version: 66.12
glider: 402
mission: 3
dive: 16
start: 5 3 117 5 12 21
data:
$ID,402
$MISSION,3
$DIVE,16
$N_DIVES,0
$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,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,22
$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
$GPS1,030517,050554,4742.5986,-12225.2012,2,0.8,11,16.3,0.0,0.0,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-51.6
$GPS2,030517,051120,4742.5767,-12225.2617,4,0.9,15,16.3,1.0,46.8,9,9.8
$SPEED_LIMITS,0.100,0.313
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.188811,0.249783
$KALMAN_X,-4927.352051,-27.677357,-149.685440,4477.368652,-344.241089
$KALMAN_Y,113.603485,341.310852,-376.295715,-574.078613,-469.674805
$MHEAD_RNG_PITCHd_Wd,22.0,2698,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.59,-293.3,369,2277,2121,411,0.0,0.0,0,25,0.00,0.00,-7.03,0.000,16390,0.000,0.000,369,2278,2921,2921,514,0,0,0,0,0,0,26.80,25.54,26.82,10.41,40.03
$GC,27,-1.59,-293.3,369,2278,2922,514,1.2,0.0,1,59,20.15,3.45,0.00,0.000,2308,0.462,0.256,1972,3482,2923,2923,705,0,0,0,0,0,0,26.33,26.34,26.48,10.60,40.47
$GC,287,-1.59,-293.3,1970,3482,2930,637,42.2,-14.5,44,294,0.00,3.10,0.00,0.000,1030,0.000,0.119,1971,2277,2930,2930,663,0,0,0,0,0,0,26.73,26.65,26.76,10.59,39.48
$GC,325,-1.59,-293.3,1970,2277,2931,656,47.0,-12.7,50,332,0.00,3.40,0.00,0.000,260,0.000,0.273,1971,3477,2931,2931,681,0,0,0,0,0,0,26.96,26.56,26.96,10.59,40.23
$GC,560,-1.59,-293.3,1971,3477,2938,633,83.2,-14.5,89,568,0.00,3.05,0.00,0.000,1030,0.000,0.119,1971,2277,2937,2937,663,0,0,0,0,0,0,26.86,26.79,26.89,10.60,39.52
$GC,599,-1.59,-293.3,1970,2277,2938,654,87.8,-11.3,95,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2277,2938,2938,674,0,0,0,0,0,0,27.07,27.09,27.09,10.60,39.21
$STATE,617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,617,begin apogee
$GC,620,-0.39,0.0,1971,2277,2939,669,90.1,-12.3,98,646,4.20,0.00,18.67,4.673,10246,0.256,0.000,2356,2277,2569,2569,3932,0,0,0,0,0,0,26.74,26.01,24.87,10.60,39.84
$STATE,647,end apogee,CONTROL_FINISHED_OK
$STATE,647,begin climb
$GC,648,1.59,293.3,2356,2276,2569,882,91.8,0.0,102,685,12.60,0.00,17.88,4.586,10246,1.025,0.000,2971,2276,2224,2224,3722,9,0,0,0,0,0,25.71,25.21,24.41,10.51,39.95
$GC,716,1.59,293.3,2970,2275,2223,704,87.1,10.6,113,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2275,2223,2223,696,0,0,0,0,0,0,26.17,26.18,26.18,10.44,39.48
$GC,753,1.62,314.2,2970,2275,2222,684,83.4,9.5,119,761,0.10,0.00,3.03,1.723,10246,0.268,0.000,2987,2276,2199,2199,4095,0,0,0,0,0,0,26.10,25.84,24.76,10.44,38.89
$GC,791,1.62,314.2,2986,2274,2198,698,79.1,11.4,125,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2275,2197,2197,689,0,0,0,0,0,0,26.39,26.40,26.40,10.43,39.44
$GC,829,1.62,317.9,2986,2275,2198,673,75.5,9.9,131,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2275,2198,2198,668,0,0,0,0,0,0,26.47,26.48,26.48,10.44,39.64
$GC,865,1.66,344.3,2986,2275,2196,660,72.0,9.4,137,874,0.10,0.00,3.45,1.959,10246,0.273,0.000,3002,2276,2163,2163,4095,0,0,0,0,0,0,26.32,26.06,25.03,10.44,39.25
$GC,905,1.67,345.2,3001,2275,2162,699,68.1,10.0,143,911,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2162,2162,690,0,0,0,0,0,0,26.56,26.58,26.57,10.42,39.01
$GC,941,1.67,345.2,3002,2275,2161,673,63.9,11.5,149,948,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2161,2161,667,0,0,0,0,0,0,26.62,26.63,26.63,10.42,39.17
$GC,978,1.67,345.2,3001,2275,2160,658,60.0,10.2,155,984,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2274,2161,2161,654,0,0,0,0,0,0,26.67,26.68,26.68,10.42,39.52
$GC,1014,1.67,345.2,3001,2275,2160,648,55.8,11.8,161,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2159,2159,644,0,0,0,0,0,0,26.71,26.73,26.72,10.42,39.68
$GC,1052,1.67,345.2,3001,2275,2158,639,50.9,13.6,167,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2158,2158,638,0,0,0,0,0,0,26.74,26.77,26.77,10.41,39.05
$GC,1089,1.67,345.2,3002,2275,2157,633,46.0,13.6,173,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2157,2157,632,0,0,0,0,0,0,26.78,26.80,26.80,10.41,39.60
$GC,1126,1.67,345.2,3002,2275,2156,627,41.2,12.1,179,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2156,2156,627,0,0,0,0,0,0,26.82,26.84,26.83,10.41,39.60
$GC,1163,1.67,345.2,3002,2275,2155,623,37.1,11.5,185,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2155,2155,623,0,0,0,0,0,0,26.84,26.86,26.85,10.42,39.40
$GC,1200,1.67,345.2,3002,2275,2154,619,33.1,10.6,191,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2154,2154,620,0,0,0,0,0,0,26.87,26.89,26.88,10.42,39.40
$GC,1236,1.67,345.2,3001,2275,2152,616,29.3,10.3,197,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2153,2153,617,0,0,0,0,0,0,26.89,26.91,26.90,10.41,39.84
$GC,1273,1.67,345.2,3002,2276,2152,614,25.4,10.7,203,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2152,2152,615,0,0,0,0,0,0,26.91,26.93,26.93,10.41,39.91
$GC,1309,1.67,345.2,3001,2275,2151,612,21.4,11.2,209,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2274,2152,2152,613,0,0,0,0,0,0,26.94,26.95,26.95,10.41,39.68
$GC,1347,1.67,345.2,3000,2275,2149,610,17.3,11.4,215,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2150,2150,612,0,0,0,0,0,0,26.95,26.97,26.97,10.41,39.52
$GC,1383,1.67,345.2,3002,2275,2149,608,13.1,11.4,221,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2149,2149,610,0,0,0,0,0,0,26.97,26.98,26.98,10.41,39.09
$GC,1420,1.67,345.2,3002,2275,2148,608,8.7,11.8,227,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2148,2148,609,0,0,0,0,0,0,26.98,27.01,27.01,10.41,39.32
$GC,1458,1.67,345.2,3002,2275,2147,606,4.1,12.2,233,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2275,2147,2147,609,0,0,0,0,0,0,27.01,27.03,27.02,10.41,39.68
$STATE,1476,end climb,SURFACE_DEPTH_REACHED
$STATE,1476,begin surface coast
$FINISH,0.5,1.020986
$STATE,1490,end surface coast,CONTROL_FINISHED_OK
$STATE,1490,begin surface
$SM_CCo,1582,0.00,0.000,0,0,2145,361.25
$SM_GC,1.46,26.83,0.00,0.00,0.102,0.000,0.000,370,2275,2145,-6.61,-0.14,361.25,0,0,0,0,0,0,26.75,27.04,26.80
$IRIDIUM_FIX,4748.51,-12337.82,030517,050644
$TT8_MAMPS,0.02247,0.131075
$HUMID,39.32
$INTERNAL_PRESSURE,10.3422
$TCM_TEMP,9.40
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.3,19.2
$24V_AH,24.41,3.576
$10V_AH,10.49,2.093
$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,63.975,13.000,43.025,0.000,0.000,28.226,28.638,189.143,5.250,0.000,17.986,614.215,448.935,208.485,624.245,24.605,33.427,449.169,0.000,353.750,0.000,4.527,0.000
$DEVICE_MAMPS,1025.479,273.130,4673.006,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,158.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323580
$DATA_FILE_SIZE,7074,238
$CAP_FILE_SIZE,43793,0
$CFSIZE,1024409600,1019576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0,0
$CURRENT,0.218,226.00,1
$GPS,030517,053926,4742.557,-12225.194,2,0.9,20,16.3,0.0,0.0,9,9.9