version: 66.13
glider: 402
mission: 3
dive: 2
start: 6 19 117 18 21 8
data:
$ID,402
$MISSION,3
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,3
$D_FLARE,0
$D_TGT,120
$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,40
$T_MISSION,60
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72827
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0060000001
$HD_B,0.0143
$HD_C,2.4999001e-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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,495
$PITCH_MAX,3900
$C_PITCH,2350
$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,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,55
$C_ROLL_DIVE,2178
$C_ROLL_CLIMB,2178
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2662
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,20
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-48.858288
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,149
$DEVICE3,115
$DEVICE4,166
$DEVICE5,183
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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,2915.98
$GPS1,190617,181626,4742.5059,-12225.0371,8,0.8,8,16.3,0.0,0.0,10,184.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-42.1
$GPS2,190617,182002,4742.0923,-12224.7979,10,0.8,10,16.3,0.0,0.0,10,317.8
$SPEED_LIMITS,0.100,0.252
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.001862,0.252317
$KALMAN_X,21.210789,21.210789,21.210789,39.756622,32.319016
$KALMAN_Y,-609.670776,-609.670776,-609.670776,-383.338379,-928.959290
$MHEAD_RNG_PITCHd_Wd,343.3,3533,-19.1,-10.000,-21.62,2972
$D_GRID,55
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6,-1.80,-195.5,500,2164,2251,225,0.0,0.0,0,19,10.82,0.00,0.00,0.000,2049,0.108,0.000,1452,2163,2251,2251,351,0,0,0,0,0,0,26.91,28.83,28.83,10.63,45.78
$GC,21,-1.80,-195.5,1452,2163,2251,351,1.0,0.0,1,31,3.20,0.00,-4.28,0.000,18438,0.057,0.000,1767,2163,2894,2894,429,0,0,0,0,0,0,26.50,25.08,26.55,10.64,45.11
$GC,64,-1.80,-195.5,1766,2163,2894,429,0.2,0.1,7,72,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2163,2895,2895,493,0,0,0,0,0,0,26.89,26.90,26.90,10.75,44.99
$GC,105,-1.80,-195.5,1767,2163,2895,493,1.5,-5.3,13,113,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2163,2896,2896,546,0,0,0,0,0,0,26.91,26.92,26.92,10.74,45.11
$GC,145,-1.80,-195.5,1767,2163,2895,546,5.6,-11.0,19,154,0.00,3.35,0.00,0.000,260,0.000,0.070,1767,3374,2897,2897,592,0,0,0,0,0,0,26.93,26.39,26.94,10.74,44.92
$GC,180,-1.80,-195.5,1766,3374,2897,592,9.9,-12.3,24,189,0.00,3.08,0.00,0.000,1030,0.000,0.041,1767,2193,2898,2898,628,0,0,0,0,0,0,26.53,26.47,26.58,10.74,44.44
$GC,222,-1.80,-195.5,1767,2193,2899,628,15.8,-15.3,30,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2193,2899,2899,655,0,0,0,0,0,0,26.95,26.96,26.96,10.74,44.64
$GC,263,-1.80,-195.5,1767,2193,2900,655,22.3,-16.0,36,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2193,2900,2900,677,0,0,0,0,0,0,26.96,26.98,26.98,10.73,44.25
$GC,304,-1.80,-195.5,1767,2193,2900,677,28.8,-16.4,42,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2193,2902,2902,695,0,0,0,0,0,0,26.98,26.99,26.98,10.73,44.68
$GC,344,-1.80,-195.5,1766,2193,2902,695,34.3,-13.2,48,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2193,2903,2903,710,0,0,0,0,0,0,26.98,27.00,27.00,10.73,44.52
$GC,385,-1.80,-195.5,1767,2193,2904,710,39.7,-13.3,54,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2193,2904,2904,721,0,0,0,0,0,0,27.00,27.02,27.01,10.72,44.01
$GC,426,-1.80,-195.5,1767,2193,2905,721,45.0,-13.1,60,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2193,2905,2905,729,0,0,0,0,0,0,27.01,27.03,27.02,10.72,44.17
$GC,466,-1.80,-195.5,1766,2193,2906,729,49.8,-11.0,66,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2193,2906,2906,736,0,0,0,0,0,0,27.02,27.03,27.03,10.72,44.17
$GC,507,-1.80,-195.5,1766,2193,2906,736,54.4,-11.8,72,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2193,2906,2906,741,0,0,0,0,0,0,27.03,27.05,27.04,10.72,44.44
$STATE,524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,524,begin apogee
$GC,527,-0.39,0.0,1767,2193,2907,740,56.4,-11.6,74,553,4.80,0.00,12.40,1.034,10244,0.087,0.000,2214,2193,2663,2663,3824,0,0,0,0,0,0,26.50,25.75,25.06,10.71,44.05
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,555,1.80,195.5,2214,2193,2664,3824,58.6,0.0,77,582,7.07,3.30,11.98,1.024,10500,0.055,0.073,2907,3376,2433,2433,4095,0,0,0,0,0,0,26.36,26.28,24.82,10.67,44.01
$GC,609,1.80,195.5,2906,3376,2432,4095,55.3,10.8,84,617,0.00,3.17,0.00,0.000,1030,0.000,0.042,2907,2176,2432,2432,779,0,0,0,0,0,0,26.22,26.17,26.27,10.64,43.42
$GC,650,1.80,195.5,2906,2176,2431,779,50.8,10.8,90,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2176,2431,2431,752,0,0,0,0,0,0,26.60,26.62,26.62,10.63,43.97
$GC,691,1.80,195.5,2906,2177,2430,752,45.9,12.2,96,700,0.00,3.42,0.00,0.000,516,0.000,0.088,2906,977,2430,2430,740,0,0,0,0,0,0,26.67,26.21,26.67,10.63,43.85
$GC,750,1.80,195.5,2906,977,2429,740,37.4,15.7,105,759,0.00,3.10,0.00,0.000,1030,0.000,0.044,2905,2168,2428,2428,725,0,0,0,0,0,0,26.41,26.35,26.44,10.63,44.13
$GC,792,1.80,195.5,2905,2168,2427,725,31.7,12.9,111,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2168,2427,2427,716,0,0,0,0,0,0,26.76,26.77,26.77,10.63,44.25
$GC,833,1.80,195.5,2906,2168,2426,716,27.0,11.5,117,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2168,2426,2426,709,0,0,0,0,0,0,26.79,26.80,26.80,10.63,44.64
$GC,873,1.80,195.5,2906,2168,2425,709,22.6,11.2,123,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2168,2425,2425,703,0,0,0,0,0,0,26.82,26.83,26.82,10.63,44.99
$GC,915,1.85,228.6,2906,2168,2425,703,18.5,8.9,129,925,0.15,0.00,3.22,0.323,10246,0.072,0.000,2926,2169,2393,2393,4095,0,0,0,0,0,0,26.56,26.04,25.54,10.63,44.60
$GC,957,1.85,228.6,2925,2168,2391,4095,14.1,11.4,135,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2168,2391,2391,770,0,0,0,0,0,0,26.83,26.84,26.84,10.62,45.15
$GC,998,1.85,232.6,2926,2168,2391,770,9.8,9.9,141,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2168,2391,2391,745,0,0,0,0,0,0,26.86,26.87,26.87,10.62,45.19
$GC,1039,1.85,232.6,2926,2168,2390,745,5.5,11.4,147,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2168,2390,2390,729,0,0,0,0,0,0,26.88,26.89,26.89,10.63,44.84
$STATE,1060,end climb,SURFACE_DEPTH_REACHED
$STATE,1060,begin surface coast
$FINISH,0.3,1.020926
$STATE,1086,end surface coast,CONTROL_FINISHED_OK
$STATE,1087,begin surface
$SM_CCo,1117,7.43,0.460,0,0,2251,350.31
$SM_GC,1.76,24.12,0.00,7.43,0.037,0.000,0.460,513,2168,2251,-5.72,-0.46,350.31,0,0,0,0,0,0,26.55,26.91,25.65
$IRIDIUM_FIX,4808.40,-12337.82,190617,181149
$TT8_MAMPS,0.020223,0.233688
$HUMID,44.88
$INTERNAL_PRESSURE,10.5375
$TCM_TEMP,13.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.8
$24V_AH,24.82,4.358
$10V_AH,10.39,4.285
$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,50.175,19.425,27.600,7.425,0.000,0.000,0.000,0.000,0.250,0.000,11.361,436.644,0.024,157.076,585.825,23.883,30.291,403.461,0.000,374.689,0.000,2.649,0.000
$DEVICE_MAMPS,107.865,87.975,1034.280,459.765,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.654,418.528,331.470,491.394,570.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,311328
$DATA_FILE_SIZE,14292,154
$CAP_FILE_SIZE,69938,0
$CFSIZE,1024409600,1022558208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190617,184034,4742.317,-12225.146,9,0.8,9,16.3,0.5,240.7,10,174.7