version: 66.12
glider: 402
mission: 3
dive: 27
start: 5 3 117 11 16 5
data:
$ID,402
$MISSION,3
$DIVE,27
$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,21
$R_STBD_OVSHOOT,11
$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
$GPS1,030517,111019,4743.8696,-12224.5928,4,0.9,9,16.3,0.5,27.9,10,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.9
$GPS2,030517,111501,4743.9380,-12224.5312,6,1.0,36,16.3,0.6,29.3,9,3.8
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.141652,-0.253492
$KALMAN_X,-4476.157227,-111.941185,261.594849,4608.041992,240.899460
$KALMAN_Y,-196.048279,-1780.265991,233.168518,3762.662354,186.254608
$MHEAD_RNG_PITCHd_Wd,167.9,2684,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.64,-244.4,363,2276,2134,758,0.0,0.0,0,25,0.00,0.00,-5.80,0.000,16390,0.000,0.000,363,2277,2842,2842,802,0,0,0,0,0,0,26.74,25.47,26.75,10.42,40.11
$GC,26,-1.64,-244.4,362,2277,2843,801,1.5,0.0,1,51,20.35,0.00,0.00,0.000,2566,0.479,0.000,1954,2275,2844,2844,827,0,0,0,0,0,0,26.25,26.43,26.39,10.59,40.07
$GC,83,-1.64,-244.4,1953,2275,2845,712,12.9,-15.1,10,89,0.00,3.45,0.00,0.000,260,0.000,0.271,1953,3482,2845,2845,727,0,0,0,0,0,0,26.68,26.31,26.70,10.59,38.93
$GC,120,-1.64,-244.4,1953,3482,2846,685,18.8,-15.9,16,127,0.00,3.12,0.00,0.000,1030,0.000,0.119,1954,2277,2846,2846,701,0,0,0,0,0,0,26.53,26.45,26.55,10.59,39.76
$GC,158,-1.64,-244.4,1953,2277,2847,685,23.9,-12.9,22,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2277,2848,2848,698,0,0,0,0,0,0,26.76,26.77,26.77,10.58,38.65
$GC,194,-1.64,-244.4,1953,2277,2848,675,28.5,-12.2,28,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2277,2848,2848,690,0,0,0,0,0,0,26.79,26.81,26.81,10.59,39.32
$GC,231,-1.64,-244.4,1953,2277,2849,679,32.7,-11.8,34,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2277,2849,2849,693,0,0,0,0,0,0,26.82,26.84,26.84,10.59,38.93
$GC,268,-1.64,-244.4,1953,2277,2850,673,36.6,-10.4,40,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2277,2850,2850,688,0,0,0,0,0,0,26.85,26.86,26.86,10.58,39.21
$GC,304,-1.64,-244.4,1953,2277,2851,677,40.4,-10.6,46,311,0.00,3.22,0.00,0.000,516,0.000,0.209,1954,1082,2851,2851,695,0,0,0,0,0,0,26.88,26.51,26.89,10.59,39.25
$GC,372,-1.64,-244.4,1953,1082,2852,666,48.6,-12.7,57,380,0.00,3.10,0.00,0.000,1030,0.000,0.139,1953,2281,2852,2852,687,0,0,0,0,0,0,26.70,26.58,26.72,10.58,39.28
$GC,410,-1.64,-244.4,1953,2282,2853,669,53.2,-11.5,63,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2282,2853,2853,685,0,0,0,0,0,0,26.94,26.95,26.94,10.58,39.17
$GC,447,-1.64,-244.4,1953,2282,2854,668,57.4,-11.3,69,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2282,2854,2854,687,0,0,0,0,0,0,26.96,26.96,26.97,10.58,38.62
$GC,484,-1.64,-244.4,1953,2282,2855,669,61.8,-12.1,75,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2281,2855,2855,685,0,0,0,0,0,0,26.97,26.98,26.98,10.58,39.60
$GC,520,-1.64,-244.4,1953,2281,2855,669,65.7,-10.6,81,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2282,2855,2855,687,0,0,0,0,0,0,26.98,27.00,27.00,10.58,38.97
$GC,558,-1.64,-244.4,1953,2281,2856,670,69.5,-9.9,87,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2281,2856,2856,685,0,0,0,0,0,0,27.01,27.02,27.02,10.59,38.77
$GC,596,-1.64,-244.4,1953,2281,2857,668,73.3,-10.1,93,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2282,2857,2857,687,0,0,0,0,0,0,27.02,27.03,27.03,10.58,39.17
$GC,634,-1.64,-244.4,1953,2281,2858,670,77.6,-11.4,99,640,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2282,2858,2858,685,0,0,0,0,0,0,27.03,27.05,27.05,10.59,38.97
$GC,670,-1.64,-244.4,1953,2282,2859,668,81.8,-11.1,105,677,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2282,2859,2859,687,0,0,0,0,0,0,27.05,27.06,27.06,10.59,39.48
$GC,708,-1.64,-244.4,1953,2281,2859,669,86.0,-11.5,111,714,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2282,2859,2859,685,0,0,0,0,0,0,27.06,27.08,27.08,10.58,39.48
$GC,744,-1.64,-244.4,1953,2281,2860,668,90.1,-11.1,117,751,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2282,2860,2860,686,0,0,0,0,0,0,27.07,27.09,27.08,10.59,39.60
$GC,781,-1.64,-244.4,1953,2282,2861,669,94.3,-11.0,123,787,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2281,2861,2861,685,0,0,0,0,0,0,27.08,27.10,27.10,10.59,39.09
$GC,818,-1.64,-244.4,1953,2282,2861,668,98.3,-11.0,129,824,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2282,2861,2861,687,0,0,0,0,0,0,27.10,27.11,27.11,10.59,39.13
$STATE,840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,840,begin apogee
$GC,843,-0.39,0.0,1953,2281,2862,677,100.4,-10.9,132,869,4.40,0.00,16.30,4.944,10246,0.263,0.000,2355,2282,2549,2549,3961,0,0,0,0,0,0,26.76,26.07,24.89,10.59,39.72
$STATE,870,end apogee,CONTROL_FINISHED_OK
$STATE,870,begin climb
$GC,871,1.64,244.4,2355,2281,2549,882,102.5,0.0,136,901,8.05,0.00,15.32,4.852,10502,0.474,0.000,2989,2282,2260,2260,3823,1,0,0,0,0,0,25.79,25.32,24.48,10.52,39.32
$GC,933,1.64,244.4,2987,2282,2259,719,97.7,11.5,146,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2282,2259,2259,711,0,0,0,0,0,0,26.26,26.27,26.27,10.46,38.38
$GC,969,1.64,244.4,2988,2281,2258,684,93.1,12.1,152,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2281,2259,2259,680,0,0,0,0,0,0,26.38,26.39,26.39,10.46,38.85
$GC,1006,1.64,244.4,2988,2282,2258,673,88.6,12.1,158,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2281,2257,2257,671,0,0,0,0,0,0,26.46,26.48,26.48,10.45,39.44
$GC,1042,1.64,244.4,2988,2281,2256,660,83.9,12.9,164,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2282,2257,2257,659,0,0,0,0,0,0,26.53,26.55,26.54,10.45,39.17
$GC,1079,1.64,244.4,2988,2281,2255,655,79.1,13.6,170,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2282,2256,2256,654,0,0,0,0,0,0,26.59,26.60,26.60,10.45,39.21
$GC,1117,1.64,244.4,2988,2282,2255,647,74.5,12.1,176,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2282,2255,2255,648,0,0,0,0,0,0,26.64,26.66,26.65,10.45,38.62
$GC,1154,1.64,244.4,2988,2281,2254,644,69.7,13.0,182,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2281,2254,2254,645,0,0,0,0,0,0,26.69,26.70,26.70,10.45,38.62
$GC,1190,1.64,244.4,2988,2282,2253,639,64.8,13.1,188,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2281,2253,2253,640,0,0,0,0,0,0,26.72,26.74,26.74,10.45,39.21
$GC,1227,1.64,244.4,2989,2281,2252,637,60.0,12.9,194,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2281,2252,2252,638,0,0,0,0,0,0,26.76,26.77,26.77,10.45,39.21
$GC,1263,1.64,244.4,2988,2282,2250,634,55.1,13.0,200,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2281,2251,2251,635,0,0,0,0,0,0,26.79,26.81,26.81,10.44,39.48
$GC,1300,1.64,244.4,2988,2282,2249,632,50.5,12.7,206,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2282,2249,2249,633,0,0,0,0,0,0,26.82,26.84,26.84,10.44,39.28
$GC,1336,1.64,244.4,2988,2282,2249,629,46.2,11.5,212,1343,0.00,3.38,0.00,0.000,260,0.000,0.256,2989,3482,2248,2248,635,0,0,0,0,0,0,26.84,26.47,26.86,10.44,38.81
$GC,1434,1.64,244.4,2988,3483,2245,625,30.7,17.9,228,1441,0.00,3.10,0.00,0.000,1030,0.000,0.117,2989,2278,2246,2246,629,0,0,0,0,0,0,26.71,26.63,26.73,10.44,39.60
$GC,1472,1.64,244.4,2988,2278,2244,626,25.4,13.1,234,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2277,2243,2243,628,0,0,0,0,0,0,26.93,26.94,26.94,10.43,39.25
$GC,1510,1.64,244.4,2988,2278,2243,624,20.5,13.2,240,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2278,2243,2243,627,0,0,0,0,0,0,26.95,26.96,26.96,10.44,39.13
$GC,1547,1.64,244.4,2987,2278,2240,624,16.0,11.4,246,1554,0.00,3.22,0.00,0.000,516,0.000,0.211,2989,1077,2242,2242,630,0,0,0,0,0,0,26.97,26.60,26.98,10.43,39.25
$GC,1615,1.72,294.3,2988,1077,2240,623,10.0,8.7,257,1630,0.35,3.10,3.60,1.142,11270,0.638,0.134,3013,2284,2198,2198,4095,0,0,0,0,0,0,26.25,26.67,25.96,10.44,39.40
$GC,1661,1.72,294.3,3013,2284,2198,700,4.9,12.3,264,1668,0.00,3.33,0.00,0.000,260,0.000,0.248,3014,3479,2198,2198,696,0,0,0,0,0,0,26.98,26.60,26.99,10.43,39.56
$STATE,1691,end climb,SURFACE_DEPTH_REACHED
$STATE,1691,begin surface coast
$FINISH,0.3,1.020506
$STATE,1710,end surface coast,CONTROL_FINISHED_OK
$STATE,1711,begin surface
$SM_CCo,1747,4.38,1.212,0,0,2135,350.20
$SM_GC,1.95,27.00,3.15,4.38,0.104,0.117,1.212,367,2271,2135,-6.61,0.87,350.20,0,0,0,0,0,0,26.74,26.73,26.03
$IRIDIUM_FIX,4748.51,-12337.82,030517,111107
$TT8_MAMPS,0.02247,0.100366
$HUMID,39.28
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,9.50
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.7,20.1
$ALTIM_BOTTOM_PING,100.4,91.3
$24V_AH,24.48,4.267
$10V_AH,10.56,2.277
$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,60.150,32.175,35.225,4.375,0.000,28.283,18.553,136.787,4.250,0.000,37.392,727.050,414.906,254.645,634.582,29.952,33.465,546.172,0.000,402.089,0.000,9.193,0.000
$DEVICE_MAMPS,638.131,270.647,4943.653,1211.704,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10506,272
$CAP_FILE_SIZE,54998,0
$CFSIZE,1024409600,1019019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$CURRENT,0.147,357.29,1
$GPS,030517,114601,4743.817,-12224.510,4,1.0,11,16.3,0.0,0.0,10,8.6