version: 66.13
glider: 402
mission: 2
dive: 22
start: 5 24 117 14 18 3
data:
$ID,402
$MISSION,2
$DIVE,22
$N_DIVES,30
$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,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,500
$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,45
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,21
$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
$GPS1,240517,140253,4744.1719,-12224.9072,4,0.9,4,16.3,0.5,138.8,9,20.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-41.7
$GPS2,240517,141648,4744.1040,-12224.7256,5,1.0,5,16.3,0.0,0.0,8,27.4
$SPEED_LIMITS,0.080,0.342
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.108516,-0.324851
$KALMAN_X,-3807.013916,-154.951996,-477.186890,4183.732910,456.628052
$KALMAN_Y,-5914.041016,-268.215668,-37.538555,7875.871094,832.061401
$MHEAD_RNG_PITCHd_Wd,182.2,2972,-9.3,-8.000,-13.15,9124
$D_GRID,175
$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,-1.40,-488.8,498,2287,1462,742,0.0,0.0,0,16,6.72,0.00,0.00,0.000,2049,0.122,0.000,1065,2287,1462,1462,702,0,0,0,0,0,0,26.41,28.83,28.83,10.64,45.07
$GC,17,-1.40,-488.8,1065,2287,1461,702,0.9,0.0,1,48,10.25,2.75,-12.25,0.000,18948,0.058,1.270,2046,1303,3200,3200,782,0,0,0,0,0,0,26.10,25.00,26.18,10.64,45.55
$GC,82,-1.40,-488.8,2045,1303,3202,782,5.9,-20.6,14,89,0.00,2.55,0.00,0.000,1030,0.000,0.047,2046,2270,3202,3202,780,0,0,0,0,0,0,26.14,26.03,26.17,10.98,45.74
$GC,123,-1.40,-488.8,2045,2269,3202,780,12.7,-15.0,23,130,0.00,2.80,0.00,0.000,260,0.000,0.081,2046,3260,3203,3203,783,0,0,0,0,0,0,26.41,26.05,26.42,10.98,44.56
$GC,232,-1.40,-488.8,2045,3260,3205,783,25.7,-10.7,49,239,0.00,2.42,0.00,0.000,1030,0.000,0.035,2046,2292,3206,3206,764,0,0,0,0,0,0,26.36,26.29,26.37,10.96,44.88
$GC,273,-1.40,-488.8,2045,2291,3206,764,29.8,-9.7,58,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2291,3206,3206,768,0,0,0,0,0,0,26.58,26.59,26.58,10.96,44.25
$GC,313,-1.40,-488.8,2045,2291,3206,768,33.7,-9.9,67,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2291,3207,3207,772,0,0,0,0,0,0,26.60,26.62,26.62,10.96,44.88
$GC,353,-1.40,-488.8,2045,2291,3208,772,37.8,-10.4,76,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2291,3208,3208,774,0,0,0,0,0,0,26.63,26.65,26.65,10.96,44.25
$GC,392,-1.40,-488.8,2045,2292,3208,774,42.2,-11.2,85,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2291,3209,3209,776,0,0,0,0,0,0,26.66,26.67,26.67,10.95,44.36
$GC,432,-1.40,-488.8,2045,2291,3209,776,46.7,-11.7,94,439,0.00,2.58,0.00,0.000,516,0.000,0.055,2046,1309,3209,3209,780,0,0,0,0,0,0,26.69,26.34,26.70,10.95,44.60
$GC,481,-1.40,-488.8,2045,1309,3210,780,52.8,-12.5,105,488,0.00,2.53,0.00,0.000,1030,0.000,0.041,2045,2298,3210,3210,778,0,0,0,0,0,0,26.50,26.39,26.53,10.95,44.44
$GC,522,-1.40,-488.8,2045,2299,3211,778,57.3,-10.6,114,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3211,3211,778,0,0,0,0,0,0,26.73,26.74,26.74,10.95,44.76
$GC,561,-1.40,-488.8,2045,2299,3212,778,61.4,-10.5,123,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3212,3212,779,0,0,0,0,0,0,26.74,26.77,26.76,10.95,44.13
$GC,601,-1.40,-488.8,2045,2299,3212,779,65.6,-10.5,132,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3213,3213,779,0,0,0,0,0,0,26.77,26.79,26.78,10.94,44.21
$GC,641,-1.40,-488.8,2046,2299,3213,779,69.7,-10.1,141,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3213,3213,779,0,0,0,0,0,0,26.79,26.80,26.80,10.94,44.92
$GC,681,-1.40,-488.8,2045,2299,3213,779,73.7,-9.5,150,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3214,3214,779,0,0,0,0,0,0,26.80,26.82,26.82,10.94,43.93
$GC,721,-1.40,-488.8,2045,2299,3214,779,77.4,-9.0,159,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3214,3214,780,0,0,0,0,0,0,26.82,26.83,26.83,10.94,44.25
$GC,760,-1.40,-488.8,2045,2300,3215,780,81.3,-10.3,168,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3215,3215,781,0,0,0,0,0,0,26.83,26.84,26.84,10.94,45.15
$GC,800,-1.40,-488.8,2045,2299,3216,781,85.2,-9.5,177,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3216,3216,781,0,0,0,0,0,0,26.84,26.86,26.86,10.94,44.32
$GC,840,-1.40,-488.8,2045,2299,3216,781,89.2,-10.0,186,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3217,3217,782,0,0,0,0,0,0,26.86,26.87,26.87,10.94,44.44
$GC,880,-1.40,-488.8,2045,2299,3217,782,93.1,-9.9,195,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3217,3217,782,0,0,0,0,0,0,26.86,26.89,26.89,10.94,44.88
$GC,919,-1.40,-488.8,2044,2299,3218,782,97.0,-9.9,204,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3218,3218,782,0,0,0,0,0,0,26.88,26.89,26.89,10.94,44.99
$GC,959,-1.40,-488.8,2045,2299,3219,782,101.0,-10.1,213,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3219,3219,782,0,0,0,0,0,0,26.89,26.91,26.91,10.94,44.52
$GC,999,-1.40,-488.8,2045,2299,3219,782,105.1,-10.1,222,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3219,3219,783,0,0,0,0,0,0,26.90,26.91,26.91,10.94,44.88
$GC,1038,-1.40,-488.8,2045,2299,3220,783,109.1,-10.0,231,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3220,3220,783,0,0,0,0,0,0,26.91,26.93,26.93,10.93,44.84
$GC,1078,-1.40,-488.8,2045,2299,3221,783,113.1,-9.6,240,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2300,3221,3221,783,0,0,0,0,0,0,26.92,26.94,26.94,10.94,44.56
$GC,1118,-1.40,-488.8,2045,2300,3221,783,116.8,-9.4,249,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3221,3221,783,0,0,0,0,0,0,26.94,26.94,26.94,10.93,44.84
$GC,1159,-1.40,-488.8,2045,2299,3222,783,120.8,-10.1,258,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3222,3222,782,0,0,0,0,0,0,26.94,26.96,26.96,10.93,44.92
$GC,1199,-1.40,-488.8,2046,2299,3222,782,125.0,-10.3,267,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2299,3222,3222,783,0,0,0,0,0,0,26.94,26.96,26.96,10.93,44.92
$GC,1239,-1.40,-488.8,2045,2299,3223,783,129.0,-10.1,276,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3223,3223,784,0,0,0,0,0,0,26.96,26.97,26.96,10.94,44.68
$GC,1279,-1.40,-488.8,2045,2299,3224,784,133.0,-9.5,285,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3224,3224,783,0,0,0,0,0,0,26.96,26.98,26.98,10.93,44.95
$GC,1319,-1.40,-488.8,2045,2299,3225,783,136.7,-9.6,294,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3224,3224,784,0,0,0,0,0,0,26.97,26.98,26.98,10.94,44.84
$GC,1358,-1.40,-488.8,2045,2299,3225,784,140.3,-8.9,303,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2299,3227,3227,784,0,0,0,0,0,0,26.98,26.99,26.99,10.93,45.11
$GC,1398,-1.40,-488.8,2045,2299,3226,784,143.9,-9.0,312,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3227,3227,784,0,0,0,0,0,0,26.98,27.00,26.99,10.93,45.39
$GC,1438,-1.40,-488.8,2045,2299,3226,784,147.6,-9.3,321,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3227,3227,785,0,0,0,0,0,0,26.99,27.01,27.00,10.94,44.76
$GC,1478,-1.40,-488.8,2045,2299,3227,785,151.4,-9.4,330,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2299,3227,3227,784,0,0,0,0,0,0,27.00,27.01,27.01,10.94,45.43
$GC,1518,-1.40,-488.8,2045,2299,3229,784,154.9,-8.8,339,1525,0.00,2.60,0.00,0.000,516,0.000,0.055,2046,1309,3227,3227,787,0,0,0,0,0,0,27.00,26.65,27.01,10.94,44.99
$GC,1543,-1.40,-488.8,2045,1309,3228,787,157.6,-11.0,344,1550,0.00,2.53,0.00,0.000,1030,0.000,0.042,2046,2301,3229,3229,793,0,0,0,0,0,0,26.79,26.69,26.82,10.94,44.88
$GC,1584,-1.40,-488.8,2045,2301,3230,793,162.7,-11.3,353,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2300,3230,3230,788,0,0,0,0,0,0,27.01,27.02,27.02,10.94,45.55
$GC,1624,-1.40,-488.8,2045,2301,3230,788,166.9,-10.4,362,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2300,3231,3231,787,0,0,0,0,0,0,27.01,27.03,27.03,10.93,45.43
$GC,1664,-1.40,-488.8,2046,2301,3231,787,171.2,-10.7,371,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2300,3232,3232,786,0,0,0,0,0,0,27.02,27.03,27.03,10.93,44.95
$STATE,1699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1699,begin apogee
$GC,1703,-0.38,0.0,2046,2224,3232,775,175.1,-9.6,379,1743,3.22,0.00,31.70,2.303,10244,0.060,0.000,2367,2223,2626,2626,3443,0,0,0,0,0,0,26.72,25.08,23.61,10.94,45.11
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1746,1.40,488.8,2367,2223,2626,3443,176.9,0.0,386,1787,5.90,0.00,30.92,2.284,11270,0.048,0.000,2928,2223,2054,2054,3481,0,0,0,0,0,0,25.44,25.59,23.07,10.82,44.88
$GC,1821,1.44,519.4,2927,2223,2055,3481,172.4,7.7,401,1829,0.10,0.00,3.72,1.127,10246,0.089,0.000,2942,2223,2021,2021,4095,0,0,0,0,0,0,25.39,25.10,23.69,10.72,44.80
$GC,1863,1.44,519.4,2941,2223,2021,4095,169.0,8.6,410,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2222,2021,2021,775,0,0,0,0,0,0,25.83,25.84,25.84,10.71,43.89
$GC,1903,1.53,582.5,2941,2222,2020,775,166.2,7.3,419,1916,0.22,0.00,5.53,1.505,10246,0.060,0.000,2969,2223,1947,1947,4095,0,0,0,0,0,0,25.77,25.05,23.96,10.71,44.56
$GC,1952,1.53,582.5,2968,2223,1946,4095,161.8,11.6,429,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2222,1946,1946,772,0,0,0,0,0,0,26.03,26.05,26.04,10.70,44.52
$GC,1991,1.53,582.5,2968,2222,1946,772,157.2,11.1,438,1998,0.00,2.78,0.00,0.000,260,0.000,0.073,2969,3212,1945,1945,743,0,0,0,0,0,0,26.15,25.82,26.17,10.70,44.68
$GC,2036,1.53,582.5,2968,3212,1944,743,151.9,13.2,448,2043,0.00,2.53,0.00,0.000,1030,0.000,0.035,2969,2234,1944,1944,718,0,0,0,0,0,0,26.07,26.00,26.09,10.70,44.60
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$STATE,3576,end climb,SURFACE_DEPTH_REACHED
$STATE,3577,begin surface coast
$FINISH,0.1,1.009499
$STATE,3598,end surface coast,CONTROL_FINISHED_OK
$STATE,3599,begin surface
$SM_CCo,3693,0.00,0.000,0,0,1339,1106.74
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$TT8_MAMPS,0.020972,0.158788
$HUMID,44.95
$INTERNAL_PRESSURE,10.5375
$TCM_TEMP,10.90
$XPDR_PINGS,2
$24V_AH,23.07,6.182
$10V_AH,10.49,3.302
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,56.075,46.875,100.600,0.000,0.000,98.701,50.458,478.783,0.500,0.000,12.962,1869.134,379.499,433.376,1800.809,65.762,33.438,1150.712,0.000,1140.937,0.000,0.545,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313172
$DATA_FILE_SIZE,31170,796
$CAP_FILE_SIZE,118664,0
$CFSIZE,1024409600,1018937344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1482.85,0x2138e4,0,24
$GPS,240517,152014,4743.883,-12224.857,5,0.7,5,16.3,0.0,0.0,12,250.0