version: 66.12
glider: 402
mission: 3
dive: 22
start: 5 3 117 8 28 41
data:
$ID,402
$MISSION,3
$DIVE,22
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$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,33
$T_MISSION,43
$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,250
$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,13
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2550
$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
$GPS1,030517,082345,4742.9780,-12224.8135,4,1.1,9,16.3,0.0,0.0,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-49.9
$GPS2,030517,082737,4742.9883,-12224.8057,5,0.8,10,16.3,0.0,0.0,11,8.7
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.033461,0.288484
$KALMAN_X,-5444.310547,-206.444229,77.172958,5519.148438,66.708191
$KALMAN_Y,-848.664856,-1103.325317,-82.265610,2300.773438,-294.932831
$MHEAD_RNG_PITCHd_Wd,355.5,1874,-16.2,-10.101,-19.18,3655
$D_GRID,177
$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,-1.64,-244.4,370,2279,2134,765,0.0,0.0,0,25,0.00,0.00,-6.22,0.000,16390,0.000,0.000,370,2279,2844,2844,801,0,0,0,0,0,0,26.80,25.52,26.82,10.41,40.07
$GC,27,-1.64,-244.4,370,2279,2844,800,1.2,0.0,1,52,19.98,3.45,0.00,0.000,2308,0.464,0.256,1954,3483,2845,2845,830,0,0,0,0,0,0,26.32,26.33,26.46,10.58,40.11
$GC,281,-1.64,-244.4,1953,3483,2852,652,43.9,-15.1,43,288,0.00,3.10,0.00,0.000,1030,0.000,0.117,1954,2276,2852,2852,673,0,0,0,0,0,0,26.72,26.63,26.74,10.57,39.40
$GC,318,-1.64,-244.4,1954,2276,2854,660,49.4,-14.4,49,326,0.00,3.40,0.00,0.000,260,0.000,0.268,1954,3478,2853,2853,686,0,0,0,0,0,0,26.93,26.55,26.94,10.58,39.40
$GC,555,-1.64,-244.4,1953,3478,2860,635,86.2,-14.8,88,562,0.00,3.08,0.00,0.000,1030,0.000,0.119,1954,2275,2860,2860,659,0,0,0,0,0,0,26.84,26.77,26.86,10.58,40.23
$GC,593,-1.64,-244.4,1953,2275,2861,653,91.4,-13.5,94,599,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2275,2861,2861,671,0,0,0,0,0,0,27.05,27.07,27.07,10.59,40.19
$GC,629,-1.64,-244.4,1954,2275,2861,660,96.6,-13.6,100,636,0.00,3.40,0.00,0.000,260,0.000,0.271,1954,3481,2862,2862,682,0,0,0,0,0,0,27.06,26.67,27.08,10.59,39.44
$STATE,656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,656,begin apogee
$GC,663,-0.39,0.0,1953,2273,2863,690,100.4,-15.3,104,689,4.43,0.00,16.40,4.954,10246,0.268,0.000,2356,2275,2549,2549,3965,0,0,0,0,0,0,26.72,26.03,24.82,10.59,40.07
$STATE,690,end apogee,CONTROL_FINISHED_OK
$STATE,690,begin climb
$GC,691,1.64,244.4,2355,2274,2549,882,103.7,0.0,108,716,6.95,0.00,15.38,4.909,10758,0.226,0.000,2988,2273,2261,2261,4095,0,0,0,0,0,0,25.79,25.58,24.41,10.51,39.32
$GC,747,1.72,296.6,2987,2272,2261,706,100.8,8.6,117,756,0.38,0.00,4.78,3.235,10246,0.740,0.000,3013,2273,2201,2201,4095,0,0,0,0,0,0,25.53,25.68,24.52,10.45,39.05
$GC,787,1.72,297.6,3012,2272,2200,701,96.8,10.1,123,793,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2273,2200,2200,693,0,0,0,0,0,0,26.27,26.29,26.28,10.44,39.80
$GC,823,1.72,297.6,3012,2272,2199,676,92.8,10.7,129,830,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2272,2199,2199,670,0,0,0,0,0,0,26.39,26.39,26.39,10.44,38.77
$GC,860,1.72,297.6,3012,2272,2198,660,88.3,12.5,135,866,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2272,2198,2198,658,0,0,0,0,0,0,26.46,26.48,26.48,10.44,39.91
$GC,897,1.72,297.6,3012,2272,2198,651,83.7,12.7,141,903,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2272,2197,2197,649,0,0,0,0,0,0,26.53,26.55,26.55,10.43,39.28
$GC,934,1.72,297.6,3012,2272,2196,643,79.3,11.5,147,939,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2272,2196,2196,642,0,0,0,0,0,0,26.59,26.61,26.61,10.43,39.60
$GC,971,1.72,297.6,3012,2272,2195,637,75.0,12.1,153,978,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2272,2196,2196,637,0,0,0,0,0,0,26.65,26.66,26.65,10.43,39.68
$GC,1008,1.72,297.6,3012,2272,2194,632,70.7,10.6,159,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2272,2194,2194,632,0,0,0,0,0,0,26.69,26.71,26.70,10.44,39.48
$GC,1045,1.75,312.5,3012,2272,2193,628,67.0,9.7,165,1053,0.10,0.00,2.53,0.986,10246,0.273,0.000,3028,2273,2180,2180,4095,0,0,0,0,0,0,26.51,26.27,25.25,10.43,40.03
$GC,1084,1.75,312.5,3027,2271,2179,697,62.7,11.4,171,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2272,2179,2179,689,0,0,0,0,0,0,26.74,26.77,26.76,10.42,39.09
$GC,1120,1.75,312.5,3027,2272,2178,674,58.1,12.9,177,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2272,2178,2178,667,0,0,0,0,0,0,26.79,26.80,26.79,10.43,39.28
$GC,1157,1.75,312.5,3027,2272,2178,658,53.4,12.5,183,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2272,2178,2178,654,0,0,0,0,0,0,26.82,26.83,26.83,10.42,39.88
$GC,1193,1.75,312.5,3027,2272,2176,648,48.7,12.8,189,1201,0.00,3.25,0.00,0.000,516,0.000,0.216,3028,1078,2176,2176,648,0,0,0,0,0,0,26.84,26.48,26.86,10.42,39.88
$GC,1322,1.75,312.5,3027,1078,2172,631,31.8,13.8,210,1329,0.00,3.10,0.00,0.000,1030,0.000,0.132,3028,2283,2172,2172,632,0,0,0,0,0,0,26.71,26.60,26.74,10.42,39.09
$GC,1360,1.75,312.5,3027,2283,2171,628,27.0,12.8,216,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2283,2171,2171,628,0,0,0,0,0,0,26.94,26.96,26.96,10.42,39.52
$GC,1396,1.75,312.5,3028,2283,2170,625,22.0,13.9,222,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2283,2170,2170,625,0,0,0,0,0,0,26.96,26.98,26.97,10.42,39.52
$GC,1433,1.75,312.5,3027,2283,2169,622,17.0,13.3,228,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2283,2169,2169,623,0,0,0,0,0,0,26.98,27.00,26.99,10.42,39.88
$GC,1470,1.75,312.5,3028,2283,2168,619,12.0,13.6,234,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2282,2168,2168,620,0,0,0,0,0,0,27.00,27.01,27.01,10.41,39.32
$GC,1506,1.75,312.5,3027,2283,2166,617,7.1,13.4,240,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2283,2166,2166,617,0,0,0,0,0,0,27.01,27.03,27.03,10.42,40.19
$GC,1543,1.75,312.5,3028,2283,2165,615,2.9,10.8,246,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2282,2165,2165,617,0,0,0,0,0,0,27.03,27.04,27.04,10.42,40.23
$STATE,1554,end climb,SURFACE_DEPTH_REACHED
$STATE,1554,begin surface coast
$FINISH,0.2,1.011349
$STATE,1574,end surface coast,CONTROL_FINISHED_OK
$STATE,1574,begin surface
$SM_CCo,1607,3.08,0.814,0,0,2134,350.20
$SM_GC,2.08,27.08,0.00,3.08,0.099,0.000,0.814,368,2283,2134,-6.61,0.23,350.20,0,0,0,0,0,0,26.77,27.03,26.07
$IRIDIUM_FIX,4748.51,-12337.82,030517,082432
$TT8_MAMPS,0.02247,0.114597
$HUMID,39.60
$INTERNAL_PRESSURE,10.352
$TCM_TEMP,9.50
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.4,21.7
$ALTIM_BOTTOM_PING,100.4,94.0
$24V_AH,24.41,3.950
$10V_AH,10.56,2.190
$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,58.900,25.925,39.075,3.075,0.000,28.902,18.748,117.244,4.000,0.000,10.772,672.370,422.172,198.183,554.307,24.317,33.451,444.915,0.000,372.285,0.000,9.214,0.000
$DEVICE_MAMPS,739.934,270.647,4953.585,814.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,167.899,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,10516,251
$CAP_FILE_SIZE,44677,0
$CFSIZE,1024409600,1019281408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,6.45,1
$GPS,030517,085614,4743.226,-12224.563,4,0.9,9,16.3,0.0,0.0,9,8.1