version: 66.12
glider: 402
mission: 3
dive: 17
start: 5 3 117 5 44 26
data:
$ID,402
$MISSION,3
$DIVE,17
$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,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,22
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2570
$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
$GPS1,030517,053926,4742.5566,-12225.1943,2,0.9,20,16.3,0.0,0.0,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-53.0
$GPS2,030517,054325,4742.5635,-12225.2412,5,0.9,17,16.3,1.9,156.0,9,7.0
$SPEED_LIMITS,0.100,0.313
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.185166,0.252496
$KALMAN_X,-5200.943848,-78.441780,-141.989090,4819.582031,-322.857788
$KALMAN_Y,-60.316151,71.634468,-404.604126,-124.659966,-404.031372
$MHEAD_RNG_PITCHd_Wd,18.5,2717,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.59,-293.3,370,2275,2144,360,0.0,0.0,0,25,0.00,0.00,-6.72,0.000,16390,0.000,0.000,370,2275,2922,2922,476,0,0,0,0,0,0,26.84,25.56,26.85,10.42,40.11
$GC,27,-1.59,-293.3,370,2275,2922,475,1.3,0.0,1,53,20.05,3.45,0.00,0.000,2308,0.454,0.261,1973,3478,2924,2924,668,0,0,0,0,0,0,26.36,26.37,26.51,10.61,39.80
$GC,281,-1.59,-293.3,1972,3478,2931,627,46.1,-14.2,43,288,0.00,3.10,0.00,0.000,1030,0.000,0.119,1972,2274,2931,2931,654,0,0,0,0,0,0,26.74,26.66,26.76,10.60,39.21
$GC,319,-1.59,-293.3,1972,2274,2932,646,51.0,-12.3,49,327,0.00,3.40,0.00,0.000,260,0.000,0.268,1972,3481,2933,2933,676,0,0,0,0,0,0,26.96,26.57,26.98,10.60,39.88
$GC,555,-1.59,-293.3,1972,3480,2937,631,81.5,-12.4,88,562,0.00,3.08,0.00,0.000,1030,0.000,0.119,1972,2275,2938,2938,656,0,0,0,0,0,0,26.86,26.79,26.89,10.60,39.28
$GC,593,-1.59,-293.3,1972,2275,2939,651,86.2,-12.3,94,599,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2275,2938,2938,672,0,0,0,0,0,0,27.08,27.09,27.09,10.60,39.32
$STATE,628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,628,begin apogee
$GC,631,-0.39,0.0,1972,2275,2939,663,90.2,-10.6,100,657,4.15,0.00,18.73,4.658,10246,0.246,0.000,2354,2275,2569,2569,3962,0,0,0,0,0,0,26.74,26.02,24.90,10.60,39.76
$STATE,658,end apogee,CONTROL_FINISHED_OK
$STATE,659,begin climb
$GC,660,1.59,293.3,2355,2274,2569,883,91.6,0.0,104,697,13.52,0.00,17.90,4.561,10246,1.075,0.000,2971,2273,2223,2223,3762,10,0,0,0,0,0,25.70,25.48,24.42,10.51,39.95
$GC,728,1.59,293.3,2971,2273,2222,706,85.3,12.8,115,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2222,2222,699,0,0,0,0,0,0,26.17,26.17,26.18,10.44,39.60
$GC,764,1.59,293.3,2970,2273,2221,679,79.6,15.5,121,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2273,2221,2221,674,0,0,0,0,0,0,26.31,26.32,26.32,10.44,38.93
$GC,801,1.59,293.3,2971,2273,2220,663,74.5,14.0,127,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2220,2220,661,0,0,0,0,0,0,26.41,26.42,26.42,10.44,39.17
$GC,837,1.59,293.3,2970,2273,2219,654,69.9,12.6,133,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2218,2218,652,0,0,0,0,0,0,26.48,26.51,26.50,10.44,39.36
$GC,874,1.59,293.3,2971,2273,2218,645,65.0,12.8,139,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2218,2218,645,0,0,0,0,0,0,26.55,26.57,26.56,10.44,39.52
$GC,912,1.59,293.3,2970,2272,2217,640,60.6,11.9,145,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2217,2217,640,0,0,0,0,0,0,26.61,26.63,26.63,10.44,39.28
$GC,949,1.59,293.3,2971,2273,2216,635,56.1,12.0,151,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2216,2216,636,0,0,0,0,0,0,26.65,26.67,26.67,10.43,39.36
$GC,985,1.59,293.3,2970,2273,2215,631,51.9,11.6,157,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2215,2215,632,0,0,0,0,0,0,26.70,26.72,26.72,10.43,38.69
$GC,1022,1.59,293.3,2971,2272,2214,628,47.6,11.2,163,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2214,2214,629,0,0,0,0,0,0,26.74,26.76,26.75,10.43,39.40
$GC,1059,1.59,293.3,2971,2273,2213,625,43.7,10.9,169,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2213,2213,627,0,0,0,0,0,0,26.78,26.79,26.79,10.43,39.13
$GC,1096,1.59,293.3,2970,2273,2213,623,39.5,11.8,175,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2213,2213,625,0,0,0,0,0,0,26.81,26.82,26.82,10.43,39.01
$GC,1132,1.59,293.3,2970,2273,2212,621,35.3,11.3,181,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2212,2212,624,0,0,0,0,0,0,26.84,26.85,26.85,10.43,39.88
$GC,1169,1.59,293.3,2971,2273,2211,619,31.1,11.4,187,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2211,2211,622,0,0,0,0,0,0,26.86,26.88,26.88,10.43,39.13
$GC,1207,1.59,293.3,2971,2273,2210,618,26.8,11.9,193,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2210,2210,620,0,0,0,0,0,0,26.89,26.91,26.91,10.42,39.01
$GC,1244,1.59,293.3,2971,2273,2208,617,22.3,12.1,199,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2208,2208,619,0,0,0,0,0,0,26.91,26.93,26.93,10.42,39.40
$GC,1282,1.59,293.3,2971,2273,2208,616,18.0,11.8,205,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2207,2207,619,0,0,0,0,0,0,26.94,26.95,26.95,10.42,39.44
$GC,1319,1.59,293.3,2970,2273,2207,615,13.7,11.2,211,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2206,2206,619,0,0,0,0,0,0,26.95,26.97,26.97,10.42,39.09
$GC,1355,1.59,293.3,2970,2273,2205,615,9.9,10.3,217,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2206,2206,618,0,0,0,0,0,0,26.97,26.98,26.98,10.42,39.21
$GC,1393,1.62,311.9,2970,2273,2204,614,6.2,9.6,223,1399,0.10,0.00,0.00,0.000,2054,0.263,0.000,2988,2273,2204,2204,617,0,0,0,0,0,0,26.77,26.81,26.79,10.43,40.07
$GC,1430,1.74,398.2,2987,2274,2203,613,3.1,8.0,229,1445,0.43,3.38,6.22,1.512,10500,0.549,0.258,3021,3483,2098,2098,4095,0,0,0,0,0,0,26.25,26.55,26.01,10.42,39.09
$STATE,1450,end climb,SURFACE_DEPTH_REACHED
$STATE,1450,begin surface coast
$FINISH,0.2,1.008405
$STATE,1476,end surface coast,CONTROL_FINISHED_OK
$STATE,1476,begin surface
$SM_CCo,1595,0.00,0.000,0,0,2097,402.05
$SM_GC,1.03,49.10,3.17,0.00,1.023,0.119,0.000,797,2270,2097,-5.29,0.73,402.05,36,1,0,0,0,0,25.91,26.69,26.16
$IRIDIUM_FIX,4748.51,-12337.82,030517,054014
$TT8_MAMPS,0.02247,0.160286
$HUMID,39.28
$INTERNAL_PRESSURE,10.352
$TCM_TEMP,9.40
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.4,19.3
$24V_AH,24.42,3.657
$10V_AH,10.45,2.109
$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,87.350,19.575,42.850,0.000,0.000,31.372,18.363,116.894,3.250,0.000,18.559,620.069,448.163,228.956,538.879,23.299,33.440,466.304,0.000,350.928,0.000,4.529,0.000
$DEVICE_MAMPS,1075.139,268.164,4658.108,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,157.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323536
$DATA_FILE_SIZE,7051,236
$CAP_FILE_SIZE,42149,7
$CFSIZE,1024409600,1019527168
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,46,0,0,0,0
$CURRENT,0.155,248.66,1
$GPS,030517,061201,4742.635,-12225.176,2,0.8,28,16.3,0.0,0.0,11,8.3