version: 66.12
glider: 402
mission: 3
dive: 24
start: 5 3 117 9 36 35
data:
$ID,402
$MISSION,3
$DIVE,24
$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,24
$R_STBD_OVSHOOT,14
$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
$GPS1,030517,093036,4743.4199,-12224.6738,4,1.0,45,16.3,0.0,0.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-54.5
$GPS2,030517,093532,4743.4863,-12224.6016,5,1.0,45,16.3,0.5,35.7,8,3.0
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.136239,0.256442
$KALMAN_X,-5071.616699,-158.036819,202.995148,5222.636230,151.523148
$KALMAN_Y,-808.070801,-1466.066284,62.591549,3401.557373,-52.487656
$MHEAD_RNG_PITCHd_Wd,319.3,983,-16.2,-10.101,-19.18,3655
$D_GRID,174
$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,14,begin dive
$GC,15,-1.64,-244.4,369,2270,2133,755,0.0,0.0,0,25,0.00,0.00,-6.12,0.000,16390,0.000,0.000,369,2269,2843,2843,793,0,0,0,0,0,0,26.82,25.54,26.82,10.42,40.03
$GC,27,-1.64,-244.4,369,2269,2843,792,1.2,0.0,1,52,19.95,3.25,0.00,0.000,2564,0.464,0.191,1953,1079,2844,2844,823,0,0,0,0,0,0,26.33,26.36,26.47,10.59,40.23
$GC,281,-1.64,-244.4,1952,1079,2850,652,38.4,-12.5,43,288,0.00,3.08,0.00,0.000,1030,0.000,0.132,1953,2276,2851,2851,672,0,0,0,0,0,0,26.70,26.60,26.73,10.58,39.21
$GC,319,-1.64,-244.4,1952,2277,2851,660,42.7,-10.8,49,326,0.00,3.22,0.00,0.000,516,0.000,0.204,1953,1081,2851,2851,684,0,0,0,0,0,0,26.94,26.58,26.95,10.58,39.60
$GC,555,-1.64,-244.4,1952,1081,2857,635,73.8,-13.1,88,562,0.00,3.08,0.00,0.000,1030,0.000,0.137,1953,2280,2857,2857,658,0,0,0,0,0,0,26.82,26.72,26.85,10.58,39.13
$GC,593,-1.64,-244.4,1952,2280,2858,653,78.1,-11.1,94,600,0.00,3.20,0.00,0.000,516,0.000,0.201,1953,1085,2858,2858,674,0,0,0,0,0,0,27.05,26.70,27.07,10.58,39.88
$STATE,763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,763,begin apogee
$GC,769,-0.39,0.0,1953,2278,2862,657,100.7,-14.5,122,795,4.43,0.00,16.27,4.968,10246,0.273,0.000,2355,2278,2549,2549,3949,0,0,0,0,0,0,26.77,26.07,24.87,10.59,39.99
$STATE,796,end apogee,CONTROL_FINISHED_OK
$STATE,796,begin climb
$GC,797,1.64,244.4,2355,2278,2549,882,103.7,0.0,126,829,8.77,0.00,15.27,4.906,10758,0.601,0.000,2989,2278,2261,2261,3807,2,0,0,0,0,0,25.84,25.31,24.44,10.52,39.60
$GC,860,1.76,323.6,2988,2278,2260,706,100.6,7.9,136,874,0.40,0.00,6.25,3.774,10246,0.144,0.000,3032,2278,2168,2168,4095,0,0,0,0,0,0,26.02,25.37,24.52,10.45,38.97
$GC,904,1.76,323.6,3031,2278,2167,703,95.6,12.4,143,910,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2277,2166,2166,695,0,0,0,0,0,0,26.27,26.29,26.29,10.43,38.69
$GC,940,1.76,323.6,3031,2278,2166,677,90.8,13.2,149,947,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2277,2165,2165,670,0,0,0,0,0,0,26.38,26.39,26.39,10.43,38.50
$GC,978,1.76,323.6,3031,2277,2165,661,85.6,14.0,155,984,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2278,2164,2164,657,0,0,0,0,0,0,26.46,26.48,26.48,10.43,39.13
$GC,1014,1.76,323.6,3031,2278,2164,651,80.4,14.7,161,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2278,2165,2165,647,0,0,0,0,0,0,26.53,26.55,26.55,10.42,39.28
$GC,1051,1.76,323.6,3031,2278,2162,642,75.2,13.8,167,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2278,2162,2162,640,0,0,0,0,0,0,26.59,26.61,26.60,10.43,39.05
$GC,1089,1.76,323.6,3031,2278,2162,636,70.0,14.5,173,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2278,2161,2161,634,0,0,0,0,0,0,26.65,26.66,26.65,10.43,39.44
$GC,1126,1.76,323.6,3030,2278,2161,630,64.8,13.1,179,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2278,2160,2160,630,0,0,0,0,0,0,26.69,26.70,26.70,10.43,39.40
$GC,1163,1.76,323.6,3031,2278,2159,626,60.0,13.1,185,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2278,2159,2159,626,0,0,0,0,0,0,26.72,26.74,26.74,10.42,39.28
$GC,1200,1.76,323.6,3031,2278,2158,622,55.0,14.1,191,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2278,2158,2158,622,0,0,0,0,0,0,26.77,26.78,26.77,10.42,39.32
$GC,1236,1.76,323.6,3031,2278,2157,619,49.8,14.3,197,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2277,2157,2157,620,0,0,0,0,0,0,26.79,26.82,26.81,10.42,39.13
$GC,1273,1.76,323.6,3030,2278,2155,616,44.4,14.7,203,1280,0.00,3.25,0.00,0.000,516,0.000,0.214,3032,1080,2155,2155,621,0,0,0,0,0,0,26.82,26.46,26.84,10.41,39.48
$GC,1365,1.76,323.6,3031,1080,2152,611,29.5,16.3,218,1372,0.00,3.10,0.00,0.000,1030,0.000,0.134,3031,2282,2152,2152,615,0,0,0,0,0,0,26.67,26.57,26.70,10.42,39.01
$GC,1403,1.76,323.6,3031,2281,2150,611,23.8,14.6,224,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2282,2151,2151,613,0,0,0,0,0,0,26.91,26.93,26.92,10.41,39.48
$GC,1439,1.76,323.6,3031,2281,2149,611,18.8,14.0,230,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2282,2149,2149,612,0,0,0,0,0,0,26.92,26.94,26.94,10.41,39.64
$GC,1475,1.76,323.6,3031,2281,2148,609,14.0,12.6,236,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2282,2148,2148,611,0,0,0,0,0,0,26.95,26.96,26.96,10.42,39.17
$GC,1512,1.76,323.6,3031,2282,2147,608,9.1,13.8,242,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2282,2147,2147,610,0,0,0,0,0,0,26.97,26.98,26.98,10.41,39.84
$GC,1549,1.76,323.6,3031,2281,2146,606,4.2,13.0,248,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2282,2146,2146,608,0,0,0,0,0,0,26.98,27.00,27.00,10.41,39.84
$STATE,1573,end climb,SURFACE_DEPTH_REACHED
$STATE,1573,begin surface coast
$FINISH,0.6,1.019833
$STATE,1586,end surface coast,CONTROL_FINISHED_OK
$STATE,1586,begin surface
$SM_CCo,1619,2.28,0.338,0,0,2134,350.20
$SM_GC,2.63,27.10,0.00,2.28,0.099,0.000,0.338,370,2281,2134,-6.61,0.18,350.20,0,0,0,0,0,0,26.73,27.02,26.04
$IRIDIUM_FIX,4748.51,-12337.82,030517,093133
$TT8_MAMPS,0.02247,0.102613
$HUMID,39.13
$INTERNAL_PRESSURE,10.352
$TCM_TEMP,9.50
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.5,20.1
$24V_AH,24.44,4.080
$10V_AH,10.56,2.225
$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,60.650,25.300,37.800,2.275,0.000,32.949,32.055,121.403,3.750,0.000,46.800,673.383,433.787,193.937,621.565,23.854,33.442,437.461,0.000,376.677,0.000,6.527,0.000
$DEVICE_MAMPS,600.886,213.538,4968.483,337.688,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,10531,254
$CAP_FILE_SIZE,42353,0
$CFSIZE,1024409600,1019183104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,1,0
$CURRENT,0.121,6.68,1
$GPS,030517,100417,4743.728,-12224.819,4,1.0,7,16.3,0.0,251.5,9,10.0