version: 66.12
glider: 402
mission: 3
dive: 21
start: 5 3 117 7 55 9
data:
$ID,402
$MISSION,3
$DIVE,21
$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
$GPS1,030517,075004,4742.8037,-12224.6221,4,1.0,45,16.3,0.0,0.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-48.9
$GPS2,030517,075406,4742.8027,-12224.5879,5,1.1,9,16.3,0.0,0.0,10,9.6
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.066964,0.282559
$KALMAN_X,-5218.956055,-209.587585,-19.650293,5655.547852,107.369957
$KALMAN_Y,-755.946350,-887.992126,-166.735535,1739.342163,-343.655334
$MHEAD_RNG_PITCHd_Wd,339.7,2233,-16.2,-10.101,-19.18,3655
$D_GRID,179
$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,-244.4,369,2280,2134,765,0.0,0.0,0,25,0.00,0.00,-6.12,0.000,16390,0.000,0.000,369,2279,2842,2842,803,0,0,0,0,0,0,26.80,25.52,26.82,10.41,39.25
$GC,27,-1.64,-244.4,369,2279,2842,802,1.3,0.0,1,52,20.05,3.28,0.00,0.000,2564,0.469,0.189,1953,1081,2843,2843,829,0,0,0,0,0,0,26.31,26.35,26.46,10.59,40.27
$GC,281,-1.64,-244.4,1953,1081,2849,652,41.0,-12.2,43,288,0.00,3.08,0.00,0.000,1030,0.000,0.132,1953,2277,2850,2850,672,0,0,0,0,0,0,26.70,26.59,26.72,10.58,39.40
$GC,318,-1.64,-244.4,1952,2277,2849,661,45.0,-10.4,49,326,0.00,3.22,0.00,0.000,516,0.000,0.204,1954,1078,2850,2850,684,0,0,0,0,0,0,26.93,26.57,26.94,10.58,38.93
$GC,555,-1.64,-244.4,1953,1078,2856,635,78.7,-15.4,88,562,0.00,3.08,0.00,0.000,1030,0.000,0.137,1953,2277,2856,2856,659,0,0,0,0,0,0,26.82,26.72,26.86,10.58,39.56
$GC,593,-1.64,-244.4,1953,2276,2857,653,83.7,-12.8,94,600,0.00,3.22,0.00,0.000,516,0.000,0.204,1953,1078,2857,2857,675,0,0,0,0,0,0,27.05,26.69,27.06,10.58,40.07
$STATE,740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,740,begin apogee
$GC,747,-0.39,0.0,1953,2276,2860,660,100.5,-12.6,118,772,4.43,0.00,16.25,4.926,10246,0.271,0.000,2355,2277,2549,2549,3941,0,0,0,0,0,0,26.74,26.06,24.88,10.59,39.52
$STATE,773,end apogee,CONTROL_FINISHED_OK
$STATE,774,begin climb
$GC,775,1.64,244.4,2355,2277,2549,883,102.9,0.0,122,807,12.50,0.00,15.40,4.847,10246,0.998,0.000,2989,2278,2261,2261,4095,9,0,0,0,0,0,25.76,25.55,24.41,10.51,39.32
$GC,837,1.64,244.4,2988,2277,2260,706,98.3,10.4,132,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2276,2260,2260,700,0,0,0,0,0,0,26.22,26.23,26.23,10.45,39.05
$GC,874,1.64,244.4,2988,2277,2259,690,94.4,10.5,138,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2277,2259,2259,686,0,0,0,0,0,0,26.34,26.36,26.36,10.45,38.62
$GC,910,1.64,244.4,2988,2277,2258,671,90.3,10.9,144,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2258,2258,669,0,0,0,0,0,0,26.44,26.46,26.45,10.45,38.89
$GC,947,1.64,244.4,2988,2277,2258,663,86.4,11.2,150,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2277,2258,2258,662,0,0,0,0,0,0,26.51,26.53,26.53,10.45,39.80
$GC,983,1.64,244.4,2988,2277,2257,653,81.9,12.6,156,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2257,2257,653,0,0,0,0,0,0,26.58,26.59,26.59,10.45,39.28
$GC,1022,1.64,244.4,2988,2277,2255,649,76.9,13.8,162,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2255,2255,649,0,0,0,0,0,0,26.63,26.64,26.65,10.45,39.48
$GC,1058,1.64,244.4,2988,2278,2256,644,72.1,12.7,168,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2255,2255,644,0,0,0,0,0,0,26.67,26.69,26.69,10.44,39.76
$GC,1095,1.64,244.4,2988,2277,2254,641,67.6,12.3,174,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2254,2254,642,0,0,0,0,0,0,26.72,26.73,26.73,10.45,39.21
$GC,1131,1.64,244.4,2989,2277,2253,637,62.9,12.9,180,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2277,2253,2253,638,0,0,0,0,0,0,26.75,26.77,26.77,10.44,38.85
$GC,1168,1.64,244.4,2988,2277,2251,635,58.3,12.3,186,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2251,2251,636,0,0,0,0,0,0,26.79,26.80,26.79,10.44,39.40
$GC,1204,1.64,244.4,2988,2277,2251,632,54.0,11.6,192,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2251,2251,634,0,0,0,0,0,0,26.82,26.83,26.83,10.44,39.32
$GC,1241,1.64,244.4,2988,2277,2250,630,49.7,12.0,198,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2250,2250,632,0,0,0,0,0,0,26.84,26.86,26.86,10.44,39.25
$GC,1278,1.64,244.4,2988,2277,2249,627,45.5,11.2,204,1284,0.00,3.25,0.00,0.000,516,0.000,0.211,2989,1080,2249,2249,633,0,0,0,0,0,0,26.87,26.51,26.88,10.44,39.84
$GC,1412,1.64,244.4,2988,1080,2245,619,28.3,14.0,226,1418,0.00,3.08,0.00,0.000,1030,0.000,0.132,2989,2278,2245,2245,624,0,0,0,0,0,0,26.74,26.63,26.76,10.44,40.07
$GC,1449,1.64,244.4,2989,2278,2244,620,23.3,13.2,232,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2244,2244,623,0,0,0,0,0,0,26.97,26.98,26.98,10.43,39.44
$GC,1486,1.64,244.4,2989,2278,2243,621,18.8,11.8,238,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2242,2242,624,0,0,0,0,0,0,26.98,26.99,26.99,10.43,39.64
$GC,1522,1.64,244.4,2988,2278,2242,620,14.5,11.4,244,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2242,2242,624,0,0,0,0,0,0,27.00,27.01,27.01,10.44,39.95
$GC,1559,1.64,244.4,2988,2278,2241,620,10.3,11.6,250,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2241,2241,623,0,0,0,0,0,0,27.01,27.03,27.03,10.43,39.72
$GC,1596,1.64,244.4,2988,2278,2239,620,6.2,10.8,256,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2239,2239,623,0,0,0,0,0,0,27.03,27.05,27.04,10.43,39.56
$STATE,1632,end climb,SURFACE_DEPTH_REACHED
$STATE,1632,begin surface coast
$FINISH,0.6,1.020980
$STATE,1644,end surface coast,CONTROL_FINISHED_OK
$STATE,1644,begin surface
$SM_CCo,1676,6.05,1.480,0,0,2135,350.20
$SM_GC,2.43,26.65,0.00,6.05,0.102,0.000,1.480,370,2278,2135,-6.61,0.00,350.20,0,0,0,0,0,0,26.78,27.02,26.03
$IRIDIUM_FIX,4748.51,-12337.82,030517,075103
$TT8_MAMPS,0.02247,0.105609
$HUMID,39.56
$INTERNAL_PRESSURE,10.352
$TCM_TEMP,9.50
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.5,19.4
$24V_AH,24.41,3.886
$10V_AH,10.56,2.174
$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,63.625,25.325,31.650,6.050,0.000,32.939,28.411,115.981,3.750,0.000,9.759,691.984,454.336,192.550,582.462,23.857,33.464,443.155,0.000,390.627,0.000,6.134,0.000
$DEVICE_MAMPS,998.166,211.055,4926.272,1479.868,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323524
$DATA_FILE_SIZE,10515,264
$CAP_FILE_SIZE,42987,0
$CFSIZE,1024409600,1019330560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,9,0,0,1,0
$CURRENT,0.058,265.50,1
$GPS,030517,082345,4742.978,-12224.813,4,1.1,9,16.3,0.0,0.0,10,9.5