8,265.3
$SPEED_LIMITS,0.080,0.234
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.155970,0.174417
$KALMAN_X,-2666.572998,-441.745819,-213.508041,2157.208740,-444.005310
$KALMAN_Y,-3676.292480,-953.611633,-233.798660,5052.244141,-370.744751
$MHEAD_RNG_PITCHd_Wd,25.5,1513,-15.9,-8.017,-18.91,3692
$D_GRID,187
$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,-1.49,-195.5,501,2282,2017,749,0.0,0.0,0,16,7.15,0.00,0.00,0.000,2049,0.118,0.000,1112,2282,2017,2017,730,0,0,0,0,0,0,26.49,28.83,28.83,10.74,46.22
$GC,17,-1.49,-195.5,1112,2282,2017,730,0.9,0.0,1,42,9.82,3.38,-5.90,0.000,18948,0.086,1.268,2014,1080,2860,2860,832,0,0,0,0,0,0,26.15,24.94,26.25,10.74,45.55
$GC,96,-1.49,-195.5,2013,1080,2861,832,5.8,-11.9,18,103,0.00,3.08,0.00,0.000,1030,0.000,0.037,2014,2280,2861,2861,779,0,0,0,0,0,0,26.21,26.11,26.23,10.90,45.70
$GC,137,-1.49,-195.5,2013,2281,2862,779,9.1,-9.0,27,143,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2280,2862,2862,768,0,0,0,0,0,0,26.48,26.49,26.49,10.90,45.47
$GC,177,-1.49,-195.5,2013,2281,2863,768,13.2,-9.8,36,184,0.00,3.20,0.00,0.000,516,0.000,0.059,2013,1081,2863,2863,765,0,0,0,0,0,0,26.52,26.16,26.54,10.89,45.47
$GC,266,-1.49,-195.5,2013,1081,2865,765,23.4,-12.0,57,273,0.00,3.03,0.00,0.000,1030,0.000,0.040,2014,2263,2865,2865,752,0,0,0,0,0,0,26.39,26.28,26.41,10.89,44.44
$GC,307,-1.49,-195.5,2013,2263,2866,752,27.9,-10.7,66,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2263,2866,2866,750,0,0,0,0,0,0,26.64,26.65,26.65,10.88,44.99
$GC,346,-1.49,-195.5,2013,2263,2867,750,32.1,-10.7,75,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2263,2867,2867,749,0,0,0,0,0,0,26.67,26.68,26.67,10.88,45.07
$GC,386,-1.49,-195.5,2013,2263,2867,749,36.4,-11.2,84,393,0.00,3.42,0.00,0.000,260,0.000,0.082,2014,3478,2868,2868,753,0,0,0,0,0,0,26.70,26.29,26.70,10.88,44.88
$GC,467,-1.49,-195.5,2013,3479,2870,753,46.3,-11.7,103,474,0.00,3.08,0.00,0.000,1030,0.000,0.036,2013,2265,2870,2870,746,0,0,0,0,0,0,26.53,26.46,26.55,10.88,45.43
$GC,508,-1.49,-195.5,2011,2264,2870,746,51.1,-11.7,112,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2263,2870,2870,745,0,0,0,0,0,0,26.75,26.77,26.77,10.88,45.23
$GC,548,-1.49,-195.5,2013,2264,2871,745,55.7,-11.0,121,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2264,2871,2871,745,0,0,0,0,0,0,26.77,26.79,26.79,10.87,44.84
$GC,588,-1.49,-195.5,2013,2264,2872,745,59.5,-8.7,130,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2264,2872,2872,745,0,0,0,0,0,0,26.79,26.81,26.80,10.86,44.95
$GC,628,-1.49,-195.5,2013,2264,2872,745,62.9,-9.7,139,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2264,2872,2872,746,0,0,0,0,0,0,26.81,26.82,26.82,10.88,44.68
$GC,668,-1.49,-195.5,2014,2265,2873,746,68.0,-12.6,148,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2264,2873,2873,745,0,0,0,0,0,0,26.82,26.84,26.84,10.87,44.76
$GC,708,-1.49,-195.5,2013,2264,2874,745,71.9,-9.6,157,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2264,2874,2874,746,0,0,0,0,0,0,26.84,26.85,26.85,10.87,44.88
$GC,747,-1.49,-195.5,2013,2264,2875,746,76.0,-11.0,166,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2264,2875,2875,746,0,0,0,0,0,0,26.86,26.87,26.87,10.87,45.07
$GC,787,-1.49,-195.5,2014,2264,2875,746,80.0,-9.7,175,794,0.00,3.12,0.00,0.000,516,0.000,0.062,2013,1080,2876,2876,749,0,0,0,0,0,0,26.86,26.48,26.89,10.87,45.31
$GC,892,-1.49,-195.5,2013,1081,2878,749,91.2,-11.2,200,899,0.00,3.03,0.00,0.000,1030,0.000,0.039,2013,2269,2878,2878,741,0,0,0,0,0,0,26.67,26.56,26.70,10.87,44.99
$GC,933,-1.49,-195.5,2013,2270,2879,741,95.5,-10.2,209,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2879,2879,742,0,0,0,0,0,0,26.91,26.92,26.91,10.87,45.11
$GC,973,-1.49,-195.5,2013,2269,2880,742,99.4,-9.4,218,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2880,2880,743,0,0,0,0,0,0,26.91,26.94,26.93,10.87,45.15
$GC,1013,-1.49,-195.5,2013,2269,2880,743,103.2,-10.0,227,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2880,2880,744,0,0,0,0,0,0,26.93,26.94,26.94,10.87,45.23
$GC,1053,-1.49,-195.5,2013,2269,2881,744,107.2,-9.8,236,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2881,2881,745,0,0,0,0,0,0,26.94,26.96,26.95,10.87,45.15
$GC,1093,-1.49,-195.5,2013,2270,2882,745,111.1,-9.7,245,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2882,2882,746,0,0,0,0,0,0,26.94,26.96,26.96,10.87,45.11
$GC,1133,-1.49,-195.5,2013,2270,2882,746,115.1,-10.1,254,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2882,2882,747,0,0,0,0,0,0,26.96,26.97,26.97,10.87,44.99
$GC,1173,-1.49,-195.5,2013,2269,2883,747,119.2,-10.2,263,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2883,2883,747,0,0,0,0,0,0,26.96,26.98,26.98,10.87,45.11
$GC,1213,-1.49,-195.5,2013,2270,2884,747,123.6,-12.3,272,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2269,2884,2884,747,0,0,0,0,0,0,26.97,26.99,26.98,10.87,44.95
$GC,1253,-1.49,-195.5,2013,2269,2885,747,128.1,-11.2,281,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2885,2885,746,0,0,0,0,0,0,26.98,26.99,26.99,10.87,45.35
$GC,1293,-1.49,-195.5,2013,2269,2885,746,133.0,-12.3,290,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2886,2886,748,0,0,0,0,0,0,26.98,27.00,27.01,10.88,45.27
$GC,1333,-1.49,-195.5,2013,2270,2887,748,138.1,-12.7,299,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2269,2887,2887,749,0,0,0,0,0,0,26.99,27.01,27.01,10.87,45.15
$GC,1373,-1.49,-195.5,2013,2270,2888,749,142.9,-12.0,308,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2888,2888,749,0,0,0,0,0,0,27.00,27.01,27.01,10.87,45.23
$GC,1413,-1.49,-195.5,2013,2269,2889,749,147.4,-11.6,317,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2269,2889,2889,749,0,0,0,0,0,0,27.01,27.02,27.02,10.87,44.88
$GC,1453,-1.49,-195.5,2013,2270,2890,749,152.4,-12.7,326,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2890,2890,749,0,0,0,0,0,0,27.01,27.03,27.03,10.87,45.31
$GC,1493,-1.49,-195.5,2013,2269,2891,749,157.3,-12.0,335,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2269,2891,2891,749,0,0,0,0,0,0,27.02,27.03,27.03,10.87,45.39
$GC,1533,-1.49,-195.5,2013,2270,2890,749,161.6,-10.1,344,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2892,2892,750,0,0,0,0,0,0,27.03,27.04,27.04,10.87,44.80
$GC,1573,-1.49,-195.5,2013,2270,2892,750,165.7,-10.5,353,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2268,2893,2893,750,0,0,0,0,0,0,27.03,27.04,27.04,10.87,45.43
$GC,1613,-1.49,-195.5,2013,2269,2894,750,168.9,-7.3,362,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2894,2894,750,0,0,0,0,0,0,27.03,27.05,27.05,10.87,45.82
$GC,1653,-1.49,-195.5,2013,2269,2895,750,172.5,-10.2,371,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2269,2895,2895,750,0,0,0,0,0,0,27.04,27.05,27.05,10.87,45.47
$GC,1693,-1.49,-195.5,2013,2270,2895,750,176.5,-10.7,380,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2896,2896,751,0,0,0,0,0,0,27.04,27.06,27.06,10.87,45.98
$GC,1733,-1.49,-195.5,2013,2270,2897,751,180.1,-8.6,389,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2269,2897,2897,751,0,0,0,0,0,0,27.05,27.07,27.06,10.87,45.03
$GC,1772,-1.49,-195.5,2013,2270,2897,751,184.0,-10.3,398,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2269,2898,2898,751,0,0,0,0,0,0,27.05,27.07,27.07,10.87,45.70
$STATE,1807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1811,-0.38,0.0,2013,2221,2898,747,187.3,-9.2,406,1835,3.67,0.00,15.32,2.241,10244,0.076,0.000,2368,2221,2626,2626,4095,0,0,0,0,0,0,26.70,25.72,24.13,10.87,45.70
$STATE,1836,end apogee,CONTROL_FINISHED_OK
$STATE,1836,begin climb
$GC,1837,1.49,195.5,2367,2221,2626,4095,188.5,0.0,410,1862,6.12,0.00,13.40,2.175,11270,0.051,0.000,2959,2221,2398,2398,4095,0,0,0,0,0,0,26.03,26.22,23.63,10.82,45.27
$GC,1896,1.49,195.5,2958,2221,2398,4095,184.7,8.9,422,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2221,2397,2397,790,0,0,0,0,0,0,26.00,26.01,26.01,10.79,44.72
$GC,1936,1.49,195.5,2958,2221,2396,790,180.7,10.4,431,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2221,2397,2397,766,0,0,0,0,0,0,26.15,26.17,26.17,10.79,45.15
$GC,1976,1.49,195.5,2958,2222,2395,766,176.2,11.8,440,1983,0.00,3.42,0.00,0.000,260,0.000,0.076,2959,3430,2396,2396,753,0,0,0,0,0,0,26.26,25.89,26.27,10.78,44.99
$GC,2017,1.49,195.5,2958,3430,2395,753,170.5,14.7,449,2024,0.00,3.08,0.00,0.000,1030,0.000,0.035,2959,2245,2395,2395,741,0,0,0,0,0,0,26.14,26.06,26.17,10.78,44.64
$GC,2058,1.49,195.5,2958,2245,2393,741,165.4,11.7,458,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2244,2393,2393,729,0,0,0,0,0,0,26.41,26.42,26.41,10.78,44.72
$GC,2098,1.49,195.5,2958,2245,2392,729,160.8,11.7,467,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2245,2392,2392,720,0,0,0,0,0,0,26.46,26.48,26.48,10.78,45.11
$GC,2138,1.49,195.5,2958,2245,2391,720,156.2,11.7,476,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2245,2391,2391,712,0,0,0,0,0,0,26.51,26.53,26.52,10.76,45.23
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$STATE,3640,end climb,SURFACE_DEPTH_REACHED
$STATE,3640,begin surface coast
$FINISH,0.5,1.020487
$STATE,3658,end surface coast,CONTROL_FINISHED_OK
$STATE,3658,begin surface
$SM_CCo,3692,15.00,0.565,0,0,2017,520.31
$SM_GC,1.38,24.80,2.97,15.00,0.041,0.034,0.565,502,2275,2017,-6.23,0.96,520.31,0,0,0,0,0,0,26.72,26.74,25.87
$IRIDIUM_FIX,4808.40,-12337.82,240517,001942
$TT8_MAMPS,0.020972,0.110103
$HUMID,45.43
$INTERNAL_PRESSURE,10.6449
$TCM_TEMP,10.60
$XPDR_PINGS,1
$24V_AH,23.63,5.510
$10V_AH,10.59,2.818
$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,51.725,38.175,31.225,15.000,0.000,27.956,17.567,336.001,0.250,0.000,16.521,1928.418,219.942,397.777,1592.755,58.094,33.436,1118.694,0.000,1173.065,0.000,0.545,0.000
$DEVICE_MAMPS,117.810,1267.605,2241.450,564.570,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313176
$DATA_FILE_SIZE,31213,819
$CAP_FILE_SIZE,112965,0
$CFSIZE,1024409600,1019887616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,013032,4743.747,-12224.959,33,1.0,33,16.3,0.0,0.0,8,10.2