version: 66.13
glider: 402
mission: 2
dive: 38
start: 5 25 117 3 53 46
data:
$ID,402
$MISSION,2
$DIVE,38
$N_DIVES,50
$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,0
$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,18
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$GPS1,250517,034430,4743.2764,-12225.1758,16,0.9,16,16.3,0.0,0.0,10,48.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-46.6
$GPS2,250517,035238,4743.2539,-12225.2383,8,0.8,8,16.3,0.0,0.0,11,136.5
$SPEED_LIMITS,0.080,0.313
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.115274,0.260935
$KALMAN_X,-7306.607422,27.320465,-30.625679,6422.647461,21.763580
$KALMAN_Y,-10070.086914,-164.567596,788.423218,9538.108398,199.724457
$MHEAD_RNG_PITCHd_Wd,7.5,1486,-12.2,-8.000,-15.67,5876
$D_GRID,180
$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,-1.38,-312.3,501,2291,1482,741,0.0,0.0,0,16,6.95,0.00,0.00,0.000,2049,0.122,0.000,1092,2291,1482,1482,701,0,0,0,0,0,0,26.46,28.83,28.83,10.65,47.59
$GC,17,-1.38,-312.3,1092,2291,1482,701,0.9,0.0,1,48,10.40,4.15,-10.70,0.000,18948,0.062,1.279,2087,861,2995,2995,800,0,0,0,0,0,0,26.16,25.03,26.24,10.66,46.73
$GC,78,-1.38,-312.3,2086,862,2997,800,4.9,-18.8,13,85,0.00,3.70,0.00,0.000,1030,0.000,0.044,2087,2271,2997,2997,784,0,0,0,0,0,0,26.15,26.05,26.18,10.96,47.20
$GC,119,-1.38,-312.3,2086,2271,2998,784,12.6,-15.5,22,126,0.00,4.12,0.00,0.000,260,0.000,0.092,2087,3699,2999,2999,782,0,0,0,0,0,0,26.42,26.04,26.44,10.95,46.69
$GC,216,-1.38,-312.3,2086,3699,3002,782,27.8,-13.0,45,223,0.00,3.62,0.00,0.000,1030,0.000,0.037,2087,2290,3001,3001,761,0,0,0,0,0,0,26.34,26.27,26.37,10.94,46.22
$GC,257,-1.38,-312.3,2086,2288,3002,761,33.1,-12.9,54,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2289,3002,3002,761,0,0,0,0,0,0,26.57,26.58,26.58,10.93,46.10
$GC,297,-1.38,-312.3,2086,2289,3003,761,38.0,-11.7,63,304,0.00,3.90,0.00,0.000,516,0.000,0.071,2087,866,3003,3003,765,0,0,0,0,0,0,26.60,26.24,26.62,10.92,45.78
$GC,346,-1.38,-312.3,2086,866,3004,765,44.0,-12.2,74,353,0.00,3.67,0.00,0.000,1030,0.000,0.041,2087,2288,3004,3004,764,0,0,0,0,0,0,26.43,26.32,26.46,10.93,46.61
$GC,387,-1.38,-312.3,2086,2289,3006,764,49.3,-13.5,83,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2287,3006,3006,763,0,0,0,0,0,0,26.67,26.67,26.67,10.93,46.18
$GC,427,-1.38,-312.3,2086,2288,3006,763,54.7,-13.1,92,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2288,3006,3006,762,0,0,0,0,0,0,26.69,26.70,26.70,10.93,46.49
$GC,467,-1.38,-312.3,2086,2288,3007,762,59.8,-13.0,101,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2288,3007,3007,761,0,0,0,0,0,0,26.72,26.73,26.72,10.92,45.66
$GC,507,-1.38,-312.3,2086,2288,3009,761,64.8,-12.7,110,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2288,3009,3009,761,0,0,0,0,0,0,26.74,26.75,26.74,10.91,45.62
$GC,546,-1.38,-312.3,2086,2288,3009,761,69.5,-11.7,119,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2288,3010,3010,761,0,0,0,0,0,0,26.76,26.77,26.77,10.92,45.94
$GC,586,-1.38,-312.3,2086,2288,3010,761,74.3,-11.7,128,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2288,3010,3010,761,0,0,0,0,0,0,26.77,26.79,26.79,10.92,46.22
$GC,626,-1.38,-312.3,2086,2288,3011,761,79.0,-11.9,137,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2288,3011,3011,761,0,0,0,0,0,0,26.79,26.81,26.81,10.91,45.66
$GC,666,-1.38,-312.3,2086,2288,3011,761,83.7,-11.8,146,673,0.00,3.88,0.00,0.000,516,0.000,0.070,2087,862,3012,3012,765,0,0,0,0,0,0,26.81,26.44,26.82,10.91,45.90
$GC,727,-1.38,-312.3,2086,862,3014,765,91.5,-13.1,160,734,0.00,3.62,0.00,0.000,1030,0.000,0.042,2087,2273,3013,3013,763,0,0,0,0,0,0,26.62,26.51,26.64,10.91,46.25
$GC,768,-1.38,-312.3,2086,2273,3014,763,96.2,-10.8,169,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2273,3014,3014,762,0,0,0,0,0,0,26.84,26.85,26.85,10.91,46.49
$GC,809,-1.38,-312.3,2086,2273,3015,762,100.6,-11.9,178,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2273,3015,3015,763,0,0,0,0,0,0,26.84,26.86,26.85,10.91,46.37
$GC,849,-1.38,-312.3,2086,2273,3015,763,105.2,-11.0,187,856,0.00,4.03,0.00,0.000,260,0.000,0.091,2087,3697,3016,3016,770,0,0,0,0,0,0,26.84,26.48,26.84,10.90,46.69
$GC,896,-1.38,-312.3,2086,3698,3017,770,111.1,-12.0,197,903,0.00,3.62,0.00,0.000,1030,0.000,0.039,2087,2273,3017,3017,769,0,0,0,0,0,0,26.67,26.60,26.70,10.91,46.29
$GC,938,-1.38,-312.3,2086,2274,3018,769,116.1,-12.1,206,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2274,3018,3018,767,0,0,0,0,0,0,26.88,26.89,26.89,10.91,46.65
$GC,980,-1.38,-312.3,2086,2274,3018,767,121.1,-12.9,215,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2273,3018,3018,766,0,0,0,0,0,0,26.88,26.90,26.89,10.91,46.81
$GC,1022,-1.38,-312.3,2086,2274,3019,766,126.1,-11.2,224,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2273,3020,3020,765,0,0,0,0,0,0,26.89,26.91,26.90,10.90,46.57
$GC,1062,-1.38,-312.3,2086,2273,3020,765,130.8,-11.8,233,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2272,3020,3020,765,0,0,0,0,0,0,26.91,26.93,26.92,10.91,46.61
$GC,1102,-1.38,-312.3,2086,2273,3021,765,135.5,-11.7,242,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2272,3021,3021,765,0,0,0,0,0,0,26.92,26.94,26.94,10.91,46.92
$GC,1142,-1.38,-312.3,2086,2272,3021,765,140.2,-11.7,251,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2273,3022,3022,764,0,0,0,0,0,0,26.94,26.95,26.94,10.91,46.45
$GC,1182,-1.38,-312.3,2086,2273,3023,764,144.6,-10.7,260,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2272,3022,3022,765,0,0,0,0,0,0,26.94,26.96,26.96,10.91,46.61
$GC,1222,-1.38,-312.3,2086,2273,3024,765,148.8,-11.0,269,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2272,3024,3024,764,0,0,0,0,0,0,26.95,26.96,26.96,10.91,46.65
$GC,1262,-1.38,-312.3,2086,2273,3024,764,153.4,-11.4,278,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2272,3025,3025,765,0,0,0,0,0,0,26.96,26.97,26.97,10.91,46.73
$GC,1302,-1.38,-312.3,2086,2273,3025,765,157.9,-11.3,287,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2272,3026,3026,765,0,0,0,0,0,0,26.96,26.98,26.98,10.91,46.37
$GC,1342,-1.38,-312.3,2086,2273,3027,765,162.6,-12.1,296,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2272,3027,3027,765,0,0,0,0,0,0,26.97,26.98,26.98,10.91,46.57
$GC,1382,-1.38,-312.3,2086,2273,3027,765,167.2,-11.7,305,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2273,3028,3028,765,0,0,0,0,0,0,26.98,27.00,26.99,10.91,46.85
$GC,1422,-1.38,-312.3,2086,2273,3029,765,171.8,-11.5,314,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2272,3029,3029,765,0,0,0,0,0,0,26.99,27.01,27.00,10.91,46.61
$GC,1462,-1.38,-312.3,2086,2273,3030,765,176.5,-11.4,323,1469,0.00,3.80,0.00,0.000,516,0.000,0.072,2087,866,3030,3030,770,0,0,0,0,0,0,26.99,26.62,27.01,10.91,46.85
$STATE,1490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1490,begin apogee
$GC,1497,-0.38,0.0,2086,2229,3031,773,180.4,-14.0,329,1527,3.28,0.00,21.73,2.291,10244,0.073,0.000,2402,2229,2627,2627,3904,0,0,0,0,0,0,26.67,25.47,23.98,10.91,47.00
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1529,1.38,312.3,2402,2229,2626,3904,183.1,0.0,334,1559,5.80,0.00,20.25,2.268,11270,0.054,0.000,2956,2229,2262,2262,3965,0,0,0,0,0,0,25.72,25.92,23.37,10.84,46.53
$GC,1594,1.49,391.3,2955,2229,2262,3965,180.4,6.6,347,1606,0.32,0.00,6.55,1.736,10246,0.053,0.000,2992,2229,2171,2171,4095,0,0,0,0,0,0,25.51,24.77,23.65,10.77,46.41
$GC,1640,1.49,391.3,2991,2229,2170,4095,176.3,9.6,357,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2229,2170,2170,781,0,0,0,0,0,0,25.84,25.86,25.86,10.75,46.65
$GC,1680,1.49,391.3,2992,2229,2169,781,172.6,9.6,366,1687,0.00,4.03,0.00,0.000,516,0.000,0.075,2992,818,2170,2170,757,0,0,0,0,0,0,26.03,25.67,26.03,10.75,46.29
$GC,1713,1.49,391.3,2991,818,2169,757,169.2,10.6,373,1720,0.00,3.70,0.00,0.000,1030,0.000,0.041,2992,2220,2168,2168,738,0,0,0,0,0,0,25.94,25.84,25.96,10.75,46.88
$GC,1754,1.49,391.3,2991,2221,2168,738,164.5,11.2,382,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,2167,2167,721,0,0,0,0,0,0,26.22,26.24,26.24,10.74,46.61
$GC,1794,1.49,391.3,2991,2221,2166,721,160.6,10.0,391,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,2166,2166,707,0,0,0,0,0,0,26.31,26.32,26.32,10.75,46.41
$GC,1834,1.49,391.3,2991,2222,2165,707,156.5,10.6,400,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,2166,2166,694,0,0,0,0,0,0,26.37,26.39,26.39,10.74,46.69
$GC,1874,1.49,391.3,2992,2222,2165,694,152.1,10.1,409,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,2164,2164,683,0,0,0,0,0,0,26.43,26.44,26.44,10.75,46.65
$GC,1914,1.49,391.3,2992,2221,2164,683,148.0,9.4,418,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,2164,2164,674,0,0,0,0,0,0,26.48,26.49,26.48,10.74,46.96
$GC,1954,1.49,391.3,2992,2221,2163,674,144.0,10.1,427,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,2162,2162,666,0,0,0,0,0,0,26.52,26.53,26.53,10.74,46.53
$GC,1994,1.49,391.3,2992,2221,2162,666,139.5,10.4,436,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,2162,2162,659,0,0,0,0,0,0,26.55,26.57,26.57,10.74,46.18
$GC,2034,1.49,391.3,2991,2221,2161,659,135.3,10.7,445,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2221,2160,2160,652,0,0,0,0,0,0,26.59,26.60,26.60,10.74,46.73
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$STATE,3587,end climb,SURFACE_DEPTH_REACHED
$STATE,3587,begin surface coast
$FINISH,0.1,1.010105
$STATE,3618,end surface coast,CONTROL_FINISHED_OK
$STATE,3618,begin surface
$SM_CCo,3712,0.00,0.000,0,0,1440,1019.16
$SM_GC,0.78,27.98,0.17,0.00,0.038,0.085,0.000,500,2291,1440,-6.34,-0.59,1019.16,0,0,0,0,0,0,26.42,26.41,26.48
$IRIDIUM_FIX,4808.40,-12337.82,250517,024005
$TT8_MAMPS,0.020972,0.158788
$HUMID,46.53
$INTERNAL_PRESSURE,10.5668
$TCM_TEMP,10.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,125.3,79.2
$24V_AH,23.37,7.069
$10V_AH,10.49,3.774
$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,57.250,99.525,88.350,0.000,0.000,32.976,38.365,331.968,3.000,0.000,8.583,1874.161,263.649,439.068,1582.345,61.556,33.423,1156.884,0.000,1138.363,0.000,13.683,0.000
$DEVICE_MAMPS,121.635,1279.080,2291.175,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313168
$DATA_FILE_SIZE,31206,794
$CAP_FILE_SIZE,118985,0
$CFSIZE,1024409600,1017954304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250517,045649,4744.028,-12224.982,39,1.1,39,16.3,0.0,0.0,7,48.3