version: 66.12
glider: 402
mission: 3
dive: 14
start: 5 3 117 3 33 8
data:
$ID,402
$MISSION,3
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,50
$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,-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,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,20
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2570
$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
$GPS1,030517,032649,4742.7031,-12225.2051,2,0.9,42,16.3,0.0,0.0,9,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-53.1
$GPS2,030517,033208,4742.6528,-12225.2227,4,1.1,45,16.3,0.0,0.0,8,3.0
$SPEED_LIMITS,0.100,0.313
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.205639,0.236122
$KALMAN_X,-3903.001221,160.603363,-95.342636,3260.121094,-654.773438
$KALMAN_Y,558.710083,1205.888184,-107.338005,-2005.525757,-887.525635
$MHEAD_RNG_PITCHd_Wd,19.7,2550,-14.6,-10.000,-17.71,4426
$D_GRID,186
$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,-1.59,-293.3,368,2283,2183,756,0.0,0.0,0,25,0.00,0.00,-6.20,0.000,16390,0.000,0.000,369,2283,2920,2920,793,0,0,0,0,0,0,26.86,25.57,26.88,10.43,39.80
$GC,27,-1.59,-293.3,368,2283,2920,793,1.4,0.0,1,52,20.12,3.42,0.00,0.000,2308,0.462,0.266,1972,3477,2921,2921,834,0,0,0,0,0,0,26.36,26.39,26.51,10.60,39.99
$GC,281,-1.59,-293.3,1972,3477,2928,651,42.6,-13.5,43,288,0.00,3.08,0.00,0.000,1030,0.000,0.119,1972,2278,2928,2928,673,0,0,0,0,0,0,26.75,26.68,26.79,10.60,39.72
$GC,318,-1.59,-293.3,1971,2277,2929,661,47.5,-12.9,49,326,0.00,3.40,0.00,0.000,260,0.000,0.271,1972,3479,2929,2929,689,0,0,0,0,0,0,26.98,26.58,26.99,10.60,39.32
$GC,555,-1.59,-293.3,1972,3479,2935,635,79.8,-12.9,88,562,0.00,3.08,0.00,0.000,1030,0.000,0.122,1973,2277,2935,2935,661,0,0,0,0,0,0,26.88,26.80,26.90,10.60,39.91
$GC,593,-1.59,-293.3,1972,2277,2936,655,84.2,-11.8,94,600,0.00,3.38,0.00,0.000,260,0.000,0.271,1973,3477,2935,2935,681,0,0,0,0,0,0,27.09,26.70,27.10,10.60,40.31
$GC,824,-1.59,-293.3,1972,3477,2941,645,114.6,-13.8,132,834,0.00,3.08,0.00,0.000,1030,0.000,0.122,1972,2272,2941,2941,680,0,0,0,0,0,0,26.94,26.87,26.97,10.60,39.88
$GC,866,-1.59,-293.3,1972,2272,2942,678,119.3,-11.1,138,873,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,2272,2942,2942,697,0,0,0,0,0,0,27.13,27.15,27.14,10.60,39.91
$GC,904,-1.59,-293.3,1972,2272,2942,693,123.5,-10.9,144,913,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,2272,2943,2943,716,0,0,0,0,0,0,27.13,27.15,27.14,10.60,39.88
$GC,945,-1.59,-293.3,1972,2272,2943,710,128.2,-11.5,150,954,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2273,2943,2943,729,0,0,0,0,0,0,27.14,27.15,27.15,10.60,40.03
$GC,986,-1.59,-293.3,1972,2272,2944,718,132.8,-10.9,156,995,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2272,2944,2944,735,0,0,0,0,0,0,27.14,27.15,27.15,10.60,39.25
$GC,1027,-1.59,-293.3,1972,2272,2945,726,137.2,-10.9,162,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2272,2946,2946,742,0,0,0,0,0,0,27.15,27.17,27.16,10.61,40.11
$GC,1068,-1.59,-293.3,1972,2272,2946,726,141.9,-11.3,168,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2272,2946,2946,742,0,0,0,0,0,0,27.15,27.17,27.16,10.60,39.60
$GC,1109,-1.59,-293.3,1972,2272,2947,729,146.5,-11.0,174,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2272,2947,2947,745,0,0,0,0,0,0,27.16,27.18,27.17,10.60,39.76
$STATE,1142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1143,begin apogee
$GC,1146,-0.39,0.0,1972,2272,2948,736,150.4,-11.2,179,1177,4.12,0.00,20.08,6.528,10246,0.243,0.000,2356,2272,2570,2570,3700,0,0,0,0,0,0,26.86,25.43,24.34,10.60,39.01
$STATE,1178,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin climb
$GC,1179,1.59,293.3,2356,2272,2570,883,152.2,0.0,184,1223,19.48,0.00,18.95,6.404,10758,1.294,0.000,2971,2271,2223,2223,3932,18,0,0,0,0,0,25.53,25.09,23.70,10.52,39.36
$GC,1253,1.59,293.3,2970,2271,2223,707,147.3,10.1,196,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2223,2223,700,0,0,0,0,0,0,25.96,25.98,25.97,10.44,38.77
$GC,1290,1.59,293.3,2970,2271,2222,691,143.2,11.2,202,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2223,2223,685,0,0,0,0,0,0,26.17,26.18,26.18,10.44,38.89
$GC,1326,1.59,293.3,2970,2271,2221,670,138.9,11.7,208,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2221,2221,667,0,0,0,0,0,0,26.31,26.32,26.32,10.44,38.85
$GC,1363,1.59,293.3,2970,2271,2220,663,134.6,11.8,214,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2271,2220,2220,660,0,0,0,0,0,0,26.41,26.42,26.41,10.44,38.50
$GC,1399,1.59,293.3,2970,2270,2219,653,130.1,11.9,220,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2219,2219,651,0,0,0,0,0,0,26.49,26.51,26.51,10.43,39.13
$GC,1438,1.59,293.3,2970,2271,2218,647,125.8,11.8,226,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2219,2219,647,0,0,0,0,0,0,26.56,26.58,26.58,10.44,39.09
$GC,1474,1.59,293.3,2970,2271,2218,641,121.2,11.9,232,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2217,2217,641,0,0,0,0,0,0,26.62,26.63,26.63,10.43,38.97
$GC,1511,1.59,293.3,2970,2271,2217,638,117.1,11.5,238,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2271,2217,2217,638,0,0,0,0,0,0,26.67,26.68,26.68,10.43,39.25
$GC,1547,1.59,293.3,2970,2270,2216,633,112.7,12.4,244,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2215,2215,634,0,0,0,0,0,0,26.71,26.73,26.73,10.43,39.40
$GC,1584,1.59,293.3,2970,2271,2215,631,108.5,11.6,250,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2215,2215,632,0,0,0,0,0,0,26.75,26.77,26.77,10.43,39.88
$GC,1620,1.59,293.3,2970,2271,2214,627,104.0,12.4,256,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2214,2214,628,0,0,0,0,0,0,26.79,26.81,26.80,10.44,38.89
$GC,1657,1.59,293.3,2970,2271,2212,625,99.9,11.4,262,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2213,2213,627,0,0,0,0,0,0,26.82,26.84,26.84,10.44,39.28
$GC,1693,1.59,293.3,2970,2271,2212,623,95.5,12.2,268,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2212,2212,625,0,0,0,0,0,0,26.85,26.86,26.86,10.44,39.40
$GC,1731,1.59,293.3,2970,2271,2211,622,91.1,11.6,274,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2211,2211,624,0,0,0,0,0,0,26.88,26.89,26.89,10.44,39.56
$GC,1768,1.59,293.3,2970,2271,2210,620,87.0,10.8,280,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2210,2210,622,0,0,0,0,0,0,26.90,26.92,26.91,10.43,39.40
$GC,1805,1.59,293.3,2970,2271,2209,619,83.0,10.7,286,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2209,2209,622,0,0,0,0,0,0,26.93,26.94,26.94,10.43,39.99
$GC,1841,1.59,293.3,2970,2271,2208,617,78.9,11.3,292,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2208,2208,620,0,0,0,0,0,0,26.95,26.96,26.96,10.43,39.56
$GC,1878,1.59,293.3,2970,2271,2207,617,75.0,10.8,298,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2207,2207,620,0,0,0,0,0,0,26.97,26.98,26.98,10.43,39.52
$GC,1914,1.59,293.3,2970,2271,2206,616,70.7,11.6,304,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2272,2206,2206,619,0,0,0,0,0,0,26.98,27.00,27.00,10.43,39.68
$GC,1951,1.59,293.3,2970,2271,2205,615,66.5,11.8,310,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2206,2206,618,0,0,0,0,0,0,27.01,27.02,27.01,10.43,40.15
$GC,1987,1.59,293.3,2970,2271,2204,614,62.1,11.8,316,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2204,2204,617,0,0,0,0,0,0,27.02,27.03,27.03,10.43,39.28
$GC,2026,1.59,293.3,2970,2271,2203,614,57.7,11.9,322,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2203,2203,616,0,0,0,0,0,0,27.03,27.05,27.05,10.43,39.56
$GC,2062,1.59,293.3,2970,2271,2202,613,53.1,12.0,328,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2202,2202,616,0,0,0,0,0,0,27.05,27.07,27.06,10.43,39.36
$GC,2099,1.59,293.3,2970,2271,2201,613,48.5,12.8,334,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2271,2201,2201,616,0,0,0,0,0,0,27.06,27.08,27.08,10.42,39.68
$GC,2135,1.59,293.3,2970,2271,2200,612,44.1,12.3,340,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2200,2200,615,0,0,0,0,0,0,27.08,27.09,27.09,10.42,39.88
$GC,2172,1.59,293.3,2970,2271,2199,612,39.7,12.0,346,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2199,2199,615,0,0,0,0,0,0,27.09,27.10,27.10,10.42,39.68
$GC,2208,1.59,293.3,2970,2271,2198,611,35.2,11.8,352,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2198,2198,614,0,0,0,0,0,0,27.10,27.12,27.11,10.42,40.11
$GC,2245,1.59,293.3,2970,2271,2197,611,31.0,11.3,358,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2197,2197,614,0,0,0,0,0,0,27.11,27.13,27.13,10.42,39.56
$GC,2282,1.59,293.3,2970,2271,2196,611,26.9,11.2,364,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2196,2196,614,0,0,0,0,0,0,27.12,27.14,27.13,10.42,39.52
$GC,2320,1.59,293.3,2970,2271,2195,610,22.6,11.7,370,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2195,2195,613,0,0,0,0,0,0,27.13,27.15,27.15,10.42,39.13
$GC,2356,1.59,293.3,2970,2271,2194,610,18.2,11.4,376,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2194,2194,613,0,0,0,0,0,0,27.14,27.15,27.15,10.42,39.17
$GC,2394,1.59,293.3,2970,2271,2193,610,14.2,11.1,382,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2270,2193,2193,612,0,0,0,0,0,0,27.15,27.17,27.17,10.42,40.03
$GC,2430,1.59,293.3,2970,2271,2191,609,10.0,11.0,388,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2270,2192,2192,612,0,0,0,0,0,0,27.16,27.17,27.17,10.42,39.84
$GC,2467,1.59,293.3,2970,2271,2191,609,5.9,11.1,394,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2191,2191,612,0,0,0,0,0,0,27.17,27.18,27.18,10.42,39.40
$STATE,2503,end climb,SURFACE_DEPTH_REACHED
$STATE,2503,begin surface coast
$FINISH,0.2,1.002136
$STATE,2523,end surface coast,CONTROL_FINISHED_OK
$STATE,2523,begin surface
$SM_CCo,2555,3.22,0.874,0,0,2155,350.20
$SM_GC,2.06,26.35,0.00,3.22,0.099,0.000,0.874,368,2272,2155,-6.61,-0.32,350.20,0,0,0,0,0,0,26.91,27.19,26.20
$IRIDIUM_FIX,4748.51,-12337.82,030517,032739
$TT8_MAMPS,0.02247,0.103362
$HUMID,39.40
$INTERNAL_PRESSURE,10.352
$TCM_TEMP,9.40
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.6,19.4
$24V_AH,23.70,3.408
$10V_AH,10.55,2.051
$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,70.075,19.425,39.025,3.225,0.000,31.688,19.205,161.846,20.750,0.000,46.717,1048.260,620.353,297.239,897.297,36.769,33.411,693.018,0.000,587.142,0.000,110.479,0.000
$DEVICE_MAMPS,1293.643,270.647,6527.807,874.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323540
$DATA_FILE_SIZE,13987,403
$CAP_FILE_SIZE,72097,0
$CFSIZE,1024409600,1019674624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,18,0,0,0,0
$CURRENT,0.261,227.27,1
$GPS,030517,041627,4742.614,-12225.248,2,0.9,7,16.3,0.0,0.0,9,9.2