version: 66.12
glider: 402
mission: 1
dive: 1
start: 4 18 117 16 49 24
data:
$ID,402
$MISSION,1
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$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,72224
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-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,300
$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,5
$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
$PITCH_MIN,350
$PITCH_MAX,3600
$C_PITCH,2327
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13.4
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,280
$ROLL_MAX,3750
$ROLL_DEG,55
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2278
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2680
$VBD_DBAND,2
$VBD_CNV,-0.85000002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$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,-48.771183
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$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,48
$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,0
$GPS1,180417,164508,4742.8853,-12224.8750,1,1.0,1,16.3,0.0,0.0,7,107.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-26.6
$GPS2,180417,164819,4742.8989,-12224.8877,3,1.0,4,16.3,0.0,0.0,7,139.5
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.038462,-0.259478
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,155.3,747,-18.1,-10.000,-20.87,2960
$D_GRID,185
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.93,-195.5,352,2288,60,247,0.0,0.0,0,42,0.00,0.00,-24.80,0.000,16390,0.000,0.000,352,2288,2914,2914,416,0,0,0,0,0,0,27.22,25.27,27.24,10.12,35.94
$GC,44,-1.93,-195.5,352,2288,2914,415,0.7,-2.0,4,67,18.27,0.00,0.00,0.000,2054,0.382,0.000,1899,2288,2916,2916,609,0,0,0,0,0,0,26.65,26.80,26.74,10.74,36.41
$GC,98,-1.93,-195.5,1899,2288,2915,600,9.2,-11.1,13,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2288,2917,2917,626,0,0,0,0,0,0,27.17,27.19,27.19,10.74,36.02
$GC,134,-1.93,-195.5,1899,2288,2917,618,12.7,-9.4,19,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2288,2916,2916,641,0,0,0,0,0,0,27.20,27.22,27.22,10.73,36.21
$GC,171,-1.93,-195.5,1899,2288,2918,843,16.0,-9.1,25,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2288,2918,2918,836,0,0,0,0,0,0,27.20,27.22,27.22,10.73,36.33
$GC,208,-1.93,-195.5,1899,2287,2919,675,19.4,-9.1,31,215,0.00,3.33,0.00,0.000,260,0.000,0.288,1900,3475,2918,2918,697,0,0,1,0,0,0,27.24,26.69,27.26,10.73,36.37
$GC,264,-1.93,-195.5,1899,3475,2920,658,25.2,-10.6,40,271,0.00,3.05,0.00,0.000,1030,0.000,0.146,1900,2287,2920,2920,680,0,0,0,0,0,0,26.98,26.88,27.02,10.72,35.74
$GC,302,-1.93,-195.5,1899,2287,2921,659,29.3,-10.6,46,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2287,2921,2921,677,0,0,0,0,0,0,27.27,27.29,27.29,10.72,35.66
$GC,338,-1.93,-195.5,1899,2287,2921,658,33.2,-10.8,52,345,0.00,3.35,0.00,0.000,260,0.000,0.286,1899,3476,2922,2922,682,0,0,1,0,0,0,27.29,26.72,27.30,10.72,36.25
$GC,405,-1.93,-195.5,1899,3475,2923,651,41.1,-12.1,63,412,0.00,3.05,0.00,0.000,1030,0.000,0.144,1900,2280,2923,2923,674,0,0,1,0,0,0,27.02,26.90,27.05,10.71,35.98
$GC,443,-1.93,-195.5,1899,2279,2924,656,45.3,-10.7,69,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2279,2924,2924,676,0,0,0,0,0,0,27.31,27.33,27.33,10.71,36.57
$GC,479,-1.93,-195.5,1899,2279,2925,734,49.1,-10.3,75,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2279,2925,2925,743,0,0,0,0,0,0,27.32,27.34,27.34,10.71,35.50
$GC,515,-1.93,-195.5,1899,2279,2925,676,53.0,-11.0,81,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2279,2926,2926,693,0,0,0,0,0,0,27.34,27.35,27.35,10.71,36.21
$GC,552,-1.93,-195.5,1899,2279,2926,666,57.0,-11.1,87,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2279,2926,2926,684,0,0,0,0,0,0,27.34,27.36,27.36,10.71,35.98
$GC,588,-1.93,-195.5,1899,2279,2927,662,61.0,-10.6,93,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2279,2927,2927,681,0,0,0,0,0,0,27.35,27.37,27.37,10.70,36.25
$GC,626,-1.93,-195.5,1899,2279,2928,661,64.9,-11.0,99,632,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2279,2928,2928,680,0,0,0,0,0,0,27.36,27.38,27.38,10.71,36.45
$GC,662,-1.93,-195.5,1899,2279,2929,660,68.8,-10.0,105,668,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2279,2929,2929,679,0,0,0,0,0,0,27.36,27.39,27.39,10.70,36.73
$GC,699,-1.93,-195.5,1899,2279,2929,660,72.5,-10.3,111,705,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2278,2929,2929,679,0,0,0,0,0,0,27.38,27.39,27.39,10.70,36.73
$GC,735,-1.93,-195.5,1899,2279,2930,660,76.2,-10.3,117,741,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2279,2930,2930,679,0,0,0,0,0,0,27.39,27.40,27.40,10.70,36.41
$GC,771,-1.93,-195.5,1899,2279,2931,906,80.1,-10.4,123,777,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2279,2931,2931,891,0,0,0,0,0,0,27.30,27.32,27.32,10.70,36.45
$GC,808,-1.93,-195.5,1899,2279,2932,681,84.2,-11.7,129,814,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2279,2932,2932,697,0,0,0,0,0,0,27.39,27.41,27.41,10.69,36.37
$GC,844,-1.93,-195.5,1899,2279,2933,669,88.4,-11.5,135,850,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2279,2933,2933,687,0,0,0,0,0,0,27.40,27.41,27.41,10.70,36.69
$STATE,861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,861,begin apogee
$GC,864,-0.37,0.0,1899,2279,2933,674,90.7,-12.8,138,888,3.65,0.00,13.12,4.343,10246,0.246,0.000,2241,2279,2679,2679,3911,0,0,0,0,0,0,26.91,26.25,25.01,10.70,36.33
$STATE,889,end apogee,CONTROL_FINISHED_OK
$STATE,889,begin climb
$GC,891,1.93,195.5,2241,2278,2678,875,92.5,0.0,142,916,5.15,3.35,12.12,4.261,10756,0.166,0.251,2735,1078,2448,2448,3984,0,0,0,0,0,0,26.64,25.63,24.75,10.64,36.29
$GC,953,2.29,315.3,2734,1078,2448,696,90.2,5.9,152,972,0.77,3.12,8.15,3.772,11270,0.107,0.159,2817,2275,2307,2307,4095,0,0,0,0,0,0,26.55,26.45,24.81,10.60,35.90
$GC,1003,2.55,399.3,2817,2274,2307,695,86.8,7.1,160,1017,0.47,3.42,6.28,3.342,10500,0.127,0.273,2872,3479,2209,2209,4095,0,0,1,0,0,0,26.49,25.70,24.87,10.56,36.06
$GC,1036,2.58,412.0,2871,3478,2208,699,83.8,9.6,165,1045,0.00,3.15,2.60,1.165,9222,0.000,0.142,2872,2279,2194,2194,4095,0,0,0,0,0,0,26.46,26.36,25.01,10.53,35.23
$GC,1075,2.63,425.9,2871,2279,2193,690,79.9,9.5,171,1083,0.10,0.00,2.67,1.229,10246,0.258,0.000,2888,2279,2176,2176,4095,0,0,0,0,0,0,26.56,26.22,25.11,10.53,35.62
$GC,1113,2.63,425.9,2888,2279,2175,691,76.0,10.0,177,1120,0.00,3.30,0.00,0.000,516,0.000,0.251,2889,1077,2176,2176,688,0,0,0,0,0,0,26.84,26.42,26.85,10.53,36.29
$GC,1151,2.70,451.6,2888,1077,2175,669,72.5,9.1,183,1165,0.12,3.12,3.15,1.664,11270,0.216,0.159,2908,2277,2146,2146,4095,0,0,0,0,0,0,26.63,26.55,25.27,10.52,35.90
$GC,1195,2.70,451.6,2907,2277,2146,692,67.7,11.0,190,1202,0.00,3.38,0.00,0.000,260,0.000,0.276,2908,3477,2145,2145,688,0,0,1,0,0,0,26.92,26.51,26.94,10.51,36.57
$GC,1227,2.70,451.6,2907,3477,2145,670,63.6,13.0,195,1234,0.00,3.10,0.00,0.000,1030,0.000,0.139,2908,2277,2144,2144,667,0,0,1,0,0,0,26.73,26.63,26.77,10.51,35.86
$GC,1264,2.70,451.6,2907,2277,2144,656,59.3,11.0,201,1271,0.00,3.28,0.00,0.000,516,0.000,0.253,2908,1077,2144,2144,656,0,0,1,0,0,0,27.01,26.57,27.02,10.51,36.13
$GC,1302,2.70,451.6,2908,1077,2143,649,55.3,10.9,207,1309,0.00,3.08,0.00,0.000,1030,0.000,0.159,2908,2275,2143,2143,647,0,0,1,0,0,0,26.79,26.66,26.82,10.51,36.13
$GC,1339,2.70,451.6,2907,2276,2142,641,51.5,10.2,213,1346,0.00,3.38,0.00,0.000,260,0.000,0.271,2908,3482,2142,2142,643,0,0,1,0,0,0,27.07,26.61,27.08,10.51,36.17
$GC,1377,2.70,451.6,2907,3481,2141,737,47.1,12.5,219,1384,0.00,3.10,0.00,0.000,1030,0.000,0.139,2908,2277,2141,2141,722,0,0,1,0,0,0,26.85,26.74,26.88,10.51,36.10
$GC,1414,2.70,451.6,2907,2277,2141,676,43.0,10.4,225,1421,0.00,3.28,0.00,0.000,516,0.000,0.251,2908,1076,2140,2140,673,0,0,1,0,0,0,27.12,26.65,27.13,10.50,35.98
$GC,1452,2.70,451.6,2907,1076,2140,659,38.9,11.2,231,1458,0.00,3.10,0.00,0.000,1030,0.000,0.156,2908,2279,2140,2140,656,0,0,0,0,0,0,26.86,26.74,26.91,10.50,36.10
$GC,1489,2.70,451.6,2907,2279,2138,648,34.8,11.0,237,1496,0.00,3.33,0.00,0.000,260,0.000,0.271,2908,3481,2139,2139,648,0,0,1,0,0,0,27.15,26.67,27.17,10.50,35.94
$GC,1520,2.70,451.6,2907,3481,2138,883,31.0,12.3,242,1527,0.00,3.08,0.00,0.000,1030,0.000,0.137,2908,2276,2138,2138,847,0,0,1,0,0,0,26.91,26.80,26.94,10.50,36.13
$GC,1558,2.71,454.1,2906,2276,2138,682,27.0,9.9,248,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2276,2137,2137,674,0,0,0,0,0,0,27.18,27.20,27.20,10.49,35.90
$GC,1594,2.71,454.1,2907,2276,2137,660,23.3,10.3,254,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2276,2136,2136,654,0,0,0,0,0,0,27.20,27.22,27.22,10.50,35.70
$GC,1632,2.71,454.1,2907,2276,2136,647,19.7,10.3,260,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2276,2135,2135,644,0,0,0,0,0,0,27.18,27.20,27.20,10.49,35.58
$GC,1668,2.71,454.1,2907,2276,2134,638,15.9,10.2,266,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2276,2134,2134,636,0,0,0,0,0,0,27.23,27.24,27.24,10.49,35.82
$GC,1704,2.71,454.1,2907,2276,2134,631,12.0,10.7,272,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2276,2133,2133,630,0,0,0,0,0,0,27.25,27.27,27.27,10.49,36.73
$GC,1741,2.71,454.1,2907,2276,2133,626,8.1,10.8,278,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2276,2133,2133,625,0,0,0,0,0,0,27.27,27.28,27.28,10.49,36.61
$GC,1777,2.75,466.0,2907,2276,2132,621,4.6,9.6,284,1784,0.00,3.22,0.00,0.000,516,0.000,0.243,2908,1079,2132,2132,624,0,0,0,0,0,0,27.27,26.77,27.29,10.48,36.41
$STATE,1820,end climb,SURFACE_DEPTH_REACHED
$STATE,1820,begin surface coast
$FINISH,1.6,1.019928
$STATE,1827,end surface coast,CONTROL_FINISHED_OK
$STATE,1827,begin surface
$SM_CCo,1922,0.00,0.000,0,0,2131,466.65
$SM_GC,1.16,26.05,3.10,0.00,0.122,0.149,0.000,361,2280,2131,-9.02,-0.91,466.65,0,0,1,0,0,0,26.94,26.86,26.99
$IRIDIUM_FIX,4748.51,-12337.82,180417,164533
$TT8_MAMPS,0.02247,0.158788
$HUMID,36.29
$INTERNAL_PRESSURE,10.4301
$TCM_TEMP,13.40
$XPDR_PINGS,45
$ALTIM_TOP_PING,19.7,19.6
$24V_AH,24.75,0.279
$10V_AH,10.49,1.526
$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,54.600,70.650,48.100,0.000,0.000,0.000,0.000,0.000,11.500,0.000,5.071,734.773,514.273,285.098,429.554,28.659,29.318,599.387,0.000,428.170,0.000,2.644,0.000
$DEVICE_MAMPS,382.382,288.028,4342.767,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,193.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323740
$DATA_FILE_SIZE,10523,292
$CAP_FILE_SIZE,71338,0
$CFSIZE,1024409600,1020493824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0,0
$GPS,180417,172158,4742.578,-12224.924,1,1.0,1,16.3,0.0,0.0,7,95.8