version: 66.13
glider: 402
mission: 2
dive: 23
start: 5 24 117 15 28 34
data:
$ID,402
$MISSION,2
$DIVE,23
$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,75
$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,500
$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,45
$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,23
$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
$GPS1,240517,152014,4743.8833,-12224.8574,5,0.7,5,16.3,0.0,0.0,12,250.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-41.7
$GPS2,240517,152725,4743.8511,-12224.8379,7,0.7,7,16.3,0.0,0.0,11,230.8
$SPEED_LIMITS,0.080,0.342
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.108815,-0.324752
$KALMAN_X,-3849.979248,-225.405396,-23.289158,3706.114258,494.279572
$KALMAN_Y,-5683.934082,-428.228790,842.874146,6457.566406,582.741821
$MHEAD_RNG_PITCHd_Wd,182.2,2503,-9.3,-8.000,-13.15,9124
$D_GRID,176
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.40,-488.8,498,2292,1338,733,0.0,0.0,0,15,6.57,0.00,0.00,0.000,2049,0.115,0.000,1063,2292,1338,1338,690,0,0,0,0,0,0,26.47,28.83,28.83,10.62,46.02
$GC,16,-1.40,-488.8,1063,2292,1338,690,0.8,0.0,1,47,10.32,2.75,-12.90,0.000,18948,0.063,1.274,2046,1305,3202,3202,754,0,0,0,0,0,0,26.17,25.07,26.25,10.63,45.31
$GC,69,-1.40,-488.8,2045,1305,3203,754,4.5,-19.7,11,76,0.00,2.53,0.00,0.000,1030,0.000,0.047,2046,2267,3203,3203,766,0,0,0,0,0,0,26.19,26.08,26.22,10.98,46.33
$GC,110,-1.40,-488.8,2045,2267,3204,766,12.1,-16.2,20,116,0.00,2.78,0.00,0.000,260,0.000,0.082,2046,3259,3204,3204,775,0,0,0,0,0,0,26.46,26.10,26.47,10.97,46.22
$GC,150,-1.40,-488.8,2045,3260,3205,775,17.5,-13.2,29,157,0.00,2.47,0.00,0.000,1030,0.000,0.035,2046,2278,3206,3206,779,0,0,0,0,0,0,26.32,26.26,26.34,10.97,45.35
$GC,191,-1.40,-488.8,2045,2279,3206,779,21.9,-10.3,38,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2278,3207,3207,778,0,0,0,0,0,0,26.55,26.55,26.55,10.96,44.92
$GC,231,-1.40,-488.8,2046,2278,3207,778,25.9,-9.5,47,237,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2278,3207,3207,778,0,0,0,0,0,0,26.58,26.60,26.59,10.96,44.48
$GC,271,-1.40,-488.8,2045,2278,3208,778,29.7,-9.7,56,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2277,3208,3208,779,0,0,0,0,0,0,26.62,26.63,26.63,10.96,44.88
$GC,310,-1.40,-488.8,2045,2278,3209,779,34.0,-10.7,65,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2277,3209,3209,778,0,0,0,0,0,0,26.65,26.66,26.66,10.95,44.80
$GC,350,-1.40,-488.8,2045,2278,3209,778,38.1,-10.1,74,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2278,3209,3209,778,0,0,0,0,0,0,26.67,26.69,26.69,10.95,44.68
$GC,390,-1.40,-488.8,2045,2278,3210,778,42.3,-10.4,83,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2278,3210,3210,779,0,0,0,0,0,0,26.70,26.72,26.71,10.95,44.84
$GC,430,-1.40,-488.8,2046,2278,3211,779,46.5,-10.3,92,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2278,3211,3211,779,0,0,0,0,0,0,26.72,26.74,26.74,10.95,44.60
$GC,470,-1.40,-488.8,2046,2278,3211,779,50.5,-9.8,101,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2277,3211,3211,779,0,0,0,0,0,0,26.74,26.76,26.76,10.94,44.60
$GC,510,-1.40,-488.8,2045,2278,3212,779,54.1,-8.9,110,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2277,3212,3212,779,0,0,0,0,0,0,26.77,26.78,26.77,10.94,45.19
$GC,550,-1.40,-488.8,2046,2278,3214,779,57.5,-8.2,119,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2277,3213,3213,779,0,0,0,0,0,0,26.78,26.79,26.79,10.94,44.13
$GC,590,-1.40,-488.8,2046,2278,3213,779,60.7,-7.8,128,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2277,3213,3213,780,0,0,0,0,0,0,26.80,26.82,26.81,10.94,44.68
$GC,629,-1.40,-488.8,2044,2278,3214,780,64.0,-8.2,137,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2278,3214,3214,780,0,0,0,0,0,0,26.82,26.83,26.83,10.94,45.07
$GC,669,-1.40,-488.8,2045,2277,3214,780,67.3,-8.9,146,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2277,3214,3214,781,0,0,0,0,0,0,26.83,26.84,26.84,10.94,44.72
$GC,709,-1.40,-488.8,2045,2277,3215,781,71.2,-10.9,155,716,0.00,2.55,0.00,0.000,516,0.000,0.055,2046,1301,3215,3215,783,0,0,0,0,0,0,26.84,26.50,26.86,10.93,44.95
$GC,754,-1.40,-488.8,2046,1302,3216,783,76.8,-12.9,165,760,0.00,2.50,0.00,0.000,1030,0.000,0.042,2046,2290,3215,3215,783,0,0,0,0,0,0,26.65,26.55,26.67,10.94,44.40
$GC,795,-1.40,-488.8,2045,2291,3217,783,81.7,-11.7,174,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2291,3217,3217,782,0,0,0,0,0,0,26.86,26.89,26.88,10.93,44.80
$GC,834,-1.40,-488.8,2046,2291,3218,782,86.7,-13.1,183,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2291,3218,3218,782,0,0,0,0,0,0,26.88,26.89,26.89,10.93,44.80
$GC,874,-1.40,-488.8,2046,2291,3219,782,92.3,-14.7,192,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2290,3219,3219,782,0,0,0,0,0,0,26.89,26.91,26.90,10.93,44.84
$GC,914,-1.40,-488.8,2045,2291,3220,782,97.8,-13.3,201,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2290,3220,3220,782,0,0,0,0,0,0,26.90,26.92,26.91,10.93,45.35
$GC,953,-1.40,-488.8,2046,2291,3220,782,102.8,-11.8,210,960,0.00,2.67,0.00,0.000,260,0.000,0.081,2046,3261,3220,3220,786,0,0,0,0,0,0,26.91,26.54,26.92,10.93,44.80
$GC,1002,-1.40,-488.8,2045,3261,3222,786,109.1,-12.7,221,1009,0.00,2.42,0.00,0.000,1030,0.000,0.036,2046,2282,3222,3222,785,0,0,0,0,0,0,26.73,26.67,26.75,10.93,45.66
$GC,1043,-1.40,-488.8,2045,2283,3222,785,113.8,-10.8,230,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2282,3222,3222,783,0,0,0,0,0,0,26.93,26.94,26.94,10.93,45.47
$GC,1083,-1.40,-488.8,2046,2283,3222,783,117.9,-10.1,239,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2282,3223,3223,784,0,0,0,0,0,0,26.94,26.96,26.95,10.93,45.74
$GC,1123,-1.40,-488.8,2045,2283,3224,784,122.0,-9.7,248,1130,0.00,2.55,0.00,0.000,516,0.000,0.057,2046,1306,3224,3224,786,0,0,0,0,0,0,26.95,26.60,26.96,10.93,45.27
$GC,1172,-1.40,-488.8,2046,1307,3224,786,126.3,-8.8,259,1179,0.00,2.47,0.00,0.000,1030,0.000,0.045,2046,2287,3225,3225,784,0,0,0,0,0,0,26.74,26.64,26.77,10.94,44.60
$GC,1213,-1.40,-488.8,2046,2287,3225,784,130.3,-10.2,268,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2286,3225,3225,783,0,0,0,0,0,0,26.96,26.98,26.97,10.94,45.31
$GC,1253,-1.40,-488.8,2046,2287,3226,783,134.2,-7.9,277,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2287,3226,3226,784,0,0,0,0,0,0,26.97,26.98,26.98,10.93,45.98
$GC,1293,-1.40,-488.8,2046,2287,3226,784,137.4,-8.8,286,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2287,3226,3226,784,0,0,0,0,0,0,26.98,26.99,26.98,10.94,45.07
$GC,1333,-1.40,-488.8,2045,2287,3227,784,141.6,-11.9,295,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2287,3227,3227,784,0,0,0,0,0,0,26.98,27.00,26.99,10.93,45.35
$GC,1373,-1.40,-488.8,2046,2287,3228,784,146.6,-12.9,304,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2287,3228,3228,784,0,0,0,0,0,0,26.98,27.01,27.01,10.93,45.39
$GC,1413,-1.40,-488.8,2046,2287,3229,784,151.6,-12.1,313,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2287,3229,3229,784,0,0,0,0,0,0,27.00,27.01,27.01,10.94,45.43
$GC,1453,-1.40,-488.8,2046,2287,3230,784,156.2,-11.4,322,1460,0.00,2.70,0.00,0.000,260,0.000,0.083,2046,3261,3231,3231,788,0,0,0,0,0,0,27.00,26.63,27.01,10.93,45.39
$GC,1498,-1.40,-488.8,2045,3261,3231,788,162.4,-14.6,332,1505,0.00,2.42,0.00,0.000,1030,0.000,0.036,2046,2287,3232,3232,787,0,0,0,0,0,0,26.82,26.75,26.84,10.93,45.11
$GC,1539,-1.40,-488.8,2046,2287,3232,787,167.7,-12.1,341,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2287,3233,3233,785,0,0,0,0,0,0,27.01,27.03,27.02,10.94,44.99
$GC,1579,-1.40,-488.8,2046,2287,3233,785,172.1,-10.6,350,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2287,3233,3233,785,0,0,0,0,0,0,27.01,27.03,27.03,10.94,45.62
$STATE,1614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1614,begin apogee
$GC,1618,-0.38,0.0,2046,2224,3234,774,176.3,-12.3,358,1658,3.25,0.00,31.80,2.317,10244,0.061,0.000,2368,2224,2626,2626,3452,0,0,0,0,0,0,26.72,25.07,23.61,10.94,46.06
$STATE,1659,end apogee,CONTROL_FINISHED_OK
$STATE,1660,begin climb
$GC,1661,1.40,488.8,2368,2224,2626,3452,179.1,0.0,365,1702,5.88,0.00,30.98,2.308,11270,0.048,0.000,2926,2224,2056,2056,3490,0,0,0,0,0,0,25.45,25.59,23.08,10.82,45.15
$GC,1736,1.67,680.8,2925,2224,2056,3490,176.5,5.8,380,1755,0.85,0.00,13.25,2.072,10246,0.044,0.000,3013,2223,1833,1833,4095,0,0,0,0,0,0,25.40,24.73,23.33,10.72,44.25
$GC,1789,1.67,680.8,3012,2224,1832,4095,172.3,8.1,391,1796,0.00,2.85,0.00,0.000,260,0.000,0.075,3013,3213,1832,1832,774,0,0,0,0,0,0,25.67,25.37,25.68,10.68,44.95
$GC,1822,1.67,680.8,3012,3213,1832,774,169.0,11.3,398,1829,0.00,2.55,0.00,0.000,1030,0.000,0.034,3013,2241,1831,1831,741,0,0,0,0,0,0,25.70,25.63,25.72,10.68,44.68
$GC,1863,1.67,680.8,3012,2241,1831,741,164.8,10.2,407,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2241,1831,1831,715,0,0,0,0,0,0,26.04,26.06,26.06,10.67,44.84
$GC,1902,1.67,680.8,3012,2241,1830,715,160.6,10.7,416,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2241,1830,1830,691,0,0,0,0,0,0,26.16,26.17,26.17,10.67,44.64
$GC,1942,1.67,680.8,3012,2241,1829,691,156.1,11.3,425,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2241,1829,1829,672,0,0,0,0,0,0,26.25,26.26,26.26,10.67,44.99
$GC,1982,1.67,680.8,3012,2241,1827,672,151.7,11.2,434,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2241,1827,1827,654,0,0,0,0,0,0,26.32,26.34,26.34,10.67,45.03
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$STATE,3363,end climb,SURFACE_DEPTH_REACHED
$STATE,3363,begin surface coast
$FINISH,0.1,1.018011
$STATE,3393,end surface coast,CONTROL_FINISHED_OK
$STATE,3394,begin surface
$SM_CCo,3487,0.00,0.000,0,0,1450,1010.57
$SM_GC,0.75,26.60,0.15,0.00,0.036,0.097,0.000,499,2287,1450,-6.23,-0.77,1010.57,0,0,0,0,0,0,26.54,26.53,26.60
$IRIDIUM_FIX,4808.40,-12337.82,240517,152112
$TT8_MAMPS,0.020972,0.158039
$HUMID,46.25
$INTERNAL_PRESSURE,10.557
$TCM_TEMP,10.60
$XPDR_PINGS,5
$24V_AH,23.08,6.256
$10V_AH,10.49,3.341
$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,54.800,52.100,93.425,0.000,0.000,25.403,17.654,311.366,1.250,0.000,7.579,1764.009,248.215,413.888,1457.200,55.870,33.436,1093.760,0.000,1076.170,0.000,0.545,0.000
$DEVICE_MAMPS,114.750,1274.490,2317.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27733,750
$CAP_FILE_SIZE,110272,0
$CFSIZE,1024409600,1018888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,162750,4743.528,-12225.104,37,0.9,37,16.3,0.0,0.0,9,15.1