version: 66.13
glider: 402
mission: 2
dive: 37
start: 5 25 117 2 47 35
data:
$ID,402
$MISSION,2
$DIVE,37
$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,25
$R_STBD_OVSHOOT,10
$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
$GPS1,250517,023850,4742.3887,-12224.9082,8,0.9,8,16.3,0.6,101.1,9,40.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-55.2
$GPS2,250517,024626,4742.4893,-12224.8584,5,1.1,5,16.3,0.0,0.0,7,16.2
$SPEED_LIMITS,0.080,0.313
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.074999,0.303804
$KALMAN_X,-6260.781738,-293.850555,-583.779053,6719.559570,358.605133
$KALMAN_Y,-8566.262695,-686.588501,-377.666840,8298.486328,898.896790
$MHEAD_RNG_PITCHd_Wd,329.8,2799,-10.7,-8.000,-14.34,7330
$D_GRID,162
$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,-1.37,-391.0,514,2265,2099,749,0.0,0.0,0,16,7.18,0.00,0.00,0.000,2049,0.142,0.000,1096,2265,2098,2098,737,0,0,0,0,0,0,26.44,28.83,28.83,10.78,47.55
$GC,17,-1.37,-391.0,1096,2265,2098,737,1.8,0.0,1,41,11.60,0.00,-6.28,0.000,18694,0.121,0.000,2084,2264,3086,3086,807,0,0,0,0,0,0,26.05,25.72,26.13,10.78,47.16
$GC,75,-1.37,-391.0,2083,2264,3088,807,9.0,-27.4,13,82,0.00,3.88,0.00,0.000,516,0.000,0.068,2084,867,3088,3088,792,0,0,0,0,0,0,26.39,26.03,26.40,10.98,46.85
$GC,108,-1.37,-391.0,2084,867,3088,792,15.6,-17.5,20,115,0.00,3.70,0.00,0.000,1030,0.000,0.041,2084,2285,3089,3089,788,0,0,0,0,0,0,26.22,26.12,26.25,10.97,46.96
$GC,149,-1.37,-391.0,2083,2285,3090,788,21.0,-12.2,29,155,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2285,3090,3090,780,0,0,0,0,0,0,26.48,26.49,26.49,10.95,46.06
$GC,189,-1.37,-391.0,2083,2286,3091,780,25.9,-12.7,38,196,0.00,3.92,0.00,0.000,516,0.000,0.069,2084,868,3091,3091,780,0,0,0,0,0,0,26.52,26.15,26.53,10.95,46.37
$GC,226,-1.37,-391.0,2084,868,3092,780,30.2,-11.5,46,233,0.00,3.62,0.00,0.000,1030,0.000,0.041,2084,2266,3092,3092,780,0,0,0,0,0,0,26.34,26.24,26.37,10.95,46.49
$GC,267,-1.37,-391.0,2084,2266,3093,780,34.5,-10.7,55,274,0.00,4.10,0.00,0.000,260,0.000,0.088,2084,3701,3093,3093,781,0,0,0,0,0,0,26.59,26.20,26.60,10.95,46.25
$GC,308,-1.37,-391.0,2083,3701,3094,781,39.7,-13.4,64,315,0.00,3.67,0.00,0.000,1030,0.000,0.038,2085,2279,3094,3094,779,0,0,0,0,0,0,26.42,26.34,26.44,10.95,46.49
$GC,350,-1.37,-391.0,2084,2279,3095,779,45.0,-12.1,73,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2279,3095,3095,775,0,0,0,0,0,0,26.65,26.65,26.65,10.94,46.53
$GC,389,-1.37,-391.0,2084,2279,3096,775,50.1,-12.9,82,396,0.00,3.90,0.00,0.000,516,0.000,0.073,2084,860,3093,3093,778,0,0,0,0,0,0,26.67,26.29,26.68,10.94,45.98
$GC,446,-1.37,-391.0,2084,860,3097,778,57.6,-12.8,95,453,0.00,3.65,0.00,0.000,1030,0.000,0.042,2084,2267,3097,3097,773,0,0,0,0,0,0,26.48,26.38,26.51,10.93,45.82
$GC,487,-1.37,-391.0,2084,2268,3097,773,62.3,-10.8,104,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2267,3098,3098,772,0,0,0,0,0,0,26.72,26.73,26.73,10.94,45.94
$GC,527,-1.37,-391.0,2084,2268,3099,772,66.4,-10.5,113,534,0.00,3.83,0.00,0.000,516,0.000,0.069,2084,863,3098,3098,776,0,0,0,0,0,0,26.74,26.37,26.75,10.94,45.94
$GC,576,-1.37,-391.0,2084,864,3100,776,72.3,-12.8,124,583,0.00,3.55,0.00,0.000,1030,0.000,0.041,2084,2247,3100,3100,774,0,0,0,0,0,0,26.55,26.44,26.57,10.94,46.22
$GC,617,-1.37,-391.0,2084,2246,3100,774,77.3,-12.1,133,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2246,3101,3101,772,0,0,0,0,0,0,26.77,26.79,26.79,10.93,46.49
$GC,657,-1.37,-391.0,2084,2247,3101,772,82.1,-11.8,142,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2246,3101,3101,771,0,0,0,0,0,0,26.79,26.81,26.81,10.93,46.41
$GC,697,-1.37,-391.0,2084,2246,3102,771,86.4,-10.6,151,704,0.00,4.10,0.00,0.000,260,0.000,0.088,2085,3698,3102,3102,778,0,0,0,0,0,0,26.81,26.42,26.82,10.93,46.18
$GC,734,-1.37,-391.0,2084,3698,3102,778,90.7,-11.7,159,741,0.00,3.70,0.00,0.000,1030,0.000,0.039,2084,2257,3103,3103,779,0,0,0,0,0,0,26.61,26.53,26.64,10.93,46.22
$GC,775,-1.37,-391.0,2084,2257,3103,779,95.2,-11.3,168,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2256,3104,3104,777,0,0,0,0,0,0,26.83,26.84,26.84,10.92,46.22
$GC,815,-1.37,-391.0,2084,2257,3104,777,100.0,-11.9,177,822,0.00,3.83,0.00,0.000,516,0.000,0.072,2084,858,3104,3104,779,0,0,0,0,0,0,26.84,26.47,26.86,10.92,46.29
$GC,856,-1.37,-391.0,2084,858,3105,779,105.3,-13.3,186,863,0.00,3.58,0.00,0.000,1030,0.000,0.041,2085,2244,3106,3106,780,0,0,0,0,0,0,26.64,26.53,26.66,10.92,46.18
$GC,897,-1.37,-391.0,2084,2245,3106,780,110.3,-11.9,195,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2245,3106,3106,777,0,0,0,0,0,0,26.86,26.88,26.87,10.93,46.33
$GC,937,-1.37,-391.0,2084,2245,3107,777,115.0,-12.1,204,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2245,3107,3107,775,0,0,0,0,0,0,26.87,26.89,26.89,10.93,46.69
$GC,977,-1.37,-391.0,2084,2245,3108,775,119.9,-12.2,213,984,0.00,4.10,0.00,0.000,260,0.000,0.088,2084,3700,3108,3108,782,0,0,0,0,0,0,26.89,26.49,26.90,10.93,46.65
$GC,1018,-1.37,-391.0,2084,3700,3108,782,125.4,-13.7,222,1025,0.00,3.72,0.00,0.000,1030,0.000,0.039,2084,2248,3109,3109,782,0,0,0,0,0,0,26.68,26.60,26.71,10.93,46.37
$GC,1059,-1.37,-391.0,2084,2249,3110,782,130.4,-12.0,231,1066,0.00,3.80,0.00,0.000,516,0.000,0.073,2085,862,3110,3110,783,0,0,0,0,0,0,26.89,26.52,26.91,10.93,46.69
$GC,1108,-1.37,-391.0,2084,862,3111,783,137.5,-14.8,242,1115,0.00,3.55,0.00,0.000,1030,0.000,0.041,2085,2240,3111,3111,780,0,0,0,0,0,0,26.70,26.58,26.72,10.93,46.45
$GC,1149,-1.37,-391.0,2084,2241,3112,780,142.9,-12.1,251,1156,0.00,4.12,0.00,0.000,260,0.000,0.093,2085,3705,3112,3112,785,0,0,0,0,0,0,26.91,26.53,26.93,10.93,46.10
$GC,1178,-1.37,-391.0,2084,3705,3112,785,146.4,-12.5,257,1185,0.00,3.75,0.00,0.000,1030,0.000,0.039,2085,2243,3113,3113,788,0,0,0,0,0,0,26.71,26.63,26.74,10.93,46.61
$GC,1219,-1.37,-391.0,2084,2243,3113,788,150.9,-9.9,266,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2243,3113,3113,782,0,0,0,0,0,0,26.92,26.93,26.94,10.93,47.08
$GC,1259,-1.37,-391.0,2084,2243,3114,782,154.9,-9.9,275,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2242,3114,3114,779,0,0,0,0,0,0,26.93,26.94,26.94,10.92,46.65
$GC,1299,-1.37,-391.0,2084,2243,3115,779,158.9,-10.2,284,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2242,3115,3115,777,0,0,0,0,0,0,26.94,26.96,26.95,10.93,46.77
$STATE,1330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1330,begin apogee
$GC,1333,-0.38,0.0,2084,2242,3116,769,162.2,-10.4,291,1368,3.28,0.00,25.73,2.147,10244,0.068,0.000,2402,2242,2626,2626,3575,0,0,0,0,0,0,26.63,25.02,23.96,10.93,47.08
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1370,1.37,391.0,2402,2242,2625,3575,164.0,0.0,297,1406,5.80,0.00,24.65,2.115,11270,0.052,0.000,2951,2242,2170,2170,3627,0,0,0,0,0,0,25.63,25.82,23.37,10.83,46.57
$GC,1440,1.37,391.0,2950,2242,2170,3627,159.5,8.3,311,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2242,2169,2169,782,0,0,0,0,0,0,25.69,25.70,25.70,10.76,46.25
$GC,1480,1.37,391.0,2950,2242,2169,782,156.0,8.8,320,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2242,2169,2169,756,0,0,0,0,0,0,25.93,25.94,25.94,10.75,46.61
$GC,1520,1.37,391.0,2951,2242,2168,756,152.5,8.5,329,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2242,2168,2168,736,0,0,0,0,0,0,26.08,26.09,26.09,10.75,46.69
$GC,1559,1.37,391.0,2950,2243,2168,736,149.2,8.4,338,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2242,2167,2167,719,0,0,0,0,0,0,26.19,26.20,26.20,10.75,46.88
$GC,1599,1.37,391.0,2951,2242,2166,719,145.9,8.1,347,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2242,2166,2166,705,0,0,0,0,0,0,26.27,26.29,26.29,10.74,46.41
$GC,1639,1.42,428.0,2950,2242,2166,705,142.8,7.5,356,1653,0.12,4.05,3.83,1.019,10500,0.080,0.084,2969,3652,2126,2126,4095,0,0,0,0,0,0,26.11,25.87,24.50,10.74,46.49
$GC,1679,1.42,428.0,2968,3651,2126,4095,139.3,9.8,364,1686,0.00,3.72,0.00,0.000,1030,0.000,0.039,2969,2225,2126,2126,784,0,0,0,0,0,0,26.14,26.06,26.17,10.74,46.88
$GC,1720,1.49,481.5,2969,2225,2125,784,136.0,7.3,373,1728,0.20,0.00,4.82,1.206,10246,0.063,0.000,2994,2225,2065,2065,4095,0,0,0,0,0,0,26.15,25.82,24.55,10.74,46.37
$GC,1762,1.55,519.5,2993,2225,2064,4095,132.9,7.5,382,1770,0.12,0.00,4.07,1.037,10246,0.079,0.000,3013,2225,2020,2020,4095,0,0,0,0,0,0,26.10,25.81,24.55,10.72,46.85
$GC,1804,1.55,522.0,3011,2225,2019,4095,129.6,8.0,391,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2225,2020,2020,773,0,0,0,0,0,0,26.33,26.34,26.34,10.71,46.37
$GC,1844,1.55,522.0,3012,2225,2019,773,126.5,8.3,400,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2225,2019,2019,743,0,0,0,0,0,0,26.40,26.41,26.41,10.71,46.49
$GC,1884,1.55,522.0,3012,2225,2019,743,123.0,8.7,409,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2225,2018,2018,720,0,0,0,0,0,0,26.45,26.46,26.46,10.71,46.49
$GC,1924,1.55,522.0,3011,2225,2018,720,119.5,9.1,418,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2224,2017,2017,701,0,0,0,0,0,0,26.50,26.51,26.51,10.71,46.77
$GC,1964,1.55,522.0,3012,2225,2017,701,116.1,8.9,427,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2225,2018,2018,684,0,0,0,0,0,0,26.54,26.55,26.55,10.71,46.14
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$STATE,3250,end climb,SURFACE_DEPTH_REACHED
$STATE,3250,begin surface coast
$FINISH,0.0,1.017102
$STATE,3272,end surface coast,CONTROL_FINISHED_OK
$STATE,3272,begin surface
$SM_CCo,3366,0.00,0.000,0,0,1482,983.10
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$TT8_MAMPS,0.020223,0.101864
$HUMID,47.08
$INTERNAL_PRESSURE,10.5766
$TCM_TEMP,10.70
$XPDR_PINGS,1
$24V_AH,23.37,7.005
$10V_AH,10.60,3.732
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,57.375,145.300,96.000,0.000,0.000,30.515,19.433,330.592,0.250,0.000,6.511,1710.366,233.949,415.414,1427.505,57.178,33.432,1069.127,0.000,1023.189,0.000,0.545,0.000
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$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,27699,712
$CAP_FILE_SIZE,114580,0
$CFSIZE,1024409600,1018036224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250517,034430,4743.276,-12225.176,16,0.9,16,16.3,0.0,0.0,10,48.7