version: 66.12
glider: 402
mission: 3
dive: 32
start: 5 3 117 14 19 37
data:
$ID,402
$MISSION,3
$DIVE,32
$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,400
$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,19
$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,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
$GPS1,030517,140952,4742.9009,-12224.5342,4,0.8,7,16.3,0.0,0.0,10,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-48.9
$GPS2,030517,141821,4742.8945,-12224.4570,5,0.8,8,16.3,0.0,0.0,10,10.0
$SPEED_LIMITS,0.101,0.354
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.254634,-0.246456
$KALMAN_X,-2960.167236,140.682236,165.447403,3028.460938,198.438660
$KALMAN_Y,-417.069550,-1152.332642,463.308380,1205.017334,-39.642944
$MHEAD_RNG_PITCHd_Wd,195.4,847,-12.7,-10.101,-16.08,5655
$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,-1.57,-380.6,368,2282,2064,383,0.0,0.0,0,25,0.00,0.00,-8.12,0.000,16390,0.000,0.000,369,2283,3003,3003,467,0,0,0,0,0,0,26.74,25.49,26.75,10.40,40.07
$GC,27,-1.57,-380.6,368,2283,3003,467,1.2,0.0,1,52,20.35,0.00,0.00,0.000,2566,0.469,0.000,1975,2283,3005,3005,668,0,0,0,0,0,0,26.31,26.48,26.45,10.63,39.88
$GC,83,-1.57,-380.6,1974,2283,3006,660,14.0,-15.2,10,89,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2283,3006,3006,682,0,0,0,0,0,0,26.74,26.75,26.75,10.62,39.60
$GC,119,-1.57,-380.6,1974,2283,3006,666,18.9,-12.8,16,125,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2283,3007,3007,686,0,0,0,0,0,0,26.77,26.79,26.79,10.62,39.28
$GC,156,-1.57,-380.6,1974,2283,3008,675,23.7,-13.0,22,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2283,3008,3008,695,0,0,0,0,0,0,26.81,26.82,26.82,10.62,39.60
$GC,192,-1.57,-380.6,1974,2283,3009,673,28.7,-13.4,28,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2283,3009,3009,693,0,0,0,0,0,0,26.84,26.85,26.85,10.62,39.88
$GC,229,-1.57,-380.6,1974,2283,3009,680,33.7,-14.3,34,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2283,3010,3010,699,0,0,0,0,0,0,26.86,26.88,26.88,10.61,38.77
$GC,267,-1.57,-380.6,1974,2283,3010,675,38.8,-13.5,40,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2283,3011,3011,695,0,0,0,0,0,0,26.89,26.91,26.91,10.61,39.17
$GC,304,-1.57,-380.6,1975,2282,3011,680,43.9,-13.2,46,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2283,3011,3011,700,0,0,0,0,0,0,26.91,26.94,26.93,10.61,38.93
$GC,340,-1.57,-380.6,1974,2283,3013,675,48.8,-13.4,52,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2283,3013,3013,695,0,0,0,0,0,0,26.94,26.95,26.95,10.61,38.81
$GC,377,-1.57,-380.6,1974,2283,3013,682,53.8,-13.4,58,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2283,3013,3013,701,0,0,0,0,0,0,26.96,26.97,26.96,10.61,39.44
$GC,413,-1.57,-380.6,1974,2283,3013,676,58.7,-13.1,64,420,0.00,3.22,0.00,0.000,516,0.000,0.206,1975,1081,3014,3014,700,0,0,0,0,0,0,26.98,26.61,26.98,10.62,39.76
$GC,493,-1.57,-380.6,1974,1081,3016,672,70.5,-15.2,77,501,0.00,3.08,0.00,0.000,1030,0.000,0.137,1975,2278,3017,3017,699,0,0,0,0,0,0,26.79,26.67,26.82,10.61,39.05
$GC,531,-1.57,-380.6,1974,2278,3018,676,75.8,-13.9,83,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2278,3017,3017,695,0,0,0,0,0,0,27.02,27.03,27.03,10.62,38.85
$GC,567,-1.57,-380.6,1974,2278,3018,679,80.4,-12.6,89,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2278,3018,3018,702,0,0,0,0,0,0,27.03,27.05,27.05,10.62,39.76
$GC,604,-1.57,-380.6,1974,2278,3019,677,84.9,-11.8,95,610,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2278,3019,3019,697,0,0,0,0,0,0,27.05,27.06,27.06,10.62,39.64
$GC,641,-1.57,-380.6,1974,2278,3020,675,89.2,-12.2,101,647,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2278,3020,3020,698,0,0,0,0,0,0,27.06,27.08,27.08,10.62,39.80
$GC,678,-1.57,-380.6,1974,2278,3021,676,93.6,-11.9,107,684,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2278,3020,3020,696,0,0,0,0,0,0,27.07,27.09,27.09,10.61,39.32
$GC,716,-1.57,-380.6,1974,2278,3021,674,97.9,-11.7,113,722,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2278,3021,3021,698,0,0,0,0,0,0,27.08,27.10,27.10,10.62,39.72
$STATE,734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,734,begin apogee
$GC,737,-0.39,0.0,1974,2278,3022,684,100.4,-12.4,116,769,4.10,0.00,23.62,5.115,10246,0.236,0.000,2356,2278,2549,2549,3662,0,0,0,0,0,0,26.77,25.82,24.68,10.62,38.97
$STATE,770,end apogee,CONTROL_FINISHED_OK
$STATE,770,begin climb
$GC,771,1.57,380.6,2355,2278,2549,882,102.4,0.0,121,809,6.53,0.00,22.98,5.048,10246,0.151,0.000,2970,2278,2100,2100,3347,0,0,0,0,0,0,26.06,24.96,24.14,10.51,39.13
$GC,839,1.57,380.6,2969,2278,2099,707,97.3,11.1,132,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2278,2099,2099,696,0,0,0,0,0,0,26.01,26.03,26.03,10.42,38.89
$GC,876,1.57,380.6,2969,2278,2098,679,92.9,12.1,138,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2098,2098,669,0,0,0,0,0,0,26.19,26.20,26.20,10.41,39.32
$GC,913,1.57,380.6,2969,2278,2098,660,88.4,12.2,144,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2097,2097,654,0,0,0,0,0,0,26.32,26.33,26.33,10.41,38.46
$GC,949,1.57,380.6,2969,2278,2097,649,84.2,11.3,150,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2278,2097,2097,643,0,0,0,0,0,0,26.41,26.42,26.42,10.41,39.09
$GC,986,1.57,380.6,2969,2278,2096,637,79.6,12.2,156,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2096,2096,635,0,0,0,0,0,0,26.48,26.50,26.50,10.40,39.28
$GC,1024,1.57,380.6,2969,2278,2095,631,75.0,12.4,162,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2095,2095,627,0,0,0,0,0,0,26.55,26.57,26.56,10.41,38.81
$GC,1063,1.57,380.6,2969,2278,2094,624,70.5,11.4,168,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2093,2093,622,0,0,0,0,0,0,26.61,26.63,26.62,10.40,39.13
$GC,1099,1.57,380.6,2969,2278,2092,619,66.6,10.3,174,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2093,2093,617,0,0,0,0,0,0,26.66,26.67,26.67,10.40,38.81
$GC,1136,1.57,380.6,2969,2278,2092,614,62.7,10.9,180,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2091,2091,613,0,0,0,0,0,0,26.70,26.72,26.71,10.40,39.13
$GC,1173,1.57,380.6,2969,2278,2091,610,58.5,11.3,186,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2278,2091,2091,610,0,0,0,0,0,0,26.74,26.75,26.75,10.40,39.01
$GC,1210,1.57,380.6,2970,2278,2090,607,54.3,11.6,192,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2090,2090,607,0,0,0,0,0,0,26.77,26.79,26.79,10.40,39.25
$GC,1246,1.57,380.6,2969,2278,2089,604,50.1,11.5,198,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2089,2089,605,0,0,0,0,0,0,26.80,26.82,26.82,10.40,39.13
$GC,1283,1.57,380.6,2969,2278,2088,602,45.6,12.0,204,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2089,2089,602,0,0,0,0,0,0,26.83,26.85,26.84,10.40,39.28
$GC,1320,1.57,380.6,2969,2278,2087,599,41.1,12.5,210,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2087,2087,601,0,0,0,0,0,0,26.86,26.87,26.88,10.40,39.60
$GC,1357,1.57,380.6,2969,2278,2086,598,36.7,12.4,216,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2085,2085,599,0,0,0,0,0,0,26.89,26.90,26.89,10.39,39.60
$GC,1395,1.57,380.6,2968,2278,2084,597,32.2,12.0,222,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2085,2085,598,0,0,0,0,0,0,26.91,26.92,26.92,10.39,39.64
$GC,1433,1.57,380.6,2969,2278,2084,595,27.8,11.4,228,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2083,2083,596,0,0,0,0,0,0,26.92,26.95,26.94,10.40,38.85
$GC,1470,1.57,380.6,2969,2278,2083,593,23.4,12.0,234,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2082,2082,595,0,0,0,0,0,0,26.95,26.96,26.96,10.40,39.05
$GC,1508,1.57,380.6,2969,2278,2081,593,19.1,11.8,240,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2081,2081,595,0,0,0,0,0,0,26.96,26.98,26.97,10.40,39.21
$GC,1544,1.57,380.6,2969,2278,2081,592,14.7,11.3,246,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2080,2080,594,0,0,0,0,0,0,26.98,27.00,26.99,10.40,39.44
$GC,1581,1.57,380.6,2970,2277,2078,591,10.6,10.8,252,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2079,2079,593,0,0,0,0,0,0,27.00,27.01,27.01,10.39,39.25
$GC,1618,1.57,380.6,2969,2278,2079,590,6.5,11.6,258,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2278,2079,2079,593,0,0,0,0,0,0,27.01,27.03,27.03,10.39,39.64
$GC,1655,1.58,382.1,2969,2278,2077,590,2.7,10.1,264,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2077,2077,592,0,0,0,0,0,0,27.03,27.05,27.04,10.39,39.84
$STATE,1667,end climb,SURFACE_DEPTH_REACHED
$STATE,1667,begin surface coast
$FINISH,0.2,1.020823
$STATE,1686,end surface coast,CONTROL_FINISHED_OK
$STATE,1686,begin surface
$SM_CCo,1778,0.00,0.000,0,0,2077,402.90
$SM_GC,1.32,26.40,0.00,0.00,0.094,0.000,0.000,369,2277,2077,-6.61,0.00,402.90,0,0,0,0,0,0,26.78,27.05,26.82
$IRIDIUM_FIX,4748.51,-12337.82,030517,141503
$TT8_MAMPS,0.023219,0.167776
$HUMID,39.36
$INTERNAL_PRESSURE,10.3422
$TCM_TEMP,9.40
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.7,19.6
$24V_AH,24.14,4.640
$10V_AH,10.45,2.370
$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,57.375,6.300,46.600,0.000,0.000,66.397,65.431,222.122,6.000,0.000,9.769,709.995,515.391,263.914,794.944,32.797,33.442,556.574,0.000,397.600,0.000,8.019,0.000
$DEVICE_MAMPS,469.287,206.089,5114.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323536
$DATA_FILE_SIZE,10522,269
$CAP_FILE_SIZE,55888,0
$CFSIZE,1024409600,1018773504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091,219.03,1
$GPS,030517,145023,4742.519,-12224.727,4,1.0,44,16.3,0.0,0.0,7,3.0