version: 66.12
glider: 402
mission: 3
dive: 26
start: 5 3 117 10 39 48
data:
$ID,402
$MISSION,3
$DIVE,26
$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,24
$R_STBD_OVSHOOT,18
$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
$GPS1,030517,103447,4743.9146,-12224.5928,17,0.8,27,16.3,0.0,0.0,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-51.0
$GPS2,030517,103845,4743.9678,-12224.5801,5,0.8,11,16.3,0.6,13.3,10,9.8
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.089557,-0.276230
$KALMAN_X,-4778.529297,-89.627159,301.001312,4784.877930,123.860657
$KALMAN_Y,-842.715454,-1638.487305,257.183594,4307.621094,6.584015
$MHEAD_RNG_PITCHd_Wd,174.7,2732,-16.2,-10.101,-19.18,3655
$D_GRID,174
$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,16,-1.64,-244.4,370,2285,2134,764,0.0,0.0,0,26,0.00,0.00,-6.07,0.000,16390,0.000,0.000,370,2285,2842,2842,806,0,0,0,0,0,0,26.70,25.44,26.72,10.42,39.60
$GC,27,-1.64,-244.4,370,2286,2843,805,1.2,0.0,1,52,20.05,0.00,0.00,0.000,2566,0.464,0.000,1953,2285,2844,2844,828,0,0,0,0,0,0,26.22,26.39,26.36,10.59,40.35
$GC,83,-1.64,-244.4,1952,2285,2845,711,11.4,-15.5,10,89,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2285,2845,2845,720,0,0,0,0,0,0,26.65,26.67,26.67,10.59,39.91
$GC,120,-1.64,-244.4,1952,2285,2846,684,17.0,-15.7,16,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2285,2846,2846,698,0,0,0,0,0,0,26.70,26.72,26.72,10.59,39.21
$GC,157,-1.64,-244.4,1953,2285,2846,684,22.6,-15.2,22,163,0.00,3.25,0.00,0.000,516,0.000,0.201,1953,1086,2847,2847,701,0,0,0,0,0,0,26.74,26.39,26.75,10.59,39.32
$GC,284,-1.64,-244.4,1953,1086,2850,656,40.5,-12.8,43,291,0.00,3.08,0.00,0.000,1030,0.000,0.139,1953,2273,2850,2850,676,0,0,0,0,0,0,26.63,26.52,26.66,10.58,39.17
$GC,321,-1.64,-244.4,1953,2273,2851,663,44.8,-11.2,49,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2273,2851,2851,682,0,0,0,0,0,0,26.86,26.89,26.89,10.58,39.17
$GC,359,-1.64,-244.4,1953,2273,2852,670,48.8,-10.6,55,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2273,2852,2852,686,0,0,0,0,0,0,26.89,26.91,26.91,10.58,39.25
$GC,395,-1.64,-244.4,1953,2273,2852,669,52.5,-9.9,61,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2273,2852,2852,687,0,0,0,0,0,0,26.92,26.94,26.93,10.58,39.28
$GC,433,-1.64,-244.4,1953,2273,2853,669,56.5,-11.1,67,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2273,2853,2853,686,0,0,0,0,0,0,26.94,26.95,26.95,10.58,39.01
$GC,469,-1.64,-244.4,1953,2273,2854,669,60.4,-10.7,73,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2273,2854,2854,687,0,0,0,0,0,0,26.96,26.97,26.97,10.58,39.05
$GC,506,-1.64,-244.4,1953,2273,2854,670,64.5,-11.1,79,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2273,2855,2855,685,0,0,0,0,0,0,26.97,26.99,26.98,10.59,39.64
$GC,543,-1.64,-244.4,1953,2273,2855,669,68.0,-9.3,85,550,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2273,2855,2855,688,0,0,0,0,0,0,26.99,27.01,27.00,10.58,39.13
$GC,581,-1.64,-244.4,1953,2272,2856,670,71.4,-9.5,91,587,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2273,2856,2856,686,0,0,0,0,0,0,27.01,27.02,27.02,10.58,39.17
$GC,619,-1.64,-244.4,1952,2273,2855,669,75.3,-10.5,97,625,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2273,2857,2857,688,0,0,0,0,0,0,27.02,27.03,27.03,10.58,39.28
$GC,657,-1.64,-244.4,1953,2273,2857,670,79.5,-10.8,103,663,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2273,2856,2856,686,0,0,0,0,0,0,27.03,27.05,27.05,10.58,38.97
$GC,693,-1.64,-244.4,1953,2273,2858,669,83.8,-11.5,109,700,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2273,2858,2858,688,0,0,0,0,0,0,27.05,27.06,27.06,10.59,39.48
$GC,731,-1.64,-244.4,1953,2273,2859,670,88.3,-12.0,115,737,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2272,2859,2859,686,0,0,0,0,0,0,27.06,27.08,27.08,10.58,39.64
$GC,767,-1.64,-244.4,1953,2273,2860,669,92.6,-11.9,121,774,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2273,2859,2859,687,0,0,0,0,0,0,27.08,27.09,27.08,10.59,38.97
$GC,804,-1.64,-244.4,1953,2273,2861,670,97.3,-12.5,127,811,0.00,3.17,0.00,0.000,516,0.000,0.201,1954,1086,2860,2860,689,0,0,0,0,0,0,27.09,26.72,27.10,10.59,39.36
$STATE,831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,831,begin apogee
$GC,838,-0.39,0.0,1953,2280,2861,689,100.7,-13.6,131,864,4.43,0.00,16.30,4.961,10246,0.273,0.000,2355,2281,2548,2548,3965,0,0,0,0,0,0,26.74,26.06,24.87,10.58,38.97
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,866,1.64,244.4,2355,2280,2549,881,103.4,0.0,135,897,11.35,0.00,15.32,4.877,10502,0.899,0.000,2989,2281,2261,2261,4021,6,0,0,0,0,0,25.75,25.56,24.41,10.52,39.01
$GC,928,1.64,244.4,2987,2280,2260,704,98.9,10.7,145,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2260,2260,697,0,0,0,0,0,0,26.21,26.23,26.22,10.45,38.65
$GC,965,1.64,244.4,2988,2280,2259,679,94.1,13.1,151,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2259,2259,676,0,0,0,0,0,0,26.34,26.36,26.35,10.45,38.69
$GC,1002,1.64,244.4,2988,2280,2259,665,89.0,14.0,157,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2259,2259,663,0,0,0,0,0,0,26.44,26.45,26.45,10.45,39.13
$GC,1039,1.64,244.4,2987,2280,2258,655,83.7,14.0,163,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2257,2257,654,0,0,0,0,0,0,26.51,26.52,26.52,10.46,39.13
$GC,1075,1.64,244.4,2988,2280,2256,648,78.4,14.6,169,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2280,2256,2256,648,0,0,0,0,0,0,26.57,26.59,26.58,10.45,39.01
$GC,1112,1.64,244.4,2988,2280,2255,642,73.3,13.7,175,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2280,2255,2255,643,0,0,0,0,0,0,26.63,26.64,26.63,10.45,39.28
$GC,1150,1.64,244.4,2988,2280,2254,638,68.6,13.2,181,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2254,2254,640,0,0,0,0,0,0,26.67,26.69,26.69,10.45,39.36
$GC,1187,1.64,244.4,2988,2280,2253,635,63.6,12.8,187,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2253,2253,636,0,0,0,0,0,0,26.71,26.72,26.73,10.45,39.80
$GC,1224,1.64,244.4,2987,2280,2252,691,59.0,12.9,193,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2252,2252,684,0,0,0,0,0,0,26.75,26.77,26.76,10.44,39.28
$GC,1261,1.64,244.4,2988,2280,2251,668,54.6,11.3,199,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2251,2251,666,0,0,0,0,0,0,26.78,26.80,26.79,10.44,39.17
$GC,1297,1.64,244.4,2987,2280,2250,655,50.5,11.2,205,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2251,2251,655,0,0,0,0,0,0,26.81,26.83,26.82,10.44,39.17
$GC,1334,1.64,244.4,2988,2280,2249,647,46.3,11.2,211,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2249,2249,647,0,0,0,0,0,0,26.84,26.86,26.86,10.44,38.85
$GC,1371,1.64,244.4,2988,2281,2248,641,42.3,11.4,217,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2280,2248,2248,642,0,0,0,0,0,0,26.86,26.88,26.88,10.44,39.17
$GC,1408,1.64,244.4,2988,2280,2248,637,38.3,10.3,223,1415,0.00,3.38,0.00,0.000,260,0.000,0.261,2988,3481,2248,2248,643,0,0,0,0,0,0,26.89,26.51,26.90,10.44,39.17
$GC,1535,1.64,244.4,2988,3481,2244,741,20.8,13.9,244,1542,0.00,3.08,0.00,0.000,1030,0.000,0.117,2989,2281,2243,2243,729,0,0,0,0,0,0,26.77,26.68,26.78,10.43,39.44
$GC,1574,1.64,244.4,2988,2280,2242,705,16.1,11.9,250,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2281,2242,2242,697,0,0,0,0,0,0,26.98,26.99,26.98,10.43,39.56
$GC,1610,1.64,244.4,2988,2281,2241,676,11.8,11.5,256,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2281,2241,2241,672,0,0,0,0,0,0,26.99,27.01,27.01,10.43,38.97
$GC,1647,1.64,244.4,2988,2281,2241,664,7.8,10.9,262,1654,0.00,3.22,0.00,0.000,516,0.000,0.214,2988,1082,2240,2240,665,0,0,0,0,0,0,27.01,26.64,27.02,10.43,39.40
$GC,1704,1.66,254.4,2988,1082,2239,652,2.4,9.8,271,1711,0.00,3.08,0.00,0.000,1030,0.000,0.139,2988,2276,2239,2239,653,0,0,0,0,0,0,26.81,26.70,26.84,10.44,39.44
$STATE,1716,end climb,SURFACE_DEPTH_REACHED
$STATE,1716,begin surface coast
$FINISH,0.2,1.019235
$STATE,1736,end surface coast,CONTROL_FINISHED_OK
$STATE,1736,begin surface
$SM_CCo,1781,6.12,1.505,0,0,2135,350.20
$SM_GC,2.39,39.25,0.00,6.12,0.673,0.000,1.505,363,2276,2135,-6.65,-0.09,350.20,17,0,0,0,0,0,26.11,26.99,25.88
$IRIDIUM_FIX,4748.51,-12337.82,030517,103529
$TT8_MAMPS,0.02247,0.10486
$HUMID,39.09
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,9.50
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.1,19.0
$ALTIM_BOTTOM_PING,100.7,92.4
$24V_AH,24.41,4.204
$10V_AH,10.57,2.258
$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,75.075,25.375,31.625,6.125,0.000,28.139,24.758,114.453,4.750,0.000,12.737,732.241,427.795,268.191,600.410,28.471,33.442,557.242,0.000,407.658,0.000,9.201,0.000
$DEVICE_MAMPS,898.846,260.715,4961.034,1504.698,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,183.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323548
$DATA_FILE_SIZE,10534,276
$CAP_FILE_SIZE,53525,0
$CFSIZE,1024409600,1019068416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,23,0,0,1,0
$CURRENT,0.175,2.28,1
$GPS,030517,111019,4743.870,-12224.593,4,0.9,9,16.3,0.5,27.9,10,7.0