version: 66.12
glider: 402
mission: 3
dive: 20
start: 5 3 117 7 21 9
data:
$ID,402
$MISSION,3
$DIVE,20
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,33
$T_MISSION,43
$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,250
$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,13
$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
$GPS1,030517,071624,4742.7324,-12224.8594,3,1.0,8,16.3,0.0,0.0,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-52.1
$GPS2,030517,072006,4742.7393,-12224.8428,4,0.8,10,16.3,0.0,0.0,10,9.1
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.027357,0.289094
$KALMAN_X,-5436.364746,-196.713776,-71.675446,5596.800293,-46.221519
$KALMAN_Y,-388.204895,-682.560181,-287.722748,1170.064941,-245.285583
$MHEAD_RNG_PITCHd_Wd,353.8,2335,-16.2,-10.101,-19.18,3655
$D_GRID,180
$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,-1.64,-244.4,368,2279,2134,765,0.0,0.0,0,25,0.00,0.00,-6.18,0.000,16390,0.000,0.000,368,2279,2844,2844,803,0,0,0,0,0,0,26.80,25.52,26.82,10.42,39.99
$GC,27,-1.64,-244.4,368,2279,2843,802,1.2,0.0,1,53,20.02,3.45,0.00,0.000,2308,0.464,0.256,1954,3483,2845,2845,830,0,0,0,0,0,0,26.31,26.32,26.45,10.59,40.51
$GC,281,-1.64,-244.4,1954,3483,2852,652,42.7,-12.8,43,288,0.00,3.10,0.00,0.000,1030,0.000,0.117,1954,2275,2852,2852,673,0,0,0,0,0,0,26.71,26.63,26.74,10.59,39.32
$GC,318,-1.64,-244.4,1953,2275,2853,661,47.3,-11.9,49,326,0.00,3.40,0.00,0.000,260,0.000,0.266,1954,3478,2853,2853,686,0,0,0,0,0,0,26.93,26.54,26.94,10.58,39.80
$GC,555,-1.64,-244.4,1954,3478,2858,635,78.5,-13.0,88,562,0.00,3.08,0.00,0.000,1030,0.000,0.119,1954,2277,2859,2859,658,0,0,0,0,0,0,26.84,26.77,26.86,10.58,39.44
$GC,593,-1.64,-244.4,1953,2276,2860,653,83.0,-11.6,94,600,0.00,3.40,0.00,0.000,260,0.000,0.271,1954,3483,2859,2859,676,0,0,0,0,0,0,27.05,26.66,27.06,10.59,39.88
$STATE,720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,720,begin apogee
$GC,727,-0.39,0.0,1954,2274,2862,663,100.1,-13.7,115,752,4.40,0.00,16.35,4.919,10246,0.266,0.000,2355,2274,2549,2549,3961,0,0,0,0,0,0,26.75,26.05,24.86,10.59,39.48
$STATE,753,end apogee,CONTROL_FINISHED_OK
$STATE,753,begin climb
$GC,755,1.64,244.4,2355,2273,2549,883,102.5,0.0,119,787,7.65,3.33,15.35,4.844,10756,0.392,0.216,2989,1084,2261,2261,3702,1,0,0,0,0,0,25.81,25.65,24.46,10.51,39.99
$GC,997,1.64,244.4,2988,1084,2255,658,72.1,14.9,159,1004,0.00,3.10,0.00,0.000,1030,0.000,0.129,2989,2278,2254,2254,659,0,0,0,0,0,0,26.44,26.34,26.46,10.45,39.88
$GC,1035,1.64,244.4,2988,2278,2253,652,66.9,14.1,165,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2254,2254,651,0,0,0,0,0,0,26.69,26.70,26.70,10.45,39.48
$GC,1072,1.64,244.4,2988,2278,2252,645,62.4,12.4,171,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2253,2253,645,0,0,0,0,0,0,26.73,26.74,26.74,10.45,39.52
$GC,1108,1.64,244.4,2988,2278,2252,640,58.3,10.8,177,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2252,2252,641,0,0,0,0,0,0,26.77,26.78,26.78,10.45,39.68
$GC,1145,1.64,244.4,2988,2278,2251,636,54.4,10.5,183,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2251,2251,637,0,0,0,0,0,0,26.80,26.82,26.81,10.44,39.48
$GC,1181,1.64,244.4,2988,2278,2250,633,50.2,11.7,189,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2250,2250,635,0,0,0,0,0,0,26.83,26.84,26.84,10.44,39.13
$GC,1220,1.64,244.4,2988,2278,2249,630,45.5,12.7,195,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2249,2249,632,0,0,0,0,0,0,26.86,26.87,26.87,10.44,39.01
$GC,1256,1.64,244.4,2988,2277,2248,628,40.9,12.1,201,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2248,2248,631,0,0,0,0,0,0,26.88,26.89,26.89,10.44,39.40
$GC,1293,1.64,244.4,2988,2278,2247,626,36.5,11.7,207,1300,0.00,3.22,0.00,0.000,516,0.000,0.209,2989,1083,2247,2247,632,0,0,0,0,0,0,26.91,26.54,26.91,10.44,39.25
$GC,1385,1.64,244.4,2988,1083,2245,621,25.8,11.9,222,1392,0.00,3.08,0.00,0.000,1030,0.000,0.132,2989,2278,2245,2245,626,0,0,0,0,0,0,26.74,26.63,26.77,10.43,39.25
$GC,1423,1.64,244.4,2988,2279,2243,622,21.3,12.0,228,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2279,2243,2243,625,0,0,0,0,0,0,26.97,26.98,26.98,10.43,39.17
$GC,1460,1.64,244.4,2988,2279,2242,622,17.3,10.8,234,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2279,2242,2242,624,0,0,0,0,0,0,26.98,27.00,27.00,10.43,39.80
$GC,1496,1.64,244.4,2988,2279,2241,622,13.3,10.6,240,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2279,2241,2241,624,0,0,0,0,0,0,27.00,27.02,27.01,10.43,39.80
$GC,1533,1.67,261.7,2988,2279,2241,621,9.7,9.6,246,1540,0.10,0.00,0.00,0.000,2054,0.273,0.000,3005,2279,2240,2240,624,0,0,0,0,0,0,26.79,26.84,26.82,10.43,39.01
$GC,1570,1.67,261.7,3004,2279,2240,621,5.5,11.1,252,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2279,2239,2239,623,0,0,0,0,0,0,27.03,27.05,27.05,10.43,39.56
$STATE,1606,end climb,SURFACE_DEPTH_REACHED
$STATE,1606,begin surface coast
$FINISH,0.8,1.020786
$STATE,1625,end surface coast,CONTROL_FINISHED_OK
$STATE,1625,begin surface
$SM_CCo,1658,6.07,1.482,0,0,2134,350.20
$SM_GC,2.52,26.92,0.00,6.07,0.109,0.000,1.482,369,2279,2134,-6.61,0.00,350.20,0,0,0,0,0,0,26.78,27.07,26.03
$IRIDIUM_FIX,4748.51,-12337.82,030517,071709
$TT8_MAMPS,0.02247,0.110852
$HUMID,39.52
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,9.60
$XPDR_PINGS,11
$ALTIM_TOP_PING,20.0,19.9
$24V_AH,24.46,3.822
$10V_AH,10.57,2.157
$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,59.100,32.300,31.700,6.075,0.000,28.300,19.809,105.718,3.250,0.000,11.950,682.223,462.539,181.754,558.132,22.151,33.455,421.256,0.000,386.376,0.000,6.131,0.000
$DEVICE_MAMPS,464.321,270.647,4918.823,1482.351,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323556
$DATA_FILE_SIZE,10508,261
$CAP_FILE_SIZE,40648,0
$CFSIZE,1024409600,1019379712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$INTR,0,1465.64,0x213daa,1,24
$CURRENT,0.040,194.82,1
$GPS,030517,075004,4742.804,-12224.622,4,1.0,45,16.3,0.0,0.0,8,3.0