version: 66.13
glider: 402
mission: 2
dive: 12
start: 5 24 117 4 23 53
data:
$ID,402
$MISSION,2
$DIVE,12
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,190
$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,80
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72302
$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,520
$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,2500
$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,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
$GPS1,240517,041537,4744.1313,-12225.2178,10,0.8,10,16.3,0.0,0.0,11,253.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-43.9
$GPS2,240517,042243,4744.1592,-12225.2236,15,0.7,15,16.3,0.0,0.0,12,293.7
$SPEED_LIMITS,0.084,0.284
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.081903,-0.271588
$KALMAN_X,-3702.251465,1.946636,12.725693,2820.862793,-67.067062
$KALMAN_Y,-2931.894775,138.687424,36.715057,4513.788574,1053.121094
$MHEAD_RNG_PITCHd_Wd,146.9,605,-13.3,-8.444,-16.58,5240
$D_GRID,194
$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,-1.44,-293.3,499,2285,1965,670,0.0,0.0,0,16,7.12,0.00,0.00,0.000,2049,0.117,0.000,1111,2285,1965,1965,663,0,0,0,0,0,0,26.51,28.83,28.83,10.71,45.74
$GC,17,-1.44,-293.3,1111,2285,1965,663,0.8,0.0,1,42,9.77,4.07,-7.12,0.000,18948,0.072,1.271,2033,858,2972,2972,784,0,0,0,0,0,0,26.21,25.00,26.28,10.72,45.94
$GC,272,-1.44,-293.3,2032,858,2978,784,31.1,-12.7,62,279,0.00,3.67,0.00,0.000,1030,0.000,0.042,2033,2273,2978,2978,739,0,0,0,0,0,0,26.42,26.31,26.44,10.89,44.80
$GC,314,-1.44,-293.3,2033,2273,2979,739,36.2,-12.3,71,320,0.00,3.85,0.00,0.000,516,0.000,0.066,2033,859,2979,2979,748,0,0,0,0,0,0,26.65,26.28,26.67,10.89,44.99
$GC,486,-1.44,-293.3,2033,859,2983,748,58.5,-12.7,113,493,0.00,3.65,0.00,0.000,1030,0.000,0.041,2033,2274,2983,2983,733,0,0,0,0,0,0,26.54,26.44,26.57,10.89,44.76
$GC,527,-1.44,-293.3,2033,2275,2984,733,63.0,-10.4,122,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2275,2983,2983,739,0,0,0,0,0,0,26.77,26.79,26.79,10.89,44.88
$GC,567,-1.44,-293.3,2032,2275,2985,739,67.1,-10.2,131,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2274,2985,2985,744,0,0,0,0,0,0,26.79,26.81,26.80,10.89,44.36
$GC,607,-1.44,-293.3,2032,2275,2985,744,70.9,-9.4,140,614,0.00,3.83,0.00,0.000,516,0.000,0.064,2033,861,2986,2986,753,0,0,0,0,0,0,26.81,26.44,26.82,10.89,44.84
$GC,636,-1.44,-293.3,2033,862,2986,753,73.8,-10.4,146,643,0.00,3.65,0.00,0.000,1030,0.000,0.040,2033,2277,2986,2986,759,0,0,0,0,0,0,26.60,26.48,26.61,10.89,44.52
$GC,677,-1.44,-293.3,2033,2278,2986,759,77.4,-8.8,155,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2277,2987,2987,760,0,0,0,0,0,0,26.82,26.84,26.84,10.89,44.76
$GC,717,-1.44,-293.3,2033,2277,2987,760,81.5,-11.0,164,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2277,2987,2987,760,0,0,0,0,0,0,26.84,26.86,26.86,10.89,44.99
$GC,757,-1.44,-293.3,2033,2277,2988,760,85.2,-8.9,173,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2277,2988,2988,760,0,0,0,0,0,0,26.85,26.87,26.86,10.88,44.36
$GC,797,-1.44,-293.3,2032,2277,2989,760,89.1,-10.0,182,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2276,2988,2988,759,0,0,0,0,0,0,26.86,26.89,26.88,10.89,44.76
$GC,837,-1.44,-293.3,2033,2277,2989,759,92.9,-9.7,191,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2277,2989,2989,760,0,0,0,0,0,0,26.88,26.89,26.89,10.88,44.92
$GC,877,-1.44,-293.3,2033,2277,2990,760,96.7,-9.7,200,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2277,2990,2990,760,0,0,0,0,0,0,26.89,26.91,26.91,10.89,44.80
$GC,917,-1.44,-293.3,2033,2277,2990,760,100.8,-10.3,209,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2276,2990,2990,760,0,0,0,0,0,0,26.89,26.91,26.91,10.88,45.31
$GC,957,-1.44,-293.3,2033,2277,2991,760,105.0,-10.6,218,964,0.00,3.83,0.00,0.000,516,0.000,0.065,2033,862,2992,2992,765,0,0,0,0,0,0,26.91,26.53,26.92,10.89,44.40
$GC,1022,-1.44,-293.3,2033,862,2992,765,113.0,-13.1,233,1029,0.00,3.62,0.00,0.000,1030,0.000,0.040,2033,2274,2993,2993,762,0,0,0,0,0,0,26.70,26.59,26.73,10.88,44.44
$GC,1063,-1.44,-293.3,2033,2275,2993,762,117.6,-10.4,242,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2274,2994,2994,762,0,0,0,0,0,0,26.93,26.94,26.94,10.88,44.29
$GC,1103,-1.44,-293.3,2033,2275,2994,762,121.4,-9.6,251,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2274,2994,2994,762,0,0,0,0,0,0,26.94,26.96,26.95,10.90,45.23
$GC,1143,-1.44,-293.3,2033,2275,2994,762,125.3,-9.8,260,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2274,2995,2995,763,0,0,0,0,0,0,26.95,26.96,26.96,10.88,44.72
$GC,1182,-1.44,-293.3,2032,2275,2996,763,129.5,-10.7,269,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2274,2995,2995,763,0,0,0,0,0,0,26.96,26.97,26.97,10.89,45.11
$GC,1222,-1.44,-293.3,2033,2274,2997,763,133.8,-11.2,278,1229,0.00,3.80,0.00,0.000,516,0.000,0.065,2033,860,2998,2998,768,0,0,0,0,0,0,26.96,26.58,26.98,10.88,44.95
$GC,1255,-1.44,-293.3,2033,861,2997,768,137.7,-12.0,285,1262,0.00,3.60,0.00,0.000,1030,0.000,0.040,2033,2265,2998,2998,771,0,0,0,0,0,0,26.74,26.64,26.77,10.88,44.56
$GC,1296,-1.44,-293.3,2033,2266,2998,771,142.3,-10.5,294,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2265,2998,2998,768,0,0,0,0,0,0,26.97,26.98,26.98,10.89,44.72
$GC,1336,-1.44,-293.3,2033,2265,2998,768,146.6,-10.7,303,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2266,2998,2998,767,0,0,0,0,0,0,26.98,26.99,26.99,10.89,45.03
$GC,1376,-1.44,-293.3,2033,2266,2999,767,150.8,-10.3,312,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2266,3000,3000,766,0,0,0,0,0,0,26.98,27.00,27.00,10.88,45.15
$GC,1416,-1.44,-293.3,2033,2266,3001,766,155.1,-10.7,321,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2265,3001,3001,765,0,0,0,0,0,0,26.99,27.01,27.00,10.88,45.03
$GC,1456,-1.44,-293.3,2033,2266,3002,765,159.2,-10.3,330,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2266,3001,3001,765,0,0,0,0,0,0,27.00,27.01,27.01,10.89,44.95
$GC,1495,-1.44,-293.3,2033,2266,3003,765,163.3,-10.1,339,1502,0.00,4.00,0.00,0.000,260,0.000,0.086,2033,3701,3003,3003,771,0,0,0,0,0,0,27.01,26.60,27.02,10.89,45.07
$GC,1552,-1.44,-293.3,2033,3701,3004,771,170.0,-12.4,352,1559,0.00,3.65,0.00,0.000,1030,0.000,0.037,2033,2267,3004,3004,768,0,0,0,0,0,0,26.80,26.72,26.82,10.89,44.64
$GC,1593,-1.44,-293.3,2033,2267,3005,768,174.5,-10.5,361,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2267,3005,3005,767,0,0,0,0,0,0,27.01,27.03,27.02,10.89,45.47
$GC,1633,-1.44,-293.3,2033,2267,3006,767,178.5,-9.9,370,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2267,3006,3006,766,0,0,0,0,0,0,27.01,27.03,27.03,10.89,45.66
$GC,1673,-1.44,-293.3,2033,2267,3007,766,182.4,-9.8,379,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2266,3007,3007,766,0,0,0,0,0,0,27.02,27.03,27.03,10.88,45.23
$GC,1713,-1.44,-293.3,2033,2266,3008,766,184.8,-0.3,388,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2266,3008,3008,765,0,0,0,0,0,0,27.03,27.05,27.04,10.89,44.84
$GC,1753,-1.44,-293.3,2033,2266,3008,765,184.9,-0.0,397,1760,0.00,4.00,0.00,0.000,260,0.000,0.083,2033,3701,3008,3008,771,0,0,0,0,0,0,27.03,26.63,27.05,10.89,45.31
$GC,1992,-1.44,-293.3,2033,3701,3008,771,184.9,0.1,455,1999,0.00,3.65,0.00,0.000,1030,0.000,0.038,2034,2266,3008,3008,740,0,0,0,0,0,0,26.85,26.77,26.88,10.89,46.25
$GC,2032,-1.44,-293.3,2033,2265,3008,740,184.9,-0.0,464,2039,0.00,3.95,0.00,0.000,260,0.000,0.083,2034,3699,3008,3008,752,0,0,0,0,0,0,27.06,26.66,27.08,10.88,45.78
$GC,2269,-1.44,-293.3,2033,3699,3008,752,184.9,-0.0,522,2276,0.00,3.65,0.00,0.000,1030,0.000,0.038,2033,2265,3008,3008,732,0,0,0,0,0,0,26.89,26.81,26.91,10.88,45.51
$GC,2311,-1.44,-293.3,2033,2264,3008,732,184.9,0.0,531,2318,0.00,3.97,0.00,0.000,260,0.000,0.084,2034,3700,3007,3007,746,0,0,0,0,0,0,27.09,26.68,27.10,10.89,46.29
$STATE,2407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2407,begin apogee
$GC,2414,-0.38,0.0,2033,2228,3008,743,184.9,-0.0,554,2444,3.33,0.00,20.67,2.293,10244,0.050,0.000,2369,2228,2627,2627,3873,0,0,0,0,0,0,26.79,25.51,23.96,10.89,45.86
$STATE,2445,end apogee,CONTROL_FINISHED_OK
$STATE,2445,begin climb
$GC,2446,1.44,293.3,2369,2227,2627,3873,184.9,0.0,559,2482,5.95,3.95,19.20,2.260,10756,0.050,0.069,2940,814,2284,2284,3858,0,0,0,0,0,0,25.84,25.73,23.35,10.82,45.31
$GC,2512,1.44,293.3,2939,814,2284,3858,181.0,9.6,572,2519,0.00,3.80,0.00,0.000,1030,0.000,0.037,2940,2234,2284,2284,792,0,0,0,0,0,0,25.61,25.51,25.63,10.76,44.84
$GC,2553,1.44,293.3,2939,2234,2282,792,176.7,11.0,581,2560,0.00,4.12,0.00,0.000,260,0.000,0.081,2940,3655,2283,2283,769,0,0,0,0,0,0,25.99,25.64,26.01,10.76,45.47
$GC,2606,1.44,293.3,2940,3655,2282,769,169.1,15.0,593,2613,0.00,3.72,0.00,0.000,1030,0.000,0.037,2940,2239,2281,2281,747,0,0,0,0,0,0,25.98,25.89,26.00,10.75,44.84
$GC,2647,1.44,293.3,2939,2240,2280,747,163.8,12.4,602,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2239,2280,2280,732,0,0,0,0,0,0,26.25,26.27,26.27,10.75,44.88
$GC,2687,1.44,293.3,2939,2240,2279,732,158.9,12.0,611,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2240,2279,2279,719,0,0,0,0,0,0,26.33,26.34,26.34,10.75,45.15
$GC,2727,1.44,293.3,2939,2240,2278,719,154.7,9.3,620,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2238,2278,2278,708,0,0,0,0,0,0,26.39,26.41,26.41,10.75,45.19
$GC,2767,1.44,293.3,2939,2239,2277,708,150.5,10.8,629,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2239,2277,2277,699,0,0,0,0,0,0,26.45,26.46,26.46,10.75,45.23
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$STATE,4167,end climb,SURFACE_DEPTH_REACHED
$STATE,4167,begin surface coast
$FINISH,0.3,1.020157
$STATE,4189,end surface coast,CONTROL_FINISHED_OK
$STATE,4189,begin surface
$SM_CCo,4225,4.20,0.353,0,0,2017,520.31
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$TT8_MAMPS,0.020972,0.158788
$HUMID,45.66
$INTERNAL_PRESSURE,10.6449
$TCM_TEMP,10.50
$XPDR_PINGS,3
$24V_AH,23.35,5.692
$10V_AH,10.49,2.961
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,52.025,114.125,48.525,4.200,0.000,29.311,18.096,294.008,0.750,0.000,16.639,2228.992,249.919,403.349,1737.036,59.366,33.446,1196.505,0.000,1355.666,0.000,0.544,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.973,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,34615,948
$CAP_FILE_SIZE,122017,0
$CFSIZE,1024409600,1019592704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,053532,4743.519,-12224.402,36,1.0,36,16.3,0.0,0.0,9,8.9