version: 66.12
glider: 402
mission: 3
dive: 4
start: 5 2 117 19 33 34
data:
$ID,402
$MISSION,3
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72342
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-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,350
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100940
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3600
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,280
$ROLL_MAX,3750
$ROLL_DEG,75
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2278
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.85000002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$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,-48.771183
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$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,48
$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,0
$GPS1,020517,192855,4743.0288,-12224.9473,3,0.9,43,16.3,0.0,0.0,9,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-53.7
$GPS2,020517,193233,4743.0420,-12224.9346,5,0.8,9,16.3,0.0,0.0,10,9.5
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.051602,0.257188
$KALMAN_X,-41.025146,-5.726428,-2.659587,-168.430923,-18.956903
$KALMAN_Y,548.476685,323.800476,296.674835,-805.904724,327.040833
$MHEAD_RNG_PITCHd_Wd,345.9,1782,-18.1,-10.000,-20.87,2960
$D_GRID,178
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.72,-195.5,369,2287,2184,258,0.0,0.0,0,26,0.00,0.00,-5.40,0.000,16390,0.000,0.000,370,2288,2835,2835,420,0,0,0,0,0,0,27.08,25.48,27.10,10.51,42.51
$GC,27,-1.72,-195.5,369,2288,2835,420,1.4,0.0,1,53,19.05,4.55,0.00,0.000,2564,0.427,0.238,1928,637,2836,2836,624,0,0,0,0,0,0,26.52,26.50,26.61,10.65,42.91
$GC,282,-1.72,-195.5,1928,638,2844,591,45.8,-14.8,43,289,0.00,4.25,0.00,0.000,1030,0.000,0.149,1928,2273,2844,2844,621,0,0,0,0,0,0,26.90,26.77,26.94,10.65,42.67
$GC,320,-1.72,-195.5,1927,2273,2845,616,50.7,-12.7,49,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2273,2845,2845,642,0,0,0,0,0,0,27.17,27.19,27.18,10.64,42.24
$GC,357,-1.72,-195.5,1928,2273,2846,636,55.4,-12.5,55,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2273,2846,2846,656,0,0,0,0,0,0,27.19,27.20,27.20,10.64,42.47
$GC,393,-1.72,-195.5,1928,2273,2847,646,60.0,-12.5,61,401,0.00,4.55,0.00,0.000,516,0.000,0.263,1928,640,2847,2847,674,0,0,0,0,0,0,27.20,26.71,27.22,10.65,42.51
$GC,516,-1.72,-195.5,1928,640,2850,642,78.7,-16.3,81,524,0.00,4.20,0.00,0.000,1030,0.000,0.149,1928,2282,2850,2850,669,0,0,0,0,0,0,26.99,26.86,27.02,10.65,42.75
$GC,554,-1.72,-195.5,1928,2282,2851,656,83.8,-12.4,87,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2282,2851,2851,673,0,0,0,0,0,0,27.25,27.27,27.27,10.64,42.36
$GC,591,-1.72,-195.5,1928,2282,2852,659,88.4,-13.1,93,598,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2282,2852,2852,678,0,0,0,0,0,0,27.27,27.27,27.28,10.64,42.08
$STATE,602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,602,begin apogee
$GC,605,-0.39,0.0,1928,2282,2853,681,90.1,-12.7,95,626,4.62,0.00,13.12,4.368,10246,0.248,0.000,2356,2283,2599,2599,4095,0,0,0,0,0,0,26.89,26.30,25.13,10.64,42.16
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,628,1.72,195.5,2356,2283,2599,877,91.7,0.0,98,654,7.15,0.00,12.10,4.293,10246,0.233,0.000,3014,2283,2368,2368,4062,0,0,0,0,0,0,26.27,25.98,24.87,10.60,41.53
$GC,684,1.72,195.5,3013,2282,2368,702,87.2,10.9,107,690,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2282,2368,2368,700,0,0,0,0,0,0,26.66,26.67,26.67,10.55,41.57
$GC,721,1.72,195.5,3013,2282,2367,678,82.9,12.3,113,728,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2282,2367,2367,678,0,0,0,0,0,0,26.76,26.77,26.77,10.55,41.65
$GC,758,1.72,195.5,3014,2282,2366,665,78.4,12.0,119,764,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2282,2366,2366,667,0,0,0,0,0,0,26.83,26.84,26.84,10.54,41.45
$GC,794,1.72,195.5,3014,2282,2365,656,74.0,11.8,125,801,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2282,2364,2364,660,0,0,0,0,0,0,26.89,26.90,26.90,10.55,41.61
$GC,831,1.72,195.5,3013,2282,2364,651,69.5,12.1,131,837,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2282,2364,2364,654,0,0,0,0,0,0,26.94,26.95,26.94,10.54,41.57
$GC,869,1.72,195.5,3014,2282,2364,647,65.3,11.4,137,875,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2282,2364,2364,651,0,0,0,0,0,0,26.97,26.99,26.98,10.54,41.77
$GC,906,1.72,195.5,3013,2282,2362,644,61.3,10.7,143,913,0.00,4.60,0.00,0.000,516,0.000,0.261,3014,641,2363,2363,654,0,0,0,0,0,0,27.01,26.55,27.02,10.53,41.06
$GC,998,1.72,195.5,3013,641,2361,638,50.4,12.8,158,1005,0.00,4.25,0.00,0.000,1030,0.000,0.142,3014,2280,2361,2361,646,0,0,0,0,0,0,26.84,26.72,26.87,10.53,41.65
$GC,1035,1.72,195.5,3013,2280,2360,639,45.8,11.9,164,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2359,2359,644,0,0,0,0,0,0,27.10,27.11,27.11,10.53,41.17
$GC,1073,1.72,195.5,3013,2280,2359,640,41.6,11.3,170,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2358,2358,644,0,0,0,0,0,0,27.12,27.13,27.13,10.53,42.24
$GC,1109,1.72,195.5,3013,2280,2357,638,37.4,11.3,176,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2358,2358,643,0,0,0,0,0,0,27.13,27.15,27.15,10.53,42.00
$GC,1146,1.72,195.5,3013,2280,2356,638,33.1,11.6,182,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2356,2356,643,0,0,0,0,0,0,27.15,27.17,27.17,10.53,41.84
$GC,1182,1.72,195.5,3013,2281,2356,637,29.1,10.7,188,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2356,2356,641,0,0,0,0,0,0,27.17,27.19,27.19,10.53,41.80
$GC,1220,1.72,195.5,3014,2280,2355,637,25.0,11.3,194,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2354,2354,642,0,0,0,0,0,0,27.19,27.21,27.20,10.53,41.37
$GC,1256,1.72,195.5,3014,2280,2355,636,20.5,11.4,200,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2354,2354,641,0,0,0,0,0,0,27.20,27.22,27.22,10.53,41.41
$GC,1295,1.72,195.5,3013,2280,2353,637,16.2,11.9,206,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2353,2353,641,0,0,0,0,0,0,27.22,27.24,27.23,10.53,41.84
$GC,1332,1.72,195.5,3013,2280,2353,635,12.0,11.0,212,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2352,2352,640,0,0,0,0,0,0,27.23,27.24,27.24,10.52,41.02
$GC,1369,1.72,195.5,3013,2279,2351,636,7.7,11.9,218,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2280,2351,2351,640,0,0,0,0,0,0,27.24,27.26,27.26,10.53,41.84
$GC,1405,1.72,195.5,3014,2280,2350,634,3.8,10.3,224,1412,0.00,4.07,0.00,0.000,260,0.000,0.268,3014,3748,2350,2350,645,0,0,0,0,0,0,27.25,26.80,27.27,10.52,41.61
$STATE,1423,end climb,SURFACE_DEPTH_REACHED
$STATE,1424,begin surface coast
$FINISH,0.2,1.007609
$STATE,1443,end surface coast,CONTROL_FINISHED_OK
$STATE,1443,begin surface
$SM_CCo,1480,8.48,1.614,0,0,2185,350.20
$SM_GC,2.51,26.73,3.83,8.48,0.102,0.132,1.614,368,2276,2185,-6.61,0.91,350.20,0,0,0,0,0,0,26.96,26.94,26.10
$IRIDIUM_FIX,4748.51,-12337.82,020517,192923
$TT8_MAMPS,0.02247,0.161035
$HUMID,41.73
$INTERNAL_PRESSURE,10.4203
$TCM_TEMP,10.60
$XPDR_PINGS,26
$ALTIM_TOP_PING,20.0,19.6
$24V_AH,24.87,2.401
$10V_AH,10.48,1.794
$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,57.550,34.300,25.225,8.475,0.000,0.000,0.000,0.000,6.750,0.000,9.939,619.277,373.954,205.000,344.705,16.298,32.434,437.291,0.000,341.009,0.000,2.636,0.000
$DEVICE_MAMPS,427.076,268.164,4367.597,1613.950,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.527,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323584
$DATA_FILE_SIZE,7086,230
$CAP_FILE_SIZE,51394,0
$CFSIZE,1024409600,1020329984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,10.32,1
$GPS,020517,195907,4743.364,-12224.920,3,0.9,7,16.3,0.5,347.5,9,9.8