version: 66.12
glider: 402
mission: 3
dive: 37
start: 5 3 117 17 16 28
data:
$ID,402
$MISSION,3
$DIVE,37
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,60
$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,20
$T_MISSION,30
$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
$GPS1,030517,171115,4743.0386,-12224.4365,3,0.9,14,16.3,0.8,39.9,9,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-51.1
$GPS2,030517,171528,4743.0396,-12224.4463,5,0.9,12,16.3,0.0,0.0,9,9.8
$SPEED_LIMITS,0.100,0.313
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.145473,0.277269
$KALMAN_X,-1538.588867,308.196747,-70.019821,1685.005005,129.258667
$KALMAN_Y,-2203.420166,-280.560883,-348.843842,3198.534668,-148.069427
$MHEAD_RNG_PITCHd_Wd,347.6,1832,-14.6,-10.000,-17.71,4426
$D_GRID,176
$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,-1.59,-293.3,368,2279,2084,764,0.0,0.0,0,26,0.00,0.00,-6.53,0.000,16390,0.000,0.000,368,2279,2850,2850,800,0,0,0,0,0,0,26.78,25.53,26.79,10.41,40.51
$GC,28,-1.59,-293.3,368,2279,2850,799,1.3,0.0,1,60,20.73,3.42,0.00,0.000,2308,0.472,0.263,2001,3477,2851,2851,825,0,0,0,0,0,0,26.29,26.32,26.44,10.59,39.91
$GC,288,-1.59,-293.3,2000,3477,2857,646,39.2,-12.2,44,295,0.00,3.08,0.00,0.000,1030,0.000,0.117,2000,2277,2858,2858,668,0,0,0,0,0,0,26.70,26.63,26.72,10.58,39.80
$GC,326,-1.59,-293.3,2000,2277,2858,661,43.5,-11.3,50,333,0.00,3.40,0.00,0.000,260,0.000,0.268,2001,3479,2858,2858,683,0,0,0,0,0,0,26.92,26.53,26.94,10.58,39.76
$STATE,465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,471,-0.39,0.0,2001,2273,2861,663,60.6,-12.4,73,497,4.20,0.00,17.98,3.836,10246,0.256,0.000,2383,2274,2499,2499,3894,0,0,0,0,0,0,26.65,26.10,25.15,10.58,39.60
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,499,1.59,293.3,2384,2273,2499,882,62.6,0.0,77,530,8.68,0.00,17.25,3.752,10246,0.618,0.000,3001,2271,2153,2153,3796,3,0,0,0,0,0,25.82,25.70,24.79,10.50,39.68
$GC,561,1.59,293.3,3001,2271,2152,718,57.9,11.2,87,568,0.00,3.33,0.00,0.000,516,0.000,0.219,3002,1082,2152,2152,710,0,0,0,0,0,0,26.27,25.93,26.28,10.42,39.72
$GC,653,1.59,293.3,3000,1082,2148,670,46.4,12.7,102,660,0.00,3.12,0.00,0.000,1030,0.000,0.124,3001,2282,2149,2149,665,0,0,0,0,0,0,26.29,26.20,26.32,10.41,39.36
$GC,691,1.59,293.3,3001,2282,2149,656,41.6,12.5,108,697,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2282,2148,2148,652,0,0,0,0,0,0,26.56,26.58,26.57,10.42,39.60
$GC,727,1.59,293.3,3001,2281,2147,646,36.6,13.4,114,734,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2281,2147,2147,643,0,0,0,0,0,0,26.62,26.63,26.63,10.41,39.13
$GC,764,1.59,293.3,3001,2282,2146,638,31.9,12.9,120,770,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2282,2146,2146,635,0,0,0,0,0,0,26.66,26.67,26.67,10.42,39.48
$GC,801,1.59,293.3,3001,2281,2145,631,27.3,12.4,126,808,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2282,2145,2145,630,0,0,0,0,0,0,26.70,26.72,26.72,10.41,39.68
$GC,838,1.59,293.3,3001,2281,2144,626,22.8,11.9,132,845,0.00,3.28,0.00,0.000,516,0.000,0.214,3002,1083,2144,2144,628,0,0,0,0,0,0,26.74,26.39,26.75,10.41,39.56
$GC,917,1.59,293.3,3001,1083,2142,620,12.5,12.7,145,924,0.00,3.08,0.00,0.000,1030,0.000,0.122,3002,2279,2142,2142,621,0,0,0,0,0,0,26.60,26.50,26.63,10.41,39.64
$GC,955,1.59,293.3,3001,2279,2141,619,8.2,11.2,151,961,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2279,2140,2140,619,0,0,0,0,0,0,26.83,26.85,26.84,10.41,39.88
$GC,992,1.61,306.7,3001,2279,2140,616,4.5,9.7,157,998,0.10,0.00,0.00,0.000,2054,0.261,0.000,3018,2279,2140,2140,616,0,0,0,0,0,0,26.65,26.68,26.66,10.41,40.11
$STATE,1022,end climb,SURFACE_DEPTH_REACHED
$STATE,1022,begin surface coast
$FINISH,0.2,1.016882
$STATE,1041,end surface coast,CONTROL_FINISHED_OK
$STATE,1041,begin surface
$SM_CCo,1074,4.05,1.150,0,0,2085,350.20
$SM_GC,2.13,27.08,0.00,4.05,0.097,0.000,1.150,369,2279,2085,-6.70,0.00,350.20,0,0,0,0,0,0,26.63,26.91,25.94
$IRIDIUM_FIX,4748.51,-12337.82,030517,171211
$TT8_MAMPS,0.023219,0.100366
$HUMID,39.99
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,9.50
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.5,19.5
$24V_AH,24.79,5.004
$10V_AH,10.57,2.454
$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,60.775,25.850,35.225,4.050,0.000,32.869,17.783,132.465,4.000,0.000,13.728,454.871,278.617,155.291,447.694,21.275,33.448,322.773,0.000,250.637,0.000,4.525,0.000
$DEVICE_MAMPS,618.267,268.164,3836.235,1149.629,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,110.168,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,7087,165
$CAP_FILE_SIZE,30908,0
$CFSIZE,1024409600,1018560512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,1,0
$CURRENT,0.029,243.21,1
$GPS,030517,173516,4743.144,-12224.342,3,0.9,14,16.3,2.4,356.7,9,9.7