version: 66.12
glider: 38
mission: 4
dive: 130
start: 11 11 115 3 58 55
data:
$ID,38
$MISSION,4
$DIVE,130
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$D_NO_BLEED,50
$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,1250
$T_MISSION,1440
$T_ABORT,1500
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,116
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2140
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,111115,034107,2638.9402,-7647.0498,32,0.9,35,-8.5,0.0,0.0,9,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-68.0
$GPS2,111115,035814,2639.0027,-7647.0020,5,0.9,18,-8.5,0.0,0.0,9,9.3
$SPEED_LIMITS,0.440,0.498
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.196643,-0.067499
$KALMAN_X,277051.062500,0.000000,0.000000,-871760.125000,15460.062500
$KALMAN_Y,158733.406250,0.000000,0.000000,-424200.437500,4468.718750
$MHEAD_RNG_PITCHd_Wd,184.7,17181,-17.0,-16.000,-19.18,3512
$D_GRID,6000
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.96,-368.0,157,2204,907,877,0.0,0.0,0,141,0.00,0.00,-123.68,0.154,16386,0.000,0.000,157,2204,2525,2468,2583,0,0,0,0,0,0,26.87,28.83,26.89
$GC,144,-0.98,-439.8,157,2204,2468,2583,3.9,-5.7,12,197,10.43,2.05,-35.92,0.161,18692,0.288,0.077,2641,3591,3657,3630,3684,0,0,0,0,0,0,25.72,26.22,26.01
$GC,301,-0.84,-439.8,2641,3591,3630,3684,44.7,-27.6,26,306,0.20,1.83,0.00,0.000,3078,0.194,0.060,2704,2184,3656,3629,3684,0,0,0,0,0,0,26.03,26.62,26.22
$GC,609,-0.84,-439.8,2703,2182,3629,3684,108.3,-18.3,46,614,0.00,2.05,0.00,0.000,260,0.000,0.077,2694,3603,3656,3629,3684,0,0,0,0,0,0,27.05,26.59,27.07
$GC,767,-0.84,-439.8,2694,3603,3629,3684,135.3,-17.0,55,775,0.00,1.85,0.00,0.000,1030,0.000,0.060,2694,2214,3656,3629,3684,0,0,0,0,0,0,26.86,26.84,26.86
$GC,1075,-0.84,-439.8,2693,2215,3629,3683,186.2,-15.7,69,1081,0.00,1.90,0.00,0.000,516,0.000,0.067,2694,830,3656,3629,3683,0,0,0,0,0,0,27.14,26.74,27.15
$GC,1112,-0.84,-439.8,2694,830,3629,3682,191.3,-15.8,70,1117,0.00,1.92,0.00,0.000,1030,0.000,0.062,2684,2205,3656,3629,3683,0,0,0,0,0,0,26.82,26.81,26.85
$GC,1437,-0.84,-439.8,2684,2205,3629,3683,242.4,-15.0,81,1443,0.00,1.98,0.00,0.000,260,0.000,0.079,2674,3591,3656,3630,3682,0,0,0,0,0,0,27.15,26.67,27.17
$GC,1505,-0.84,-439.8,2673,3591,3629,3683,252.0,-15.2,83,1510,0.00,1.85,0.00,0.000,1030,0.000,0.057,2674,2194,3656,3629,3683,0,0,0,0,0,0,26.92,26.89,26.93
$GC,1845,-0.84,-439.8,2674,2192,3629,3680,307.4,-15.9,94,1850,0.00,1.98,0.00,0.000,260,0.000,0.077,2664,3589,3654,3629,3680,0,0,0,0,0,0,27.16,26.67,27.18
$GC,1902,-0.84,-439.8,2664,3589,3629,3680,314.7,-16.0,95,1907,0.12,1.83,0.00,0.000,3078,0.181,0.060,2706,2167,3654,3629,3680,0,0,0,0,0,0,26.50,26.90,26.61
$GC,2251,-0.90,-439.8,2706,2167,3629,3675,362.5,-12.9,103,2255,0.00,2.05,0.00,0.000,260,0.000,0.077,2697,3592,3653,3629,3677,0,0,0,0,0,0,27.16,26.67,27.17
$GC,2307,-0.96,-439.8,2697,3598,3629,3677,369.3,-13.3,104,2311,0.00,1.83,0.00,0.000,5126,0.000,0.060,2697,2203,3653,3629,3677,0,0,0,0,0,0,26.94,26.89,26.96
$GC,2656,-1.01,-439.8,2697,2201,3629,3674,419.1,-13.9,112,2662,0.05,1.95,0.00,0.000,4356,0.189,0.077,2645,3586,3651,3629,3674,0,0,0,0,0,0,26.94,26.67,26.97
$GC,2692,-1.06,-439.8,2645,3586,3629,3674,419.1,-13.9,112,2701,0.00,1.85,0.00,0.000,1030,0.000,0.060,2645,2193,3651,3629,3673,0,0,0,0,0,0,26.91,26.89,26.93
$GC,3016,-1.06,-439.8,2644,2193,3629,3671,482.9,-18.0,120,3019,0.00,2.00,0.00,0.000,260,0.000,0.077,2634,3588,3649,3629,3670,0,0,0,0,0,0,27.16,26.66,27.17
$GC,3075,-1.06,-439.8,2634,3589,3629,3670,491.9,-18.1,121,3079,0.00,1.85,0.00,0.000,1030,0.000,0.057,2634,2200,3649,3629,3670,0,0,0,0,0,0,26.91,26.89,26.92
$GC,3424,-1.06,-439.8,2634,2200,3629,3666,559.9,-18.5,129,3430,0.00,2.00,0.00,0.000,260,0.000,0.079,2624,3587,3648,3629,3667,0,0,0,0,0,0,27.15,26.66,27.17
$GC,3481,-1.06,-439.8,2623,3587,3629,3667,568.4,-18.5,130,3486,0.00,1.85,0.00,0.000,1030,0.000,0.057,2624,2203,3647,3629,3666,0,0,0,0,0,0,26.91,26.89,26.91
$GC,3830,-1.06,-439.8,2623,2201,3629,3662,635.7,-18.4,138,3835,0.00,2.00,0.00,0.000,260,0.000,0.077,2614,3589,3645,3629,3662,0,0,0,0,0,0,27.15,26.65,27.17
$GC,3864,-1.06,-439.8,2613,3588,3629,3662,635.7,-18.4,138,3868,0.00,1.88,0.00,0.000,1030,0.000,0.057,2613,2187,3645,3629,3662,0,0,0,0,0,0,26.93,26.89,26.91
$GC,4193,-1.06,-439.8,2613,2186,3629,3658,705.5,-19.2,146,4198,0.00,2.08,0.00,0.000,260,0.000,0.077,2603,3599,3643,3629,3658,0,0,0,0,0,0,27.15,26.65,27.17
$GC,4249,-1.06,-439.8,2603,3599,3628,3658,715.5,-19.6,147,4254,0.00,1.90,0.00,0.000,1030,0.000,0.057,2603,2193,3643,3628,3658,0,0,0,0,0,0,26.89,26.88,26.91
$GC,4558,-1.06,-439.8,2602,2192,3628,3653,782.0,-20.9,154,4563,0.00,2.08,0.00,0.000,260,0.000,0.077,2592,3598,3640,3628,3653,0,0,0,0,0,0,27.15,26.64,27.17
$GC,4614,-1.06,-439.8,2592,3598,3628,3652,792.7,-21.2,155,4619,0.10,1.90,0.00,0.000,3078,0.181,0.057,2626,2185,3640,3628,3653,0,0,0,0,0,0,26.46,26.87,26.52
$GC,4923,-1.06,-439.8,2626,2184,3628,3647,852.9,-18.6,162,4928,0.00,2.08,0.00,0.000,260,0.000,0.079,2617,3596,3638,3628,3648,0,0,0,0,0,0,27.15,26.63,27.17
$GC,5010,-1.06,-439.8,2616,3595,3627,3647,861.9,-18.6,163,5019,0.00,1.88,0.00,0.000,1030,0.000,0.060,2616,2221,3637,3627,3648,0,0,0,0,0,0,26.89,26.88,26.89
$GC,5334,-1.06,-439.8,2616,2219,3627,3642,931.6,-18.8,171,5339,0.00,2.03,0.00,0.000,260,0.000,0.079,2606,3589,3634,3627,3642,0,0,0,0,0,0,27.16,26.62,27.17
$GC,5378,-1.06,-439.8,2606,3589,3627,3643,940.3,-18.7,172,5384,0.00,1.85,0.00,0.000,1030,0.000,0.060,2606,2194,3634,3627,3642,0,0,0,0,0,0,26.91,26.86,26.92
$GC,5695,-1.06,-439.8,2606,2193,3627,3637,1001.9,-19.5,179,5700,0.00,2.08,0.00,0.000,260,0.000,0.079,2596,3583,3632,3627,3637,0,0,0,0,0,0,27.13,26.61,27.15
$GC,5740,-1.06,-439.8,2595,3583,3626,3637,1001.9,-19.5,179,5745,0.10,1.90,0.00,0.000,3078,0.169,0.060,2631,2187,3631,3626,3637,0,0,0,0,0,0,26.46,26.85,26.51
$GC,6056,-1.06,-439.8,2631,2185,3625,3633,1065.9,-18.0,182,6062,0.00,2.12,0.00,0.000,260,0.000,0.079,2621,3585,3628,3625,3632,0,0,0,0,0,0,27.13,26.58,27.15
$GC,6128,-1.06,-439.8,2621,3585,3623,3633,1065.9,-18.0,182,6131,0.00,1.85,0.00,0.000,1030,0.000,0.057,2621,2212,3627,3622,3633,0,0,0,0,0,0,26.89,26.84,26.91
$GC,6544,-1.06,-439.8,2621,2210,3620,3627,1151.6,-17.6,186,6548,0.00,2.12,0.00,0.000,260,0.000,0.079,2611,3593,3623,3620,3627,0,0,0,0,0,0,27.13,26.56,27.15
$GC,6629,-1.06,-439.8,2611,3593,3618,3627,1151.6,-17.6,186,6633,0.00,1.90,0.00,0.000,1030,0.000,0.060,2611,2211,3623,3619,3627,0,0,0,0,0,0,26.88,26.83,26.89
$GC,7029,-1.06,-439.8,2610,2194,3617,3623,1240.7,-18.3,190,7036,0.00,2.15,0.00,0.000,260,0.000,0.079,2600,3583,3620,3617,3623,0,0,0,0,0,0,27.13,26.54,27.14
$GC,7112,-1.06,-439.8,2600,3583,3615,3623,1240.7,-18.3,190,7116,0.00,1.92,0.00,0.000,1030,0.000,0.057,2600,2177,3618,3614,3622,0,0,0,0,0,0,26.86,26.82,26.89
$GC,7511,-1.06,-439.8,2600,2176,3613,3618,1334.5,-19.4,194,7516,0.00,2.17,0.00,0.000,260,0.000,0.079,2590,3585,3616,3613,3619,0,0,0,0,0,0,27.11,26.52,27.13
$GC,7625,-1.06,-439.8,2590,3584,3611,3618,1334.5,-19.4,194,7638,0.12,1.95,0.00,0.000,3078,0.161,0.057,2635,2189,3614,3611,3618,0,0,0,0,0,0,26.36,26.80,26.44
$GC,7997,-1.06,-439.8,2634,2188,3611,3614,1417.4,-16.9,198,8001,0.00,2.17,0.00,0.000,260,0.000,0.079,2625,3586,3612,3611,3614,0,0,0,0,0,0,27.12,26.49,27.14
$GC,8073,-1.06,-439.8,2625,3586,3609,3614,1417.4,-16.9,198,8076,0.00,1.92,0.00,0.000,1030,0.000,0.057,2625,2211,3611,3609,3614,0,0,0,0,0,0,26.84,26.79,26.86
$GC,8478,-1.13,-439.8,2624,2210,3607,3611,1491.9,-15.5,202,8483,0.00,2.17,0.00,0.000,260,0.000,0.079,2615,3587,3609,3607,3611,0,0,0,0,0,0,27.12,26.47,27.13
$GC,8564,-1.20,-439.8,2614,3587,3606,3611,1491.9,-15.5,202,8568,0.00,1.95,0.00,0.000,1030,0.000,0.057,2615,2197,3608,3606,3611,0,0,0,0,0,0,26.84,26.79,26.85
$GC,8958,-1.26,-439.8,2615,2195,3605,3608,1567.8,-15.7,206,8966,0.05,2.15,0.00,0.000,4356,0.181,0.077,2559,3578,3606,3605,3608,0,0,0,0,0,0,26.90,26.44,26.91
$GC,9057,-1.33,-439.8,2559,3578,3603,3608,1567.8,-15.7,206,9060,0.00,1.92,0.00,0.000,1030,0.000,0.057,2559,2196,3605,3603,3608,0,0,0,0,0,0,26.82,26.77,26.84
$GC,9442,-1.33,-439.8,2559,2194,3602,3605,1664.4,-20.0,210,9448,0.00,2.17,0.00,0.000,260,0.000,0.079,2549,3580,3604,3603,3605,0,0,0,0,0,0,27.11,26.42,27.13
$GC,9543,-1.33,-439.8,2549,3580,3602,3605,1664.4,-20.0,210,9547,0.00,1.98,0.00,0.000,1030,0.000,0.057,2549,2202,3603,3601,3605,0,0,0,0,0,0,26.77,26.77,26.80
$STATE,9926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9926,begin apogee
$GC,9929,-0.25,0.0,2549,2201,3601,3602,1764.1,-20.4,214,10290,1.02,0.00,356.80,1.934,10246,0.146,0.000,2895,2201,2140,2153,2128,0,0,0,0,0,0,25.77,23.88,22.84
$STATE,10291,end apogee,CONTROL_FINISHED_OK
$STATE,10291,begin climb
$GC,10292,0.98,439.8,2895,2200,2153,2128,1802.7,0.0,217,10675,1.05,2.22,371.90,1.892,10756,0.122,0.074,3265,836,626,648,604,0,0,0,0,0,0,24.15,23.68,22.89
$GC,10909,0.93,537.0,3264,836,648,604,1741.2,13.2,222,10994,0.00,2.00,79.95,1.835,9222,0.000,0.062,3265,2190,291,322,260,0,0,0,0,0,0,26.29,26.23,23.71
$GC,11364,0.78,537.0,3264,2190,321,260,1642.3,20.7,226,11366,0.15,0.00,0.00,0.000,4102,0.196,0.000,3219,2190,290,321,260,0,0,0,0,0,0,26.27,26.50,26.44
$GC,11724,0.67,537.0,3218,2190,322,260,1576.3,19.2,229,11726,0.10,0.00,0.00,0.000,4102,0.209,0.000,3185,2190,291,322,260,0,0,0,0,0,0,26.49,26.67,26.62
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$STATE,22158,end climb,SURFACE_DEPTH_REACHED
$STATE,22158,begin surface coast
$FINISH,1.4,1.023595
$STATE,22168,end surface coast,CONTROL_FINISHED_OK
$STATE,22169,begin surface
$SM_CCo,22243,0.00,0.000,0,0,199,563.84
$SM_GC,0.75,7.93,0.00,0.00,0.072,0.000,0.000,171,2212,199,-8.68,0.34,563.84,0,0,0,0,0,0,26.52,27.08,26.60
$IRIDIUM_FIX,2629.42,-7646.40,060908,171530
$TT8_MAMPS,0.026215,0.026215
$HUMID,94.41
$INTERNAL_PRESSURE,9.2606
$TCM_TEMP,21.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,1690.8,85.1
$24V_AH,22.84,44.575
$10V_AH,10.43,30.989
$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,21.750,155.850,851.375,0.000,159.600,122.812,197.435,312.953,17.500,0.000,19.931,1767.507,16943.100,920.394,3509.180,121.233,0.000,2110.216,0.000,2730.519,0.000,127.567,0.000
$DEVICE_MAMPS,288.028,81.939,1934.257,0.000,161.395,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.333,1530.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329812
$DATA_FILE_SIZE,30277,468
$CAP_FILE_SIZE,180157,0
$CFSIZE,1024409600,994443264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.211,15.07,1
$GPS,111115,101054,2636.809,-7647.707,40,0.9,43,-8.5,0.6,149.4,11,9.8