version: 66.13
glider: 402
mission: 2
dive: 40
start: 5 25 117 6 8 49
data:
$ID,402
$MISSION,2
$DIVE,40
$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,60
$T_MISSION,75
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,250517,060039,4743.8447,-12224.6582,15,0.8,15,16.3,0.0,0.0,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-55.7
$GPS2,250517,060743,4743.8296,-12224.6592,5,0.9,5,16.3,0.0,0.0,10,85.8
$SPEED_LIMITS,0.084,0.181
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.053980,-0.172580
$KALMAN_X,-8041.802734,90.909180,521.680908,7253.164551,-267.600128
$KALMAN_Y,-10535.383789,61.120682,1488.385742,10129.530273,-432.791687
$MHEAD_RNG_PITCHd_Wd,146.3,2469,-26.9,-10.000,-28.94,1492
$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,6,-2.21,-97.8,514,2288,2098,753,0.0,0.0,0,16,7.20,0.00,0.00,0.000,2049,0.139,0.000,1101,2288,2098,2098,740,0,0,0,0,0,0,26.47,28.83,28.83,10.75,47.16
$GC,17,-2.21,-97.8,1102,2288,2098,740,1.4,0.0,1,42,8.38,4.15,-4.22,0.000,18948,0.121,1.273,1818,858,2746,2746,896,0,0,0,0,0,0,26.07,25.03,26.20,10.75,47.16
$GC,272,-2.21,-97.8,1817,858,2754,896,38.9,-13.5,62,279,0.00,3.65,0.00,0.000,1030,0.000,0.039,1818,2273,2754,2754,739,0,0,0,0,0,0,26.36,26.27,26.39,10.86,46.69
$GC,313,-2.21,-97.8,1817,2272,2756,739,44.0,-11.7,71,320,0.00,3.83,0.00,0.000,516,0.000,0.063,1818,860,2756,2756,741,0,0,0,0,0,0,26.60,26.25,26.61,10.86,45.90
$GC,514,-2.21,-97.8,1817,861,2761,741,69.9,-12.9,120,521,0.00,3.67,0.00,0.000,1030,0.000,0.038,1817,2285,2761,2761,719,0,0,0,0,0,0,26.53,26.43,26.55,10.86,46.37
$GC,556,-2.21,-97.8,1817,2285,2761,719,74.2,-10.0,129,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2285,2761,2761,720,0,0,0,0,0,0,26.74,26.77,26.77,10.86,45.86
$GC,596,-2.21,-97.8,1817,2285,2762,720,77.8,-8.8,138,601,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2285,2763,2763,722,0,0,0,0,0,0,26.77,26.78,26.79,10.85,46.57
$GC,636,-2.21,-97.8,1818,2285,2763,722,81.5,-9.7,147,641,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2284,2763,2763,723,0,0,0,0,0,0,26.79,26.80,26.79,10.86,46.29
$GC,675,-2.21,-97.8,1818,2285,2763,723,86.1,-11.9,156,681,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2284,2764,2764,724,0,0,0,0,0,0,26.80,26.82,26.82,10.86,46.22
$GC,715,-2.21,-97.8,1817,2285,2764,724,90.9,-12.2,165,721,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2285,2763,2763,725,0,0,0,0,0,0,26.82,26.84,26.83,10.86,45.74
$GC,755,-2.21,-97.8,1817,2285,2765,725,95.7,-12.2,174,761,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2285,2766,2766,726,0,0,0,0,0,0,26.83,26.85,26.84,10.85,46.45
$GC,796,-2.21,-97.8,1817,2285,2766,726,100.3,-11.3,183,803,0.00,3.85,0.00,0.000,516,0.000,0.064,1818,861,2766,2766,732,0,0,0,0,0,0,26.82,26.48,26.82,10.86,46.14
$GC,916,-2.21,-97.8,1818,862,2769,732,116.4,-12.3,210,923,0.00,3.65,0.00,0.000,1030,0.000,0.038,1818,2285,2770,2770,727,0,0,0,0,0,0,26.67,26.57,26.70,10.85,46.77
$GC,957,-2.21,-97.8,1818,2286,2770,727,122.2,-13.9,219,963,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2286,2770,2770,727,0,0,0,0,0,0,26.89,26.90,26.90,10.86,46.18
$GC,997,-2.21,-97.8,1818,2286,2772,727,126.8,-11.4,228,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2285,2771,2771,728,0,0,0,0,0,0,26.90,26.91,26.91,10.85,46.92
$GC,1037,-2.21,-97.8,1818,2286,2772,728,131.4,-11.7,237,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2285,2773,2773,728,0,0,0,0,0,0,26.91,26.93,26.92,10.85,46.06
$GC,1077,-2.21,-97.8,1818,2286,2773,728,135.7,-10.6,246,1084,0.00,3.85,0.00,0.000,516,0.000,0.065,1818,862,2773,2773,733,0,0,0,0,0,0,26.91,26.55,26.93,10.85,46.33
$GC,1194,-2.21,-97.8,1818,862,2776,733,150.4,-13.6,274,1201,0.00,3.65,0.00,0.000,1030,0.000,0.040,1818,2287,2777,2777,726,0,0,0,0,0,0,26.74,26.63,26.77,10.86,46.92
$GC,1236,-2.21,-97.8,1817,2287,2777,726,155.2,-11.5,283,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2287,2777,2777,727,0,0,0,0,0,0,26.95,26.96,26.96,10.86,46.18
$GC,1275,-2.21,-97.8,1818,2287,2778,727,160.0,-11.6,292,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2287,2779,2779,728,0,0,0,0,0,0,26.96,26.97,26.97,10.86,46.29
$GC,1315,-2.21,-97.8,1818,2287,2780,728,165.3,-13.4,301,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2287,2780,2780,729,0,0,0,0,0,0,26.96,26.98,26.98,10.85,46.61
$GC,1355,-2.21,-97.8,1817,2287,2781,729,171.1,-15.0,310,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2287,2782,2782,730,0,0,0,0,0,0,26.97,26.98,26.98,10.85,46.88
$GC,1395,-2.21,-97.8,1817,2287,2782,730,176.4,-12.7,319,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2287,2782,2782,730,0,0,0,0,0,0,26.98,27.00,26.99,10.86,47.12
$STATE,1426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1426,begin apogee
$GC,1430,-0.38,0.0,1817,2217,2783,728,180.2,-11.4,326,1449,6.35,0.00,9.62,2.022,10244,0.095,0.000,2403,2217,2626,2626,4095,0,0,0,0,0,0,26.63,26.08,24.52,10.86,46.14
$STATE,1450,end apogee,CONTROL_FINISHED_OK
$STATE,1450,begin climb
$GC,1451,2.21,97.8,2403,2216,2626,4095,181.7,0.0,329,1470,8.30,0.00,7.55,1.864,11270,0.048,0.000,3222,2216,2513,2513,4095,0,0,0,0,0,0,26.29,26.49,24.25,10.83,46.06
$GC,1506,2.21,97.8,3222,2216,2512,4095,176.9,13.2,340,1513,0.00,3.88,0.00,0.000,516,0.000,0.070,3222,825,2511,2511,794,0,0,0,0,0,0,26.35,26.00,26.36,10.81,46.37
$GC,1535,2.21,97.8,3221,826,2510,794,172.0,16.6,346,1542,0.00,3.67,0.00,0.000,1030,0.000,0.038,3222,2230,2510,2510,776,0,0,0,0,0,0,26.20,26.10,26.23,10.81,46.81
$GC,1576,2.21,97.8,3222,2230,2509,776,166.0,14.0,355,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2230,2509,2509,759,0,0,0,0,0,0,26.46,26.48,26.47,10.81,46.53
$GC,1616,2.21,97.8,3221,2230,2507,759,160.3,14.7,364,1623,0.00,4.03,0.00,0.000,260,0.000,0.080,3223,3655,2507,2507,752,0,0,0,0,0,0,26.51,26.15,26.52,10.81,46.45
$GC,1661,2.21,97.8,3222,3655,2506,752,152.4,18.2,374,1668,0.00,3.65,0.00,0.000,1030,0.000,0.036,3222,2242,2506,2506,742,0,0,0,0,0,0,26.36,26.29,26.39,10.81,46.69
$GC,1702,2.21,97.8,3222,2242,2504,742,146.0,15.1,383,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2242,2504,2504,733,0,0,0,0,0,0,26.58,26.60,26.60,10.81,46.92
$GC,1742,2.21,97.8,3222,2243,2503,733,139.9,15.0,392,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2240,2503,2503,726,0,0,0,0,0,0,26.62,26.64,26.63,10.80,46.45
$GC,1782,2.21,97.8,3222,2242,2502,726,133.8,15.8,401,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2242,2502,2502,720,0,0,0,0,0,0,26.65,26.67,26.67,10.81,46.45
$GC,1822,2.21,97.8,3222,2242,2501,720,127.5,15.4,410,1829,0.00,3.90,0.00,0.000,516,0.000,0.072,3222,814,2501,2501,719,0,0,0,0,0,0,26.67,26.32,26.69,10.80,46.88
$GC,1911,2.21,97.8,3222,814,2498,719,114.1,15.0,431,1918,0.00,3.67,0.00,0.000,1030,0.000,0.037,3222,2239,2498,2498,711,0,0,0,0,0,0,26.52,26.42,26.54,10.80,46.88
$GC,1952,2.21,97.8,3221,2238,2496,711,107.9,14.9,440,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2239,2496,2496,707,0,0,0,0,0,0,26.74,26.77,26.76,10.80,46.37
$GC,1992,2.21,97.8,3222,2239,2494,707,101.8,16.2,449,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2238,2495,2495,704,0,0,0,0,0,0,26.77,26.78,26.78,10.80,46.88
$GC,2032,2.21,97.8,3222,2239,2493,704,95.2,16.5,458,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2239,2493,2493,701,0,0,0,0,0,0,26.78,26.80,26.79,10.79,47.20
$GC,2072,2.21,97.8,3222,2239,2492,701,88.9,15.4,467,2079,0.00,3.88,0.00,0.000,516,0.000,0.070,3222,815,2492,2492,703,0,0,0,0,0,0,26.79,26.44,26.82,10.79,47.32
$GC,2117,2.21,97.8,3222,816,2491,703,81.0,17.8,477,2124,0.00,3.65,0.00,0.000,1030,0.000,0.037,3222,2236,2491,2491,702,0,0,0,0,0,0,26.61,26.51,26.63,10.79,47.24
$GC,2158,2.21,97.8,3222,2236,2489,702,73.8,18.2,486,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2236,2489,2489,699,0,0,0,0,0,0,26.83,26.84,26.84,10.80,46.81
$GC,2198,2.21,97.8,3221,2237,2488,699,67.2,15.8,495,2205,0.00,3.92,0.00,0.000,260,0.000,0.080,3223,3651,2487,2487,702,0,0,0,0,0,0,26.84,26.47,26.85,10.79,46.96
$GC,2267,2.21,97.8,3222,3651,2485,702,54.2,19.0,511,2274,0.00,3.58,0.00,0.000,1030,0.000,0.035,3223,2250,2485,2485,698,0,0,0,0,0,0,26.66,26.58,26.68,10.78,46.41
$GC,2308,2.21,97.8,3222,2250,2484,698,47.9,14.1,520,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2250,2484,2484,696,0,0,0,0,0,0,26.87,26.89,26.88,10.78,46.85
$GC,2348,2.21,97.8,3222,2250,2482,696,42.7,12.7,529,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2250,2482,2482,694,0,0,0,0,0,0,26.88,26.89,26.89,10.78,47.16
$GC,2388,2.21,97.8,3222,2250,2481,694,37.6,13.0,538,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2250,2482,2482,692,0,0,0,0,0,0,26.89,26.91,26.91,10.78,47.55
$GC,2427,2.21,97.8,3222,2250,2480,692,32.8,12.3,547,2434,0.00,3.90,0.00,0.000,260,0.000,0.076,3223,3656,2480,2480,696,0,0,0,0,0,0,26.90,26.54,26.91,10.78,46.69
$GC,2556,2.21,97.8,3222,3657,2476,696,14.0,14.7,578,2563,0.00,3.55,0.00,0.000,1030,0.000,0.035,3222,2249,2476,2476,687,0,0,0,0,0,0,26.74,26.65,26.76,10.78,47.36
$GC,2598,2.28,152.6,3222,2250,2475,687,10.3,6.2,587,2611,0.17,3.88,3.05,0.284,10756,0.070,0.070,3245,816,2446,2446,4095,0,0,0,0,0,0,26.69,26.55,25.94,10.78,47.36
$GC,2725,2.46,278.1,3244,815,2445,4095,4.5,1.4,617,2745,0.55,3.60,7.82,0.534,11270,0.046,0.039,3305,2235,2299,2299,4095,0,0,0,0,0,0,26.69,26.63,25.94,10.79,48.07
$GC,2779,2.63,397.3,3304,2235,2298,4095,4.2,1.8,628,2798,0.45,3.92,7.47,0.519,10500,0.050,0.082,3355,3641,2161,2161,3940,0,0,0,0,0,0,26.61,26.41,25.88,10.77,47.67
$STATE,2827,end climb,SURFACE_DEPTH_REACHED
$STATE,2828,begin surface coast
$FINISH,0.1,1.017380
$STATE,2853,end surface coast,CONTROL_FINISHED_OK
$STATE,2853,begin surface
$SM_CCo,2892,4.38,0.379,0,0,2098,450.77
$SM_GC,3.06,28.58,3.55,4.38,0.039,0.041,0.379,515,2272,2098,-6.30,1.05,450.77,0,0,0,0,0,0,26.53,26.55,25.88
$IRIDIUM_FIX,4808.40,-12337.82,250517,060135
$TT8_MAMPS,0.021721,0.098868
$HUMID,47.32
$INTERNAL_PRESSURE,10.684
$TCM_TEMP,10.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,115.4,77.6
$24V_AH,24.25,7.145
$10V_AH,10.60,3.846
$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,59.975,90.675,35.525,4.375,0.000,26.394,22.578,301.418,2.250,0.000,6.588,1540.075,170.035,284.272,1302.479,46.507,33.436,822.397,0.000,927.208,0.000,13.380,0.000
$DEVICE_MAMPS,139.230,1272.960,2021.895,378.675,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313184
$DATA_FILE_SIZE,24291,644
$CAP_FILE_SIZE,85497,0
$CFSIZE,1024409600,1017856000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250517,065747,4743.456,-12224.571,8,0.9,8,16.3,0.0,0.0,10,22.4