version: 66.12
glider: 402
mission: 3
dive: 13
start: 5 3 117 2 43 50
data:
$ID,402
$MISSION,3
$DIVE,13
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,60
$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,300
$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,55
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2278
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,12
$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
$GPS1,030517,023725,4742.7886,-12225.1777,2,1.2,43,16.3,0.0,0.0,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-49.1
$GPS2,030517,024250,4742.7529,-12225.2031,4,1.0,44,16.3,0.0,0.0,8,3.0
$SPEED_LIMITS,0.100,0.313
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.201634,0.239551
$KALMAN_X,-3307.208496,190.876709,-87.289047,2655.193848,-582.592651
$KALMAN_Y,1289.253906,1358.014648,-82.534241,-2724.331299,-615.350586
$MHEAD_RNG_PITCHd_Wd,16.1,2364,-14.6,-10.000,-17.71,4426
$D_GRID,186
$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,15,-1.59,-293.3,370,2280,2086,378,0.0,0.0,0,25,0.00,0.00,-7.57,0.000,16390,0.000,0.000,370,2280,2952,2952,470,0,0,0,0,0,0,26.89,25.58,26.90,10.40,39.68
$GC,27,-1.59,-293.3,369,2280,2952,470,1.2,0.0,1,53,20.00,3.45,0.00,0.000,2308,0.457,0.266,1972,3483,2953,2953,668,0,0,0,0,0,0,26.42,26.43,26.57,10.61,40.19
$GC,281,-1.59,-293.3,1971,3483,2960,627,42.8,-13.8,43,288,0.00,3.10,0.00,0.000,1030,0.000,0.119,1971,2275,2960,2960,655,0,0,0,0,0,0,26.79,26.72,26.82,10.60,39.68
$GC,319,-1.59,-293.3,1971,2275,2961,647,47.7,-12.8,49,327,0.00,3.40,0.00,0.000,260,0.000,0.271,1972,3482,2961,2961,678,0,0,0,0,0,0,27.01,26.62,27.02,10.61,39.84
$GC,555,-1.59,-293.3,1971,3482,2967,631,79.1,-13.4,88,562,0.00,3.10,0.00,0.000,1030,0.000,0.122,1972,2272,2966,2966,658,0,0,0,0,0,0,26.90,26.82,26.93,10.61,40.39
$GC,593,-1.59,-293.3,1971,2272,2968,652,83.6,-11.6,94,600,0.00,3.38,0.00,0.000,260,0.000,0.271,1972,3479,2967,2967,679,0,0,0,0,0,0,27.12,26.72,27.13,10.61,39.68
$GC,824,-1.59,-293.3,1971,3479,2972,643,114.1,-13.3,132,834,0.00,3.08,0.00,0.000,1030,0.000,0.122,1972,2275,2973,2973,680,0,0,0,0,0,0,26.97,26.89,26.99,10.61,40.74
$GC,866,-1.59,-293.3,1971,2275,2973,677,119.3,-12.0,138,873,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2275,2974,2974,698,0,0,0,0,0,0,27.15,27.17,27.16,10.61,39.95
$GC,904,-1.59,-293.3,1971,2275,2974,695,124.0,-11.7,144,911,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2275,2975,2975,714,0,0,0,0,0,0,27.15,27.17,27.16,10.61,39.76
$GC,943,-1.59,-293.3,1971,2275,2976,709,128.3,-11.2,150,950,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2275,2975,2975,725,0,0,0,0,0,0,27.16,27.18,27.17,10.61,39.88
$GC,981,-1.59,-293.3,1970,2275,2976,716,132.9,-12.1,156,990,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2275,2977,2977,735,0,0,0,0,0,0,27.16,27.18,27.17,10.60,40.54
$GC,1022,-1.59,-293.3,1971,2275,2977,725,137.7,-11.9,162,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2275,2977,2977,743,0,0,0,0,0,0,27.17,27.19,27.18,10.61,40.11
$GC,1063,-1.59,-293.3,1971,2275,2978,726,142.5,-11.8,168,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2274,2978,2978,743,0,0,0,0,0,0,27.17,27.19,27.18,10.61,39.88
$GC,1104,-1.59,-293.3,1971,2274,2978,731,147.4,-12.0,174,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2275,2979,2979,748,0,0,0,0,0,0,27.18,27.20,27.20,10.61,40.11
$STATE,1125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1125,begin apogee
$GC,1128,-0.39,0.0,1971,2274,2980,739,150.1,-11.9,177,1160,4.12,0.00,20.20,6.505,10246,0.241,0.000,2355,2274,2598,2598,3705,0,0,0,0,0,0,26.86,25.45,24.36,10.62,40.23
$STATE,1161,end apogee,CONTROL_FINISHED_OK
$STATE,1161,begin climb
$GC,1162,1.59,293.3,2354,2274,2599,883,152.0,0.0,182,1199,15.32,0.00,18.85,6.401,10246,1.162,0.000,2972,2273,2253,2253,4081,14,0,0,0,0,0,25.58,25.13,23.74,10.52,39.91
$GC,1230,1.59,293.3,2971,2273,2253,706,147.4,10.0,193,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2253,2253,698,0,0,0,0,0,0,25.98,26.00,25.99,10.45,39.25
$GC,1267,1.59,293.3,2971,2273,2252,687,143.2,11.3,199,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2273,2252,2252,682,0,0,0,0,0,0,26.19,26.20,26.20,10.45,39.48
$GC,1304,1.59,293.3,2971,2273,2252,669,138.8,12.0,205,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2273,2251,2251,666,0,0,0,0,0,0,26.32,26.34,26.34,10.45,39.01
$GC,1341,1.59,293.3,2971,2273,2250,658,134.3,12.2,211,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2273,2250,2250,657,0,0,0,0,0,0,26.42,26.44,26.44,10.45,39.44
$GC,1377,1.59,293.3,2971,2273,2250,650,129.9,12.1,217,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2273,2249,2249,650,0,0,0,0,0,0,26.51,26.51,26.52,10.45,39.48
$GC,1414,1.59,293.3,2971,2273,2248,644,125.6,11.6,223,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2273,2248,2248,645,0,0,0,0,0,0,26.58,26.59,26.58,10.44,39.60
$GC,1452,1.59,293.3,2971,2273,2247,639,121.0,12.8,229,1460,0.00,3.42,0.00,0.000,260,0.000,0.256,2972,3480,2247,2247,645,0,0,0,0,0,0,26.63,26.26,26.65,10.44,39.28
$GC,1538,1.59,293.3,2971,3480,2245,634,107.9,15.1,243,1545,0.00,3.12,0.00,0.000,1030,0.000,0.119,2972,2277,2245,2245,637,0,0,0,0,0,0,26.53,26.46,26.56,10.44,39.64
$GC,1576,1.59,293.3,2971,2277,2244,632,102.7,13.3,249,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2243,2243,634,0,0,0,0,0,0,26.77,26.79,26.79,10.44,39.36
$GC,1613,1.59,293.3,2971,2277,2243,631,98.0,12.8,255,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2242,2242,633,0,0,0,0,0,0,26.81,26.82,26.82,10.44,39.64
$GC,1649,1.59,293.3,2971,2277,2241,629,93.7,11.5,261,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2241,2241,631,0,0,0,0,0,0,26.84,26.86,26.85,10.44,40.23
$GC,1686,1.59,293.3,2971,2277,2241,626,89.5,11.2,267,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2240,2240,629,0,0,0,0,0,0,26.86,26.89,26.88,10.44,40.03
$GC,1723,1.59,293.3,2971,2277,2239,624,85.3,11.4,273,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2240,2240,627,0,0,0,0,0,0,26.89,26.91,26.91,10.45,39.60
$GC,1760,1.59,293.3,2971,2277,2239,623,81.1,11.5,279,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2276,2238,2238,626,0,0,0,0,0,0,26.91,26.93,26.93,10.44,39.76
$GC,1797,1.59,293.3,2971,2277,2238,621,77.1,11.3,285,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2238,2238,625,0,0,0,0,0,0,26.94,26.96,26.96,10.44,39.84
$GC,1835,1.59,293.3,2971,2277,2237,621,72.5,11.6,291,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2237,2237,624,0,0,0,0,0,0,26.96,26.98,26.97,10.43,39.60
$GC,1871,1.59,293.3,2971,2277,2235,620,68.6,11.1,297,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2278,2236,2236,623,0,0,0,0,0,0,26.98,27.00,26.99,10.44,39.64
$GC,1908,1.59,293.3,2971,2277,2235,620,64.5,11.6,303,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2235,2235,623,0,0,0,0,0,0,27.00,27.01,27.01,10.44,39.52
$GC,1944,1.59,293.3,2971,2277,2234,619,60.6,10.4,309,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2234,2234,623,0,0,0,0,0,0,27.01,27.03,27.03,10.44,39.52
$GC,1982,1.59,293.3,2971,2277,2233,619,56.7,10.5,315,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2233,2233,622,0,0,0,0,0,0,27.03,27.05,27.04,10.44,40.07
$GC,2018,1.59,293.3,2971,2277,2232,618,52.8,10.9,321,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2277,2232,2232,622,0,0,0,0,0,0,27.04,27.06,27.05,10.43,39.60
$GC,2055,1.59,293.3,2971,2277,2231,617,48.9,10.8,327,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2276,2232,2232,620,0,0,0,0,0,0,27.06,27.08,27.07,10.43,39.80
$GC,2093,1.63,318.8,2971,2277,2231,617,45.4,9.4,333,2101,0.15,0.00,2.30,0.556,10246,0.226,0.000,2989,2277,2222,2222,4095,0,0,0,0,0,0,26.83,26.63,25.73,10.43,39.88
$GC,2132,1.63,318.8,2988,2276,2221,699,41.0,11.2,339,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2276,2221,2221,692,0,0,0,0,0,0,27.08,27.09,27.09,10.43,39.09
$GC,2168,1.63,318.8,2988,2276,2220,675,36.2,13.9,345,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2276,2220,2220,670,0,0,0,0,0,0,27.08,27.10,27.10,10.42,39.76
$GC,2205,1.63,318.8,2988,2276,2219,660,30.8,14.7,351,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2276,2219,2219,658,0,0,0,0,0,0,27.10,27.12,27.12,10.42,39.28
$GC,2242,1.63,318.8,2988,2276,2217,651,25.8,13.7,357,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2276,2217,2217,649,0,0,0,0,0,0,27.11,27.13,27.13,10.42,40.23
$GC,2279,1.63,318.8,2988,2276,2216,643,21.1,12.3,363,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2276,2216,2216,643,0,0,0,0,0,0,27.13,27.14,27.13,10.42,39.48
$GC,2315,1.63,318.8,2988,2276,2215,640,16.8,11.7,369,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2276,2215,2215,640,0,0,0,0,0,0,27.13,27.15,27.15,10.42,39.56
$GC,2352,1.63,318.8,2988,2276,2215,635,12.9,10.8,375,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2276,2214,2214,635,0,0,0,0,0,0,27.14,27.16,27.15,10.42,39.91
$GC,2390,1.63,318.8,2988,2276,2213,631,9.0,10.6,381,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2276,2213,2213,632,0,0,0,0,0,0,27.15,27.17,27.17,10.42,40.27
$GC,2427,1.63,318.8,2989,2276,2212,627,4.6,11.8,387,2434,0.00,3.22,0.00,0.000,516,0.000,0.221,2988,1080,2212,2212,633,0,0,0,0,0,0,27.16,26.78,27.17,10.42,40.43
$STATE,2451,end climb,SURFACE_DEPTH_REACHED
$STATE,2451,begin surface coast
$FINISH,0.6,1.020080
$STATE,2464,end surface coast,CONTROL_FINISHED_OK
$STATE,2464,begin surface
$SM_CCo,2500,2.92,0.752,0,0,2185,350.20
$SM_GC,2.95,26.62,3.12,2.92,0.107,0.132,0.752,369,2282,2185,-6.61,-0.59,350.20,0,0,0,0,0,0,26.89,26.84,26.17
$IRIDIUM_FIX,4748.51,-12337.82,030517,023815
$TT8_MAMPS,0.023219,0.161784
$HUMID,39.25
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,9.40
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.7,19.5
$24V_AH,23.74,3.312
$10V_AH,10.43,2.024
$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,66.225,32.400,41.350,2.925,0.000,28.561,23.049,163.829,19.750,0.000,45.925,1018.548,609.959,300.066,885.001,36.714,33.418,683.090,0.000,573.111,0.000,105.472,0.000
$DEVICE_MAMPS,1162.044,270.647,6505.460,752.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323512
$DATA_FILE_SIZE,13936,393
$CAP_FILE_SIZE,71221,0
$CFSIZE,1024409600,1019740160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,14,0,0,0,0
$CURRENT,0.254,222.24,1
$GPS,030517,032649,4742.703,-12225.205,2,0.9,42,16.3,0.0,0.0,9,3.0