version: 66.13
glider: 402
mission: 2
dive: 35
start: 5 25 117 0 35 30
data:
$ID,402
$MISSION,2
$DIVE,35
$N_DIVES,40
$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,90
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-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,450
$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,65
$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,20
$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
$GPS1,250517,002526,4741.5840,-12225.9453,4,0.9,4,16.3,0.0,0.0,9,127.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-37.9
$GPS2,250517,003421,4741.5283,-12226.0078,7,0.9,7,16.3,0.0,0.0,9,76.7
$SPEED_LIMITS,0.080,0.313
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.242524,0.197748
$KALMAN_X,-6104.930176,-330.518188,-620.190247,5202.288086,-342.059509
$KALMAN_Y,-8303.374023,-735.911621,-1426.928223,7350.519043,-48.503357
$MHEAD_RNG_PITCHd_Wd,34.5,2346,-10.7,-8.000,-14.34,7330
$D_GRID,156
$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,6,-1.37,-391.0,513,2282,1126,741,0.0,0.0,0,15,6.30,0.00,0.00,0.000,2049,0.115,0.000,1054,2282,1125,1125,690,0,0,0,0,0,0,26.45,28.83,28.83,10.62,47.28
$GC,16,-1.37,-391.0,1054,2282,1125,690,0.6,0.0,1,52,10.88,4.20,-13.82,0.000,18948,0.060,1.284,2090,862,3088,3088,817,0,0,0,0,0,0,26.15,25.03,26.23,10.62,46.53
$GC,94,-1.37,-391.0,2090,862,3090,817,6.3,-17.3,17,101,0.00,3.70,0.00,0.000,1030,0.000,0.041,2090,2270,3090,3090,787,0,0,0,0,0,0,26.14,26.03,26.17,10.99,46.85
$GC,135,-1.37,-391.0,2090,2270,3091,787,12.1,-14.1,26,142,0.00,4.12,0.00,0.000,260,0.000,0.093,2090,3701,3092,3092,786,0,0,0,0,0,0,26.41,26.03,26.42,10.98,47.08
$GC,188,-1.37,-391.0,2090,3701,3092,786,19.5,-13.7,38,195,0.00,3.65,0.00,0.000,1030,0.000,0.038,2090,2295,3093,3093,777,0,0,0,0,0,0,26.28,26.21,26.31,10.97,46.37
$GC,229,-1.37,-391.0,2089,2294,3093,777,24.4,-10.9,47,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2294,3093,3093,773,0,0,0,0,0,0,26.51,26.53,26.53,10.96,46.37
$GC,269,-1.37,-391.0,2089,2294,3094,773,29.1,-12.1,56,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2294,3095,3095,771,0,0,0,0,0,0,26.55,26.57,26.57,10.96,46.18
$GC,309,-1.37,-391.0,2089,2294,3096,771,34.0,-12.5,65,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2293,3096,3096,769,0,0,0,0,0,0,26.59,26.61,26.60,10.96,46.69
$GC,349,-1.37,-391.0,2089,2294,3097,769,38.7,-12.0,74,356,0.00,3.95,0.00,0.000,516,0.000,0.074,2090,861,3097,3097,773,0,0,0,0,0,0,26.63,26.25,26.64,10.96,46.65
$GC,390,-1.37,-391.0,2089,862,3097,773,43.9,-13.8,83,397,0.00,3.75,0.00,0.000,1030,0.000,0.041,2090,2301,3097,3097,775,0,0,0,0,0,0,26.44,26.33,26.46,10.95,46.69
$GC,431,-1.37,-391.0,2090,2302,3098,775,49.7,-14.3,92,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2302,3098,3098,772,0,0,0,0,0,0,26.67,26.69,26.69,10.95,45.78
$GC,471,-1.37,-391.0,2090,2302,3099,772,55.2,-13.5,101,478,0.00,3.97,0.00,0.000,260,0.000,0.089,2090,3698,3099,3099,777,0,0,0,0,0,0,26.70,26.32,26.71,10.95,46.10
$GC,532,-1.37,-391.0,2090,3699,3101,777,63.6,-13.3,115,539,0.00,3.55,0.00,0.000,1030,0.000,0.039,2090,2307,3101,3101,771,0,0,0,0,0,0,26.54,26.47,26.55,10.94,46.22
$GC,573,-1.37,-391.0,2090,2306,3101,771,68.3,-11.0,124,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2306,3101,3101,769,0,0,0,0,0,0,26.74,26.76,26.76,10.94,46.61
$GC,613,-1.37,-391.0,2090,2306,3102,769,72.8,-11.5,133,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2306,3102,3102,769,0,0,0,0,0,0,26.77,26.78,26.78,10.93,46.49
$GC,653,-1.37,-391.0,2090,2306,3103,769,77.3,-11.0,142,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2306,3103,3103,769,0,0,0,0,0,0,26.79,26.80,26.80,10.93,46.41
$GC,693,-1.37,-391.0,2089,2306,3104,769,81.8,-11.3,151,700,0.00,3.92,0.00,0.000,516,0.000,0.072,2090,866,3104,3104,774,0,0,0,0,0,0,26.80,26.43,26.82,10.92,46.18
$GC,730,-1.37,-391.0,2090,866,3104,774,86.5,-13.2,159,737,0.00,3.75,0.00,0.000,1030,0.000,0.043,2091,2313,3104,3104,778,0,0,0,0,0,0,26.60,26.49,26.63,10.94,46.02
$GC,771,-1.37,-391.0,2090,2314,3105,778,91.6,-11.8,168,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2313,3106,3106,774,0,0,0,0,0,0,26.82,26.84,26.84,10.94,46.37
$GC,811,-1.37,-391.0,2090,2313,3106,774,96.3,-12.2,177,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2313,3106,3106,773,0,0,0,0,0,0,26.84,26.85,26.85,10.92,46.14
$GC,850,-1.37,-391.0,2089,2314,3107,773,101.2,-12.4,186,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2313,3107,3107,773,0,0,0,0,0,0,26.85,26.86,26.86,10.93,46.25
$GC,890,-1.37,-391.0,2089,2314,3108,773,105.9,-11.4,195,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2313,3108,3108,773,0,0,0,0,0,0,26.86,26.88,26.88,10.93,46.49
$GC,930,-1.37,-391.0,2089,2314,3109,773,110.6,-11.5,204,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2313,3109,3109,772,0,0,0,0,0,0,26.88,26.89,26.89,10.93,46.33
$GC,970,-1.37,-391.0,2090,2314,3110,772,115.7,-12.5,213,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2313,3110,3110,772,0,0,0,0,0,0,26.89,26.90,26.90,10.93,46.73
$GC,1010,-1.37,-391.0,2090,2314,3110,772,120.8,-11.9,222,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2313,3111,3111,772,0,0,0,0,0,0,26.90,26.91,26.91,10.93,46.53
$GC,1050,-1.37,-391.0,2090,2314,3111,772,126.1,-12.5,231,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2313,3112,3112,772,0,0,0,0,0,0,26.91,26.93,26.92,10.93,46.14
$GC,1090,-1.37,-391.0,2089,2313,3112,772,131.2,-12.4,240,1097,0.00,3.92,0.00,0.000,516,0.000,0.069,2090,863,3112,3112,778,0,0,0,0,0,0,26.92,26.55,26.94,10.93,46.53
$GC,1123,-1.37,-391.0,2089,864,3114,778,135.8,-14.8,247,1130,0.00,3.70,0.00,0.000,1030,0.000,0.044,2090,2305,3114,3114,782,0,0,0,0,0,0,26.71,26.60,26.73,10.93,46.33
$GC,1164,-1.37,-391.0,2090,2306,3114,782,141.4,-13.9,256,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2306,3114,3114,778,0,0,0,0,0,0,26.93,26.94,26.94,10.93,46.45
$GC,1204,-1.37,-391.0,2090,2306,3115,778,146.5,-11.9,265,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2306,3115,3115,777,0,0,0,0,0,0,26.94,26.96,26.95,10.93,46.96
$GC,1244,-1.37,-391.0,2090,2306,3116,777,151.0,-11.2,274,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2306,3117,3117,776,0,0,0,0,0,0,26.95,26.96,26.96,10.93,46.57
$GC,1284,-1.37,-391.0,2090,2307,3116,776,155.4,-11.3,283,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2306,3117,3117,775,0,0,0,0,0,0,26.96,26.97,26.97,10.93,47.20
$STATE,1294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1295,begin apogee
$GC,1298,-0.38,0.0,2090,2223,3117,776,156.7,-10.9,285,1333,3.20,0.00,25.62,2.091,10244,0.069,0.000,2402,2223,2626,2626,3560,0,0,0,0,0,0,26.64,25.08,24.03,10.93,46.57
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1334,begin climb
$GC,1336,1.37,391.0,2402,2223,2626,3560,158.8,0.0,291,1371,5.80,0.00,24.52,2.067,11270,0.054,0.000,2951,2223,2170,2170,3619,0,0,0,0,0,0,25.65,25.86,23.44,10.83,46.33
$GC,1405,1.37,391.0,2951,2223,2170,3619,154.2,8.5,305,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2223,2170,2170,782,0,0,0,0,0,0,25.70,25.72,25.72,10.75,46.69
$GC,1445,1.37,391.0,2950,2223,2169,782,150.8,8.5,314,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2223,2169,2169,755,0,0,0,0,0,0,25.94,25.96,25.95,10.75,46.10
$GC,1485,1.42,425.0,2950,2223,2169,755,147.7,7.5,323,1493,0.10,0.00,3.78,1.030,10246,0.091,0.000,2966,2224,2131,2131,4095,0,0,0,0,0,0,25.86,25.57,24.25,10.75,46.14
$GC,1527,1.42,425.0,2965,2223,2130,4095,144.4,8.4,332,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2222,2130,2130,776,0,0,0,0,0,0,26.14,26.15,26.15,10.74,45.82
$GC,1567,1.43,436.4,2964,2223,2130,776,141.4,7.8,341,1580,0.00,4.12,2.55,0.470,8452,0.000,0.083,2966,3648,2117,2117,4095,0,0,0,0,0,0,26.24,25.83,24.43,10.74,46.61
$GC,1606,1.43,436.4,2965,3648,2115,4095,136.8,13.7,349,1613,0.00,3.67,0.00,0.000,1030,0.000,0.038,2966,2247,2116,2116,785,0,0,0,0,0,0,26.10,26.02,26.13,10.74,46.49
$GC,1648,1.53,508.2,2965,2247,2115,785,133.0,7.0,358,1660,0.35,0.00,5.80,1.325,10246,0.054,0.000,3005,2247,2034,2034,4095,0,0,0,0,0,0,26.11,25.45,24.50,10.73,46.57
$GC,1694,1.53,508.2,3005,2247,2034,4095,129.4,8.3,368,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2246,2034,2034,776,0,0,0,0,0,0,26.28,26.29,26.29,10.72,46.53
$GC,1734,1.53,508.2,3004,2247,2033,776,125.7,9.6,377,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2247,2033,2033,746,0,0,0,0,0,0,26.36,26.38,26.37,10.72,46.33
$GC,1774,1.53,508.2,3005,2247,2031,746,121.8,9.1,386,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2247,2032,2032,723,0,0,0,0,0,0,26.41,26.44,26.43,10.72,47.04
$GC,1813,1.53,508.2,3005,2247,2031,723,118.4,8.2,395,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2247,2031,2031,704,0,0,0,0,0,0,26.47,26.48,26.48,10.71,46.69
$GC,1853,1.55,523.3,3005,2247,2030,704,115.3,7.8,404,1860,0.00,0.00,2.65,0.471,8198,0.000,0.000,3005,2248,2016,2016,4095,0,0,0,0,0,0,26.51,26.04,24.84,10.72,47.32
$GC,1895,1.59,552.6,3005,2247,2016,4095,112.2,7.6,413,1902,0.15,0.00,3.50,0.791,10246,0.076,0.000,3025,2247,1982,1982,4095,0,0,0,0,0,0,26.29,26.03,24.85,10.71,47.32
$GC,1937,1.62,572.5,3024,2247,1981,4095,108.7,7.7,422,1943,0.00,0.00,2.97,0.598,8198,0.000,0.000,3025,2247,1958,1958,4095,0,0,0,0,0,0,26.51,26.04,24.86,10.71,46.25
$GC,1978,1.62,572.8,3025,2246,1958,4095,105.3,8.0,431,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2246,1959,1959,773,0,0,0,0,0,0,26.52,26.53,26.53,10.70,46.96
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$GC,2708,1.79,695.3,3086,3654,1808,568,40.1,11.1,592,2715,0.00,3.60,0.00,0.000,1030,0.000,0.040,3088,2253,1807,1807,566,0,0,0,0,0,0,26.63,26.55,26.65,10.66,46.96
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$STATE,3199,end climb,SURFACE_DEPTH_REACHED
$STATE,3199,begin surface coast
$FINISH,0.0,1.017523
$STATE,3212,end surface coast,CONTROL_FINISHED_OK
$STATE,3212,begin surface
$SM_CCo,3312,0.00,0.000,0,0,1010,1388.36
$SM_GC,0.77,29.42,3.90,0.00,0.040,0.044,0.000,501,2285,1010,-6.34,-0.55,1388.36,0,0,0,0,0,0,26.30,26.27,26.36
$IRIDIUM_FIX,4808.40,-12337.82,250517,002649
$TT8_MAMPS,0.020972,0.15729
$HUMID,46.88
$INTERNAL_PRESSURE,10.4985
$TCM_TEMP,10.90
$XPDR_PINGS,4
$24V_AH,23.44,6.887
$10V_AH,10.49,3.654
$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,59.600,115.375,125.350,0.000,0.000,33.220,31.776,381.776,1.000,0.000,7.732,1646.126,232.959,449.290,1474.540,57.739,33.426,1096.981,0.000,1001.147,0.000,0.545,0.000
$DEVICE_MAMPS,114.750,1283.670,2090.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313144
$DATA_FILE_SIZE,27688,697
$CAP_FILE_SIZE,112033,0
$CFSIZE,1024409600,1018167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250517,013150,4742.080,-12225.318,36,1.0,36,16.3,0.0,0.0,8,8.6