version: 66.12
glider: 402
mission: 3
dive: 36
start: 5 3 117 16 41 23
data:
$ID,402
$MISSION,3
$DIVE,36
$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,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,2520
$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,12
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2500
$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
$GPS1,030517,163609,4742.9248,-12224.5889,4,0.9,21,16.3,0.0,0.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-51.3
$GPS2,030517,164019,4742.9443,-12224.6230,5,0.9,13,16.3,0.0,0.0,9,6.6
$SPEED_LIMITS,0.101,0.314
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.113924,0.292664
$KALMAN_X,-2045.873047,315.586243,-7.571326,1905.932129,192.852356
$KALMAN_Y,-1858.416992,-422.134949,-153.119781,2621.170898,-287.973145
$MHEAD_RNG_PITCHd_Wd,3.1,1967,-14.7,-10.101,-17.83,4376
$D_GRID,177
$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,-1.60,-293.3,370,2276,2134,763,0.0,0.0,0,25,0.00,0.00,-6.15,0.000,16390,0.000,0.000,370,2276,2852,2852,800,0,0,0,0,0,0,26.79,25.55,26.80,10.41,40.51
$GC,27,-1.60,-293.3,369,2276,2853,798,1.3,0.0,1,59,20.60,3.42,0.00,0.000,2308,0.467,0.261,1998,3475,2854,2854,825,0,0,0,0,0,0,26.32,26.33,26.46,10.59,40.19
$GC,287,-1.60,-293.3,1998,3474,2860,646,38.1,-11.9,44,294,0.00,3.08,0.00,0.000,1030,0.000,0.117,1999,2278,2860,2860,668,0,0,0,0,0,0,26.71,26.64,26.73,10.58,39.68
$GC,325,-1.60,-293.3,1998,2279,2861,661,42.1,-10.2,50,332,0.00,3.40,0.00,0.000,260,0.000,0.268,1999,3483,2861,2861,683,0,0,0,0,0,0,26.93,26.55,26.94,10.58,39.48
$GC,561,-1.60,-293.3,1998,3483,2866,635,68.7,-10.2,89,568,0.00,3.08,0.00,0.000,1030,0.000,0.117,1999,2278,2866,2866,660,0,0,0,0,0,0,26.84,26.77,26.86,10.59,40.35
$GC,599,-1.60,-293.3,1998,2278,2867,652,72.4,-9.2,95,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2278,2867,2867,670,0,0,0,0,0,0,27.05,27.06,27.06,10.59,39.64
$GC,636,-1.60,-293.3,1998,2278,2868,659,75.9,-9.6,101,643,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2277,2868,2868,679,0,0,0,0,0,0,27.06,27.08,27.08,10.58,39.64
$GC,673,-1.60,-293.3,1998,2278,2868,665,79.6,-9.9,107,679,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2278,2868,2868,682,0,0,0,0,0,0,27.08,27.09,27.09,10.58,39.44
$GC,710,-1.60,-293.3,1998,2278,2868,667,83.2,-9.7,113,717,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2278,2869,2869,685,0,0,0,0,0,0,27.08,27.10,27.10,10.58,39.48
$GC,747,-1.60,-293.3,1998,2278,2870,668,86.9,-10.3,119,753,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2278,2870,2870,685,0,0,0,0,0,0,27.09,27.11,27.11,10.58,39.09
$GC,783,-1.60,-293.3,1998,2278,2870,669,90.6,-10.2,125,790,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2278,2870,2870,688,0,0,0,0,0,0,27.10,27.13,27.12,10.59,40.15
$GC,822,-1.60,-293.3,1998,2278,2871,670,94.4,-10.1,131,828,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2278,2871,2871,686,0,0,0,0,0,0,27.12,27.13,27.13,10.59,39.80
$GC,859,-1.60,-293.3,1998,2278,2872,670,98.3,-10.0,137,865,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2278,2872,2872,689,0,0,0,0,0,0,27.13,27.15,27.14,10.59,39.40
$STATE,880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,880,begin apogee
$GC,883,-0.39,0.0,1998,2277,2872,679,100.2,-10.2,140,909,4.20,0.00,19.05,5.028,10246,0.248,0.000,2386,2277,2499,2499,3987,0,0,0,0,0,0,26.79,26.03,24.87,10.58,39.68
$STATE,910,end apogee,CONTROL_FINISHED_OK
$STATE,910,begin climb
$GC,911,1.60,293.3,2386,2277,2499,880,102.0,0.0,144,942,6.53,0.00,17.88,4.936,10246,0.146,0.000,3012,2277,2153,2153,3748,0,0,0,0,0,0,26.27,25.52,24.41,10.50,39.48
$GC,973,1.60,293.3,3010,2277,2152,719,96.1,13.2,154,979,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2277,2152,2152,708,0,0,0,0,0,0,26.18,26.20,26.20,10.42,39.25
$GC,1009,1.60,293.3,3011,2277,2151,683,90.8,14.5,160,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2151,2151,676,0,0,0,0,0,0,26.32,26.32,26.32,10.43,39.44
$GC,1046,1.60,293.3,3011,2276,2150,670,85.5,14.1,166,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2150,2150,664,0,0,0,0,0,0,26.41,26.42,26.42,10.43,39.36
$GC,1083,1.60,293.3,3011,2277,2150,656,80.3,14.1,172,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2149,2149,652,0,0,0,0,0,0,26.48,26.50,26.50,10.43,39.52
$GC,1119,1.60,293.3,3011,2277,2148,649,75.1,14.6,178,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2148,2148,645,0,0,0,0,0,0,26.55,26.57,26.56,10.42,39.36
$GC,1157,1.60,293.3,3011,2277,2146,640,69.8,14.8,184,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2146,2146,638,0,0,0,0,0,0,26.60,26.63,26.62,10.42,39.17
$GC,1194,1.60,293.3,3011,2277,2145,635,64.7,13.3,190,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2277,2145,2145,633,0,0,0,0,0,0,26.65,26.67,26.67,10.41,39.84
$GC,1230,1.60,293.3,3012,2277,2145,630,59.5,13.9,196,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2145,2145,628,0,0,0,0,0,0,26.70,26.71,26.71,10.42,39.40
$GC,1267,1.60,293.3,3011,2277,2144,625,54.5,14.0,202,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2143,2143,624,0,0,0,0,0,0,26.74,26.75,26.74,10.42,39.09
$GC,1304,1.60,293.3,3011,2277,2141,621,49.6,13.1,208,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2143,2143,621,0,0,0,0,0,0,26.77,26.78,26.78,10.42,39.17
$GC,1340,1.60,293.3,3011,2277,2142,618,44.8,13.4,214,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2277,2141,2141,618,0,0,0,0,0,0,26.80,26.82,26.82,10.41,39.40
$GC,1377,1.60,293.3,3011,2277,2140,615,40.3,12.4,220,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2140,2140,615,0,0,0,0,0,0,26.83,26.84,26.84,10.41,39.72
$GC,1414,1.60,293.3,3011,2276,2139,613,36.0,12.2,226,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2139,2139,613,0,0,0,0,0,0,26.86,26.87,26.87,10.41,39.84
$GC,1451,1.60,293.3,3011,2277,2138,610,31.5,12.3,232,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2276,2138,2138,611,0,0,0,0,0,0,26.87,26.90,26.89,10.41,40.15
$GC,1488,1.60,293.3,3011,2277,2137,608,27.1,11.6,238,1495,0.00,3.25,0.00,0.000,516,0.000,0.219,3012,1081,2137,2137,614,0,0,0,0,0,0,26.90,26.53,26.91,10.41,40.23
$GC,1568,1.60,293.3,3011,1081,2135,606,16.8,13.0,251,1575,0.00,3.08,0.00,0.000,1030,0.000,0.129,3012,2278,2134,2134,609,0,0,0,0,0,0,26.73,26.63,26.76,10.41,39.95
$GC,1605,1.60,293.3,3011,2279,2133,606,12.0,12.6,257,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2279,2133,2133,608,0,0,0,0,0,0,26.96,26.98,26.97,10.41,39.95
$GC,1642,1.60,293.3,3011,2279,2132,605,7.5,12.1,263,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2279,2132,2132,607,0,0,0,0,0,0,26.98,26.99,26.99,10.41,39.36
$GC,1679,1.60,293.3,3011,2279,2131,603,3.4,10.7,269,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2279,2131,2131,605,0,0,0,0,0,0,26.99,27.01,27.01,10.41,39.91
$STATE,1697,end climb,SURFACE_DEPTH_REACHED
$STATE,1697,begin surface coast
$FINISH,0.2,1.000418
$STATE,1716,end surface coast,CONTROL_FINISHED_OK
$STATE,1716,begin surface
$SM_CCo,1749,3.72,1.058,0,0,2084,350.20
$SM_GC,2.16,26.90,0.00,3.72,0.097,0.000,1.058,368,2279,2084,-6.71,0.05,350.20,0,0,0,0,0,0,26.74,27.03,26.06
$IRIDIUM_FIX,4748.51,-12337.82,030517,163656
$TT8_MAMPS,0.02247,0.101864
$HUMID,40.07
$INTERNAL_PRESSURE,10.3422
$TCM_TEMP,9.50
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,100.2,92.1
$24V_AH,24.41,4.949
$10V_AH,10.56,2.442
$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,58.225,19.300,36.925,3.725,0.000,28.664,20.089,130.304,4.250,0.000,14.988,713.884,452.539,219.525,608.227,29.298,33.462,493.671,0.000,406.174,0.000,9.199,0.000
$DEVICE_MAMPS,466.804,268.164,5028.075,1057.758,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,183.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10536,275
$CAP_FILE_SIZE,48372,0
$CFSIZE,1024409600,1018593280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,216.65,1
$GPS,030517,171115,4743.039,-12224.437,3,0.9,14,16.3,0.8,39.9,9,6.7