version: 66.12
glider: 402
mission: 3
dive: 3
start: 5 2 117 18 56 56
data:
$ID,402
$MISSION,3
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,40
$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,200
$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,200
$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,75
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2278
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,18
$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,2600
$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
$GPS1,020517,185014,4742.9727,-12224.8535,2,0.9,8,16.3,0.0,0.0,9,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-54.0
$GPS2,020517,185555,4742.9858,-12224.8418,6,0.8,13,16.3,0.0,0.0,10,9.3
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,4732.838,-12230.314
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.031566,-0.260407
$KALMAN_X,-0.912249,4.108388,4.180530,-110.238579,3.023152
$KALMAN_Y,254.668411,175.666275,173.621628,-342.789062,320.517273
$MHEAD_RNG_PITCHd_Wd,192.8,20000,-18.1,-10.000,-20.87,2960
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.72,-195.5,368,2280,2185,359,0.0,0.0,0,26,0.00,0.00,-5.35,0.000,16390,0.000,0.000,368,2280,2835,2835,508,0,0,0,0,0,0,27.19,26.29,27.20,10.53,42.79
$GC,27,-1.72,-195.5,368,2280,2835,507,1.4,0.0,1,53,18.85,4.10,0.00,0.000,2308,0.415,0.276,1929,3745,2837,2837,666,0,0,0,0,0,0,26.61,26.60,26.70,10.68,43.14
$GC,59,-1.72,-195.5,1928,3745,2837,665,8.5,-22.5,6,66,0.00,3.78,0.00,0.000,1030,0.000,0.132,1928,2278,2837,2837,683,0,0,0,0,0,0,26.82,26.73,26.85,10.68,42.40
$GC,97,-1.72,-195.5,1927,2279,2838,663,13.6,-12.8,12,104,0.00,4.12,0.00,0.000,260,0.000,0.281,1929,3745,2839,2839,684,0,0,0,0,0,0,27.09,26.63,27.10,10.68,42.95
$GC,332,-1.72,-195.5,1928,3745,2846,629,49.8,-15.0,51,340,0.00,3.75,0.00,0.000,1030,0.000,0.129,1929,2280,2845,2845,654,0,0,0,0,0,0,26.99,26.89,27.03,10.67,42.32
$GC,370,-1.72,-195.5,1928,2280,2847,644,54.9,-12.9,57,378,0.00,4.12,0.00,0.000,260,0.000,0.281,1928,3750,2848,2848,673,0,0,0,0,0,0,27.25,26.77,27.27,10.68,42.63
$STATE,606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,606,begin apogee
$GC,613,-0.39,0.0,1928,2277,2854,646,90.8,-14.8,96,633,4.65,0.00,13.18,4.395,10246,0.261,0.000,2357,2277,2598,2598,4095,0,0,0,0,0,0,26.93,26.34,25.17,10.67,42.71
$STATE,634,end apogee,CONTROL_FINISHED_OK
$STATE,634,begin climb
$GC,635,1.72,195.5,2356,2277,2598,877,93.2,0.0,99,666,6.82,4.70,12.05,4.298,10756,0.154,0.271,3012,643,2368,2368,3638,0,0,0,0,0,0,26.43,26.08,24.91,10.62,42.40
$GC,709,1.72,195.5,3012,642,2366,698,85.9,13.5,111,716,0.00,4.30,0.00,0.000,1030,0.000,0.144,3012,2282,2367,2367,699,0,0,0,0,0,0,26.55,26.44,26.58,10.57,42.24
$GC,747,1.72,195.5,3011,2282,2366,675,80.9,12.7,117,754,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2366,2366,676,0,0,0,0,0,0,26.84,26.86,26.86,10.57,42.20
$GC,784,1.72,195.5,3011,2282,2365,663,76.4,12.4,123,790,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2364,2364,665,0,0,0,0,0,0,26.91,26.92,26.92,10.57,41.84
$GC,821,1.72,195.5,3011,2282,2364,656,72.0,12.3,129,828,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2364,2364,659,0,0,0,0,0,0,26.96,26.98,26.97,10.57,41.84
$GC,858,1.72,195.5,3012,2282,2363,651,67.3,12.4,135,864,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2363,2363,654,0,0,0,0,0,0,27.00,27.02,27.01,10.57,42.67
$GC,895,1.72,195.5,3012,2282,2362,646,62.3,14.6,141,902,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2362,2362,650,0,0,0,0,0,0,27.04,27.05,27.05,10.57,41.84
$GC,933,1.72,195.5,3012,2282,2361,643,56.9,13.6,147,939,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2362,2362,647,0,0,0,0,0,0,27.07,27.08,27.08,10.56,41.84
$GC,969,1.72,195.5,3011,2282,2361,641,52.0,13.3,153,976,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2361,2361,646,0,0,0,0,0,0,27.10,27.11,27.11,10.56,42.20
$GC,1006,1.72,195.5,3012,2282,2359,640,47.2,13.1,159,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2359,2359,644,0,0,0,0,0,0,27.12,27.14,27.14,10.55,42.59
$GC,1043,1.72,195.5,3012,2282,2358,638,42.7,12.3,165,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2358,2358,643,0,0,0,0,0,0,27.15,27.16,27.16,10.55,42.00
$GC,1080,1.72,195.5,3011,2282,2357,637,38.1,11.9,171,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2282,2357,2357,642,0,0,0,0,0,0,27.17,27.18,27.18,10.55,41.80
$GC,1116,1.72,195.5,3012,2282,2356,636,33.8,12.1,177,1124,0.00,4.07,0.00,0.000,260,0.000,0.268,3012,3745,2356,2356,647,0,0,0,0,0,0,27.18,26.74,27.20,10.55,41.92
$GC,1190,1.72,195.5,3011,3745,2353,635,22.3,16.2,189,1198,0.00,3.75,0.00,0.000,1030,0.000,0.127,3012,2277,2354,2354,643,0,0,0,0,0,0,26.98,26.89,27.01,10.55,42.24
$GC,1229,1.72,195.5,3012,2277,2353,637,17.4,11.7,195,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2353,2353,642,0,0,0,0,0,0,27.22,27.24,27.24,10.55,42.20
$GC,1265,1.72,195.5,3011,2277,2352,636,13.1,11.4,201,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2278,2352,2352,641,0,0,0,0,0,0,27.24,27.26,27.26,10.54,42.32
$GC,1302,1.72,195.5,3011,2277,2351,635,8.9,11.4,207,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2351,2351,640,0,0,0,0,0,0,27.26,27.27,27.27,10.54,42.12
$GC,1338,1.72,195.5,3012,2277,2350,633,5.0,10.5,213,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2350,2350,639,0,0,0,0,0,0,27.27,27.28,27.28,10.55,42.12
$GC,1376,1.82,263.5,3011,2277,2349,633,2.0,7.6,219,1385,0.32,0.77,4.43,1.182,10755,0.156,0.166,3052,1964,2286,2286,4095,0,0,0,0,0,0,27.01,26.82,26.17,10.55,42.75
$STATE,1386,end climb,SURFACE_DEPTH_REACHED
$STATE,1386,begin surface coast
$FINISH,0.2,0.999547
$STATE,1410,end surface coast,CONTROL_FINISHED_OK
$STATE,1410,begin surface
$SM_CCo,1444,5.90,1.373,0,0,2184,350.20
$SM_GC,2.35,27.02,0.85,5.90,0.097,0.196,1.373,369,2286,2184,-6.61,-0.55,350.20,0,0,0,0,0,0,26.95,26.91,26.13
$IRIDIUM_FIX,4748.51,-12337.82,020517,185259
$TT8_MAMPS,0.021721,0.131824
$HUMID,42.16
$INTERNAL_PRESSURE,10.4496
$TCM_TEMP,11.10
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.5,19.3
$24V_AH,24.91,2.344
$10V_AH,10.57,1.775
$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,57.675,42.150,29.650,5.900,0.000,0.000,0.000,0.000,6.250,0.000,13.954,601.565,372.928,196.692,338.670,15.893,31.516,415.466,0.000,332.589,0.000,2.642,0.000
$DEVICE_MAMPS,414.661,280.579,4394.910,1373.099,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,149.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323988
$DATA_FILE_SIZE,7080,224
$CAP_FILE_SIZE,50968,0
$CFSIZE,1024409600,1020379136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,13.30,1
$GPS,020517,192151,4743.000,-12224.963,2,0.9,11,16.3,0.0,0.0,9,9.5