version: 66.12
glider: 402
mission: 3
dive: 28
start: 5 3 117 11 53 41
data:
$ID,402
$MISSION,3
$DIVE,28
$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,14
$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
$GPS1,030517,114601,4743.8169,-12224.5098,4,1.0,11,16.3,0.0,0.0,10,8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-51.3
$GPS2,030517,115237,4743.8936,-12224.4219,5,1.0,11,16.3,0.6,26.5,10,8.7
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.149115,-0.249175
$KALMAN_X,-4094.547607,-71.278473,250.912292,4331.557129,263.455078
$KALMAN_Y,245.775482,-1818.164917,247.143494,3266.158447,318.311676
$MHEAD_RNG_PITCHd_Wd,167.5,2624,-16.2,-10.101,-19.18,3655
$D_GRID,173
$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,-244.4,367,2270,2134,419,0.0,0.0,0,26,0.00,0.00,-6.12,0.000,16390,0.000,0.000,367,2270,2841,2841,537,0,0,0,0,0,0,26.75,25.48,26.77,10.42,39.48
$GC,27,-1.64,-244.4,367,2270,2841,537,1.2,0.0,1,52,20.15,0.00,0.00,0.000,2566,0.472,0.000,1953,2270,2843,2843,687,0,0,0,0,0,0,26.27,26.44,26.40,10.58,39.80
$GC,83,-1.64,-244.4,1952,2270,2844,675,12.5,-14.9,10,89,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2269,2844,2844,690,0,0,0,0,0,0,26.70,26.71,26.71,10.59,39.44
$GC,120,-1.64,-244.4,1952,2270,2844,671,17.6,-13.8,16,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2270,2845,2845,686,0,0,0,0,0,0,26.74,26.75,26.75,10.59,39.48
$GC,156,-1.64,-244.4,1952,2270,2846,676,22.7,-13.8,22,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2270,2846,2846,690,0,0,0,0,0,0,26.77,26.79,26.79,10.58,39.56
$GC,193,-1.64,-244.4,1952,2270,2847,671,27.2,-12.0,28,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2270,2847,2847,686,0,0,0,0,0,0,26.80,26.82,26.82,10.58,39.44
$GC,230,-1.64,-244.4,1952,2270,2848,675,31.8,-12.4,34,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2270,2848,2848,690,0,0,0,0,0,0,26.83,26.85,26.84,10.58,39.09
$GC,267,-1.64,-244.4,1952,2270,2849,671,36.2,-11.8,40,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2270,2849,2849,686,0,0,0,0,0,0,26.86,26.88,26.87,10.59,38.73
$GC,304,-1.64,-244.4,1951,2270,2849,675,40.5,-11.4,46,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2270,2849,2849,689,0,0,0,0,0,0,26.89,26.90,26.90,10.58,39.13
$GC,341,-1.64,-244.4,1952,2270,2850,672,43.6,-8.7,52,348,0.00,3.17,0.00,0.000,516,0.000,0.206,1953,1085,2851,2851,690,0,0,0,0,0,0,26.91,26.55,26.92,10.58,39.25
$GC,427,-1.64,-244.4,1952,1085,2852,665,53.7,-12.3,66,433,0.00,3.08,0.00,0.000,1030,0.000,0.139,1953,2277,2852,2852,684,0,0,0,0,0,0,26.74,26.63,26.76,10.58,38.65
$GC,464,-1.64,-244.4,1952,2277,2853,667,58.1,-11.1,72,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2276,2853,2853,683,0,0,0,0,0,0,26.97,26.98,26.98,10.58,39.28
$GC,501,-1.64,-244.4,1952,2276,2854,673,62.1,-11.0,78,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2276,2854,2854,689,0,0,0,0,0,0,26.98,27.00,26.99,10.58,39.25
$GC,537,-1.64,-244.4,1952,2277,2854,671,66.3,-11.1,84,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2276,2855,2855,686,0,0,0,0,0,0,27.00,27.02,27.01,10.58,39.09
$GC,574,-1.64,-244.4,1952,2277,2855,675,69.9,-10.0,90,580,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2277,2855,2855,690,0,0,0,0,0,0,27.01,27.03,27.03,10.58,39.68
$GC,611,-1.64,-244.4,1952,2277,2856,671,73.3,-9.1,96,617,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2277,2856,2856,686,0,0,0,0,0,0,27.03,27.05,27.04,10.58,39.21
$GC,649,-1.64,-244.4,1952,2277,2857,675,76.8,-9.7,102,655,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2276,2857,2857,690,0,0,0,0,0,0,27.05,27.06,27.06,10.59,39.13
$GC,686,-1.64,-244.4,1952,2276,2857,672,80.7,-10.1,108,692,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2276,2856,2856,688,0,0,0,0,0,0,27.05,27.08,27.07,10.59,39.56
$GC,723,-1.64,-244.4,1952,2277,2858,677,84.5,-10.5,114,729,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2277,2858,2858,692,0,0,0,0,0,0,27.07,27.08,27.08,10.59,38.89
$GC,759,-1.64,-244.4,1953,2277,2859,672,88.4,-10.9,120,765,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2276,2859,2859,688,0,0,0,0,0,0,27.08,27.10,27.09,10.59,39.32
$GC,796,-1.64,-244.4,1953,2277,2859,677,92.5,-11.3,126,802,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2277,2860,2860,692,0,0,0,0,0,0,27.10,27.10,27.10,10.59,38.89
$GC,833,-1.64,-244.4,1952,2276,2860,672,96.9,-11.9,132,839,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2277,2860,2860,688,0,0,0,0,0,0,27.10,27.12,27.12,10.59,39.64
$STATE,865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,865,begin apogee
$GC,868,-0.39,0.0,1953,2277,2861,682,100.7,-12.0,137,893,4.40,0.00,16.20,4.946,10246,0.266,0.000,2354,2277,2549,2549,3970,0,0,0,0,0,0,26.77,26.09,24.89,10.59,39.28
$STATE,894,end apogee,CONTROL_FINISHED_OK
$STATE,894,begin climb
$GC,895,1.64,244.4,2354,2276,2548,882,103.0,0.0,141,933,14.57,0.00,15.32,4.867,10502,1.117,0.000,2989,2277,2261,2261,3811,12,0,0,0,0,0,25.76,25.56,24.41,10.51,39.25
$GC,964,1.69,273.6,2988,2277,2260,707,99.2,9.3,152,971,0.15,0.00,3.47,2.369,10246,0.204,0.000,3006,2277,2227,2227,4095,0,0,0,0,0,0,26.01,25.73,24.58,10.45,39.09
$GC,1002,1.69,273.6,3006,2277,2226,698,94.8,11.5,158,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2277,2226,2226,691,0,0,0,0,0,0,26.30,26.32,26.32,10.45,39.01
$GC,1039,1.69,273.6,3006,2277,2225,681,90.2,12.9,164,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2277,2225,2225,676,0,0,0,0,0,0,26.41,26.42,26.42,10.44,38.93
$GC,1076,1.69,273.6,3006,2277,2224,666,85.4,12.9,170,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2277,2224,2224,662,0,0,0,0,0,0,26.48,26.50,26.50,10.44,39.32
$GC,1113,1.69,273.6,3006,2277,2223,655,80.2,14.2,176,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2276,2223,2223,653,0,0,0,0,0,0,26.55,26.57,26.56,10.44,39.36
$GC,1149,1.69,273.6,3006,2277,2222,647,75.0,14.3,182,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2277,2222,2222,646,0,0,0,0,0,0,26.60,26.62,26.62,10.44,39.05
$GC,1186,1.69,273.6,3006,2276,2221,641,69.2,15.5,188,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2276,2220,2220,641,0,0,0,0,0,0,26.65,26.67,26.67,10.44,39.05
$GC,1222,1.69,273.6,3007,2276,2220,636,63.7,15.5,194,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2276,2220,2220,637,0,0,0,0,0,0,26.70,26.71,26.71,10.43,39.09
$GC,1261,1.69,273.6,3006,2277,2219,632,58.6,13.3,200,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2276,2218,2218,633,0,0,0,0,0,0,26.74,26.75,26.75,10.43,39.52
$GC,1297,1.69,273.6,3006,2277,2217,629,53.3,14.6,206,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2277,2217,2217,630,0,0,0,0,0,0,26.77,26.79,26.78,10.43,39.09
$GC,1334,1.69,273.6,3006,2276,2216,626,48.1,14.3,212,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2277,2216,2216,628,0,0,0,0,0,0,26.80,26.82,26.82,10.43,39.21
$GC,1371,1.69,273.6,3005,2277,2215,624,43.1,13.6,218,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2277,2216,2216,626,0,0,0,0,0,0,26.83,26.84,26.84,10.43,39.32
$GC,1408,1.69,273.6,3006,2277,2214,622,37.8,14.1,224,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2277,2214,2214,624,0,0,0,0,0,0,26.86,26.87,26.87,10.43,38.89
$GC,1444,1.69,273.6,3006,2277,2213,620,32.9,13.6,230,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2276,2213,2213,623,0,0,0,0,0,0,26.89,26.90,26.89,10.43,38.81
$GC,1482,1.69,273.6,3005,2277,2211,619,28.3,12.0,236,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2277,2212,2212,621,0,0,0,0,0,0,26.91,26.92,26.92,10.42,39.01
$GC,1518,1.69,273.6,3006,2276,2211,618,23.7,12.6,242,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2277,2210,2210,621,0,0,0,0,0,0,26.93,26.94,26.94,10.42,38.69
$GC,1556,1.69,273.6,3006,2277,2210,617,19.1,12.4,248,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2276,2209,2209,620,0,0,0,0,0,0,26.94,26.96,26.96,10.43,38.85
$GC,1592,1.69,273.6,3006,2277,2208,616,14.1,13.7,254,1600,0.00,3.22,0.00,0.000,516,0.000,0.214,3006,1085,2208,2208,622,0,0,0,0,0,0,26.96,26.60,26.98,10.43,39.40
$GC,1631,1.69,273.6,3006,1084,2207,619,8.8,13.0,260,1638,0.00,3.08,0.00,0.000,1030,0.000,0.134,3006,2280,2207,2207,624,0,0,0,0,0,0,26.77,26.66,26.79,10.43,39.36
$GC,1668,1.69,273.6,3006,2280,2206,619,4.9,10.2,266,1676,0.00,3.35,0.00,0.000,260,0.000,0.261,3007,3481,2206,2206,626,0,0,0,0,0,0,26.99,26.62,27.01,10.43,39.60
$STATE,1693,end climb,SURFACE_DEPTH_REACHED
$STATE,1694,begin surface coast
$FINISH,0.2,1.020519
$STATE,1707,end surface coast,CONTROL_FINISHED_OK
$STATE,1707,begin surface
$SM_CCo,1743,4.70,1.279,0,0,2134,350.20
$SM_GC,2.12,26.90,3.15,4.70,0.102,0.122,1.279,369,2277,2134,-6.61,1.09,350.20,0,0,0,0,0,0,26.72,26.74,26.02
$IRIDIUM_FIX,4748.51,-12337.82,030517,114904
$TT8_MAMPS,0.02247,0.129577
$HUMID,39.36
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,9.60
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.8,19.8
$24V_AH,24.41,4.337
$10V_AH,10.50,2.296
$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,66.175,19.050,35.000,4.700,0.000,60.117,58.119,139.844,5.250,0.000,12.924,722.561,465.486,264.974,687.218,31.121,33.444,558.791,0.000,402.092,0.000,9.294,0.000
$DEVICE_MAMPS,1117.350,260.715,4946.136,1278.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323524
$DATA_FILE_SIZE,10514,272
$CAP_FILE_SIZE,56787,0
$CFSIZE,1024409600,1018970112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,12,0,0,1,0
$CURRENT,0.083,0.65,1
$GPS,030517,122331,4743.705,-12224.389,3,0.8,9,16.3,0.7,15.2,11,7.8