version: 66.12
glider: 402
mission: 3
dive: 18
start: 5 3 117 6 16 49
data:
$ID,402
$MISSION,3
$DIVE,18
$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,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,2550
$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
$GPS1,030517,061201,4742.6348,-12225.1758,2,0.8,28,16.3,0.0,0.0,11,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-45.9
$GPS2,030517,061547,4742.6714,-12225.1709,4,0.8,8,16.3,0.0,0.0,10,9.6
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.147417,0.216971
$KALMAN_X,-5402.976562,-134.888596,-135.412064,5157.977051,-252.718323
$KALMAN_Y,-75.776718,-187.259094,-397.575928,339.651581,-323.481842
$MHEAD_RNG_PITCHd_Wd,24.4,2504,-18.1,-10.000,-20.87,2960
$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,16,-1.72,-195.5,797,2265,2096,363,0.0,0.0,0,26,0.00,0.00,-6.00,0.000,16390,0.000,0.000,797,2265,2785,2785,491,0,0,0,0,0,0,26.71,25.44,26.72,10.43,39.99
$GC,27,-1.72,-195.5,797,2265,2786,491,1.2,0.0,1,48,14.27,3.50,0.00,0.000,2308,0.454,0.266,1931,3477,2787,2787,629,0,0,0,0,0,0,26.23,26.25,26.37,10.58,40.47
$GC,277,-1.72,-195.5,1930,3477,2792,598,32.6,-11.6,42,283,0.00,3.10,0.00,0.000,1030,0.000,0.117,1931,2273,2793,2793,624,0,0,0,0,0,0,26.67,26.59,26.69,10.57,39.40
$GC,314,-1.72,-195.5,1930,2273,2793,619,36.7,-10.5,48,321,0.00,3.40,0.00,0.000,260,0.000,0.266,1931,3478,2793,2793,645,0,0,0,0,0,0,26.89,26.50,26.90,10.57,39.32
$GC,549,-1.72,-195.5,1930,3478,2798,613,61.1,-10.5,87,556,0.00,3.08,0.00,0.000,1030,0.000,0.117,1931,2276,2798,2798,637,0,0,0,0,0,0,26.82,26.74,26.84,10.57,39.95
$GC,587,-1.72,-195.5,1930,2276,2799,631,64.7,-9.5,93,595,0.00,3.38,0.00,0.000,260,0.000,0.266,1931,3478,2799,2799,659,0,0,0,0,0,0,27.03,26.63,27.03,10.56,39.32
$STATE,811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,811,begin apogee
$GC,818,-0.39,0.0,1931,2277,2804,639,90.7,-12.4,130,843,4.70,0.00,13.43,4.494,10246,0.283,0.000,2355,2278,2549,2549,3918,0,0,0,0,0,0,26.75,25.89,25.07,10.57,40.11
$STATE,844,end apogee,CONTROL_FINISHED_OK
$STATE,844,begin climb
$GC,845,1.72,195.5,2355,2277,2549,882,92.7,0.0,134,871,9.10,0.00,12.52,4.395,10246,0.608,0.000,3012,2276,2318,2318,4095,3,0,0,0,0,0,25.91,25.82,24.73,10.52,39.88
$GC,901,1.72,195.5,3012,2275,2317,705,87.7,11.9,143,907,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2275,2317,2317,701,0,0,0,0,0,0,26.42,26.44,26.44,10.46,39.60
$GC,938,1.72,195.5,3012,2275,2317,680,82.7,14.2,149,945,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2276,2316,2316,678,0,0,0,0,0,0,26.51,26.53,26.52,10.46,39.60
$GC,975,1.72,195.5,3012,2275,2315,666,77.5,13.9,155,981,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2276,2315,2315,666,0,0,0,0,0,0,26.58,26.59,26.59,10.46,39.25
$GC,1011,1.72,195.5,3012,2275,2314,658,71.9,15.2,161,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2275,2314,2314,658,0,0,0,0,0,0,26.63,26.65,26.65,10.46,39.28
$GC,1048,1.72,195.5,3011,2275,2312,652,66.0,16.1,167,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2275,2313,2313,653,0,0,0,0,0,0,26.67,26.70,26.69,10.46,39.48
$GC,1086,1.72,195.5,3011,2275,2312,647,60.7,14.5,173,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2274,2311,2311,649,0,0,0,0,0,0,26.72,26.74,26.73,10.46,39.60
$GC,1123,1.72,195.5,3011,2275,2311,643,55.3,13.6,179,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2275,2310,2310,646,0,0,0,0,0,0,26.76,26.77,26.77,10.46,39.01
$GC,1159,1.72,195.5,3012,2275,2310,640,50.5,12.7,185,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2275,2310,2310,644,0,0,0,0,0,0,26.79,26.80,26.80,10.45,39.36
$GC,1197,1.72,195.5,3012,2275,2309,638,46.5,10.7,191,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2275,2308,2308,641,0,0,0,0,0,0,26.82,26.84,26.84,10.45,39.25
$GC,1233,1.78,235.4,3012,2275,2308,636,43.2,8.6,197,1242,0.20,0.00,3.55,1.636,10246,0.204,0.000,3035,2276,2271,2271,4095,0,0,0,0,0,0,26.58,26.38,25.52,10.45,39.99
$GC,1273,1.81,257.9,3034,2275,2270,698,39.7,9.2,203,1280,0.10,0.00,3.05,1.274,10246,0.281,0.000,3050,2276,2244,2244,4095,0,0,0,0,0,0,26.61,26.39,25.55,10.45,39.56
$GC,1311,1.81,257.9,3050,2275,2243,699,35.4,11.7,209,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2275,2243,2243,692,0,0,0,0,0,0,26.84,26.86,26.85,10.43,39.64
$GC,1348,1.81,257.9,3050,2275,2242,674,30.6,13.0,215,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2275,2242,2242,671,0,0,0,0,0,0,26.86,26.88,26.88,10.44,39.28
$GC,1384,1.81,257.9,3050,2275,2241,661,25.3,14.7,221,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2275,2241,2241,658,0,0,0,0,0,0,26.89,26.91,26.90,10.43,39.40
$GC,1422,1.81,257.9,3050,2275,2239,651,19.5,15.3,227,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2275,2239,2239,651,0,0,0,0,0,0,26.88,26.89,26.89,10.43,39.01
$GC,1458,1.81,257.9,3049,2275,2237,645,14.0,14.7,233,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2275,2238,2238,645,0,0,0,0,0,0,26.94,26.95,26.95,10.43,39.32
$GC,1496,1.81,257.9,3050,2275,2237,639,8.2,15.6,239,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2275,2237,2237,640,0,0,0,0,0,0,26.94,26.97,26.96,10.43,39.64
$GC,1532,1.81,257.9,3050,2275,2236,635,3.8,11.2,245,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2275,2236,2236,636,0,0,0,0,0,0,26.97,26.99,26.98,10.43,39.95
$STATE,1568,end climb,SURFACE_DEPTH_REACHED
$STATE,1568,begin surface coast
$FINISH,0.2,0.999665
$STATE,1612,end surface coast,CONTROL_FINISHED_OK
$STATE,1612,begin surface
$SM_CCo,1646,5.95,1.462,0,0,2134,350.20
$SM_GC,2.67,27.40,0.00,5.95,0.107,0.000,1.462,369,2275,2134,-6.61,-0.18,350.20,0,0,0,0,0,0,26.73,27.03,26.00
$IRIDIUM_FIX,4748.51,-12337.82,030517,061244
$TT8_MAMPS,0.02247,0.163282
$HUMID,39.25
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,9.60
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,24.73,3.709
$10V_AH,10.44,2.125
$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,55.775,19.575,32.550,5.950,0.000,26.360,20.181,116.430,3.500,0.000,8.956,677.266,452.359,188.037,556.962,23.189,33.454,431.103,0.000,382.170,0.000,4.530,0.000
$DEVICE_MAMPS,608.335,265.681,4494.230,1462.487,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,173.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323552
$DATA_FILE_SIZE,10543,258
$CAP_FILE_SIZE,42450,0
$CFSIZE,1024409600,1019478016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0,0
$CURRENT,0.086,228.23,1
$GPS,030517,064451,4742.710,-12225.029,4,0.9,6,16.3,0.0,42.5,10,9.6