version: 66.12
glider: 402
mission: 3
dive: 29
start: 5 3 117 12 28 54
data:
$ID,402
$MISSION,3
$DIVE,29
$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,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
$GPS1,030517,122331,4743.7046,-12224.3887,3,0.8,9,16.3,0.7,15.2,11,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-50.9
$GPS2,030517,122749,4743.7598,-12224.3428,5,0.9,15,16.3,0.6,13.1,10,7.9
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.135564,-0.256799
$KALMAN_X,-3745.748047,-18.214283,236.561295,4042.918457,230.372025
$KALMAN_Y,349.430267,-1746.233887,325.916443,2769.385010,351.792633
$MHEAD_RNG_PITCHd_Wd,173.7,2402,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.64,-244.4,369,2276,2134,764,0.0,0.0,0,25,0.00,0.00,-6.07,0.000,16390,0.000,0.000,368,2276,2843,2843,804,0,0,0,0,0,0,26.77,25.51,26.79,10.42,40.19
$GC,26,-1.64,-244.4,368,2276,2843,803,1.3,0.0,1,51,20.15,0.00,0.00,0.000,2054,0.472,0.000,1954,2275,2844,2844,827,0,0,0,0,0,0,26.28,26.46,26.42,10.59,39.60
$GC,82,-1.64,-244.4,1953,2275,2845,712,12.6,-17.2,10,89,0.00,3.42,0.00,0.000,260,0.000,0.258,1954,3483,2845,2845,727,0,0,0,0,0,0,26.72,26.34,26.73,10.59,39.28
$GC,168,-1.64,-244.4,1954,3483,2848,670,24.6,-13.9,24,175,0.00,3.10,0.00,0.000,1030,0.000,0.117,1955,2279,2848,2848,689,0,0,0,0,0,0,26.60,26.53,26.63,10.58,39.17
$GC,206,-1.64,-244.4,1954,2279,2849,677,29.0,-11.3,30,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2279,2849,2849,692,0,0,0,0,0,0,26.83,26.84,26.84,10.58,39.76
$GC,242,-1.64,-244.4,1953,2279,2850,672,33.5,-12.1,36,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2279,2849,2849,688,0,0,0,0,0,0,26.85,26.87,26.87,10.58,39.36
$GC,279,-1.64,-244.4,1953,2279,2851,677,37.8,-11.7,42,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2279,2851,2851,691,0,0,0,0,0,0,26.88,26.90,26.89,10.58,39.17
$GC,315,-1.64,-244.4,1954,2279,2851,672,42.3,-12.1,48,322,0.00,3.22,0.00,0.000,516,0.000,0.209,1954,1081,2851,2851,691,0,0,0,0,0,0,26.91,26.54,26.91,10.58,38.65
$GC,413,-1.64,-244.4,1953,1081,2854,664,56.5,-14.6,64,420,0.00,3.10,0.00,0.000,1030,0.000,0.137,1954,2283,2854,2854,683,0,0,0,0,0,0,26.74,26.63,26.77,10.58,39.52
$GC,451,-1.64,-244.4,1954,2283,2855,674,61.6,-13.1,70,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2855,2855,689,0,0,0,0,0,0,26.98,26.99,26.98,10.58,39.28
$GC,487,-1.64,-244.4,1954,2283,2855,671,66.5,-13.3,76,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2856,2856,686,0,0,0,0,0,0,26.99,27.01,27.01,10.58,38.81
$GC,524,-1.64,-244.4,1954,2283,2857,676,71.3,-13.0,82,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2857,2857,691,0,0,0,0,0,0,27.01,27.02,27.02,10.58,39.60
$GC,560,-1.64,-244.4,1954,2283,2857,672,76.0,-12.2,88,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2858,2858,687,0,0,0,0,0,0,27.01,27.04,27.03,10.58,38.93
$GC,597,-1.64,-244.4,1953,2283,2858,677,80.1,-11.8,94,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2284,2858,2858,691,0,0,0,0,0,0,27.03,27.05,27.05,10.58,39.21
$GC,635,-1.64,-244.4,1954,2283,2859,672,84.4,-11.8,100,641,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2859,2859,688,0,0,0,0,0,0,27.05,27.07,27.06,10.58,39.25
$GC,672,-1.64,-244.4,1954,2283,2860,677,88.8,-11.5,106,678,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2860,2860,692,0,0,0,0,0,0,27.06,27.08,27.08,10.59,39.36
$GC,708,-1.64,-244.4,1954,2284,2861,673,93.1,-11.5,112,714,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2861,2861,688,0,0,0,0,0,0,27.08,27.09,27.09,10.59,39.09
$GC,745,-1.64,-244.4,1954,2283,2861,677,97.6,-12.0,118,752,0.00,3.22,0.00,0.000,516,0.000,0.204,1954,1081,2862,2862,696,0,0,0,0,0,0,27.08,26.72,27.10,10.58,39.44
$STATE,764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,764,begin apogee
$GC,771,-0.39,0.0,1954,2279,2862,692,100.2,-13.0,121,796,4.40,0.00,16.23,4.934,10246,0.268,0.000,2355,2279,2550,2550,3954,0,0,0,0,0,0,26.74,26.06,24.88,10.59,39.56
$STATE,797,end apogee,CONTROL_FINISHED_OK
$STATE,797,begin climb
$GC,799,1.64,244.4,2355,2279,2549,882,102.7,0.0,125,829,9.98,0.00,15.27,4.852,10502,0.757,0.000,2989,2278,2261,2261,3990,5,0,0,0,0,0,25.77,25.58,24.45,10.52,39.21
$GC,860,1.64,244.4,2989,2278,2261,719,98.2,10.9,135,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2278,2260,2260,711,0,0,0,0,0,0,26.24,26.25,26.25,10.45,39.28
$GC,897,1.64,244.4,2989,2278,2260,685,93.8,12.5,141,904,0.00,3.45,0.00,0.000,260,0.000,0.258,2990,3482,2260,2260,684,0,0,0,0,0,0,26.36,26.00,26.36,10.44,38.77
$GC,976,1.64,244.4,2989,3482,2257,668,80.6,18.0,154,984,0.00,3.15,0.00,0.000,1030,0.000,0.117,2990,2278,2258,2258,667,0,0,0,0,0,0,26.33,26.25,26.36,10.44,39.21
$GC,1015,1.64,244.4,2990,2278,2255,657,74.4,16.3,160,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2278,2256,2256,656,0,0,0,0,0,0,26.58,26.60,26.60,10.45,39.17
$GC,1051,1.64,244.4,2989,2278,2255,649,69.1,13.9,166,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2278,2255,2255,650,0,0,0,0,0,0,26.63,26.65,26.65,10.45,39.21
$GC,1088,1.64,244.4,2989,2278,2252,644,64.4,12.3,172,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2278,2254,2254,644,0,0,0,0,0,0,26.67,26.70,26.70,10.44,39.44
$GC,1125,1.64,244.4,2990,2278,2252,639,60.1,11.9,178,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2252,2252,640,0,0,0,0,0,0,26.72,26.74,26.73,10.44,39.05
$GC,1162,1.64,244.4,2989,2278,2252,635,55.9,11.4,184,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2278,2251,2251,637,0,0,0,0,0,0,26.76,26.77,26.77,10.44,39.60
$GC,1198,1.64,244.4,2988,2278,2249,632,51.9,10.8,190,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2278,2251,2251,634,0,0,0,0,0,0,26.79,26.80,26.80,10.44,38.89
$GC,1237,1.64,244.4,2989,2278,2250,630,47.7,11.3,196,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2278,2250,2250,632,0,0,0,0,0,0,26.82,26.83,26.83,10.44,39.52
$GC,1273,1.64,244.4,2989,2278,2249,627,43.6,10.7,202,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2278,2249,2249,630,0,0,0,0,0,0,26.84,26.86,26.86,10.44,39.40
$GC,1310,1.69,273.8,2989,2278,2248,626,40.0,9.3,208,1318,0.15,0.00,2.92,1.169,10246,0.216,0.000,3009,2278,2225,2225,4095,0,0,0,0,0,0,26.63,26.41,25.60,10.44,39.52
$GC,1349,1.69,273.8,3008,2278,2224,698,36.0,10.6,214,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2277,2224,2224,690,0,0,0,0,0,0,26.87,26.89,26.89,10.43,39.28
$GC,1386,1.69,273.8,3008,2277,2223,674,31.7,11.9,220,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2277,2223,2223,670,0,0,0,0,0,0,26.90,26.91,26.91,10.43,39.36
$GC,1422,1.69,273.8,3009,2277,2222,660,27.4,11.8,226,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2278,2222,2222,657,0,0,0,0,0,0,26.91,26.94,26.94,10.43,39.64
$GC,1459,1.69,273.8,3009,2277,2221,650,23.2,11.2,232,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2277,2221,2221,649,0,0,0,0,0,0,26.94,26.96,26.95,10.43,39.28
$GC,1496,1.69,273.8,3009,2277,2221,644,19.1,11.3,238,1504,0.00,3.25,0.00,0.000,516,0.000,0.219,3009,1077,2220,2220,647,0,0,0,0,0,0,26.95,26.59,26.96,10.43,39.40
$GC,1570,1.69,273.8,3009,1077,2218,637,9.4,12.9,250,1578,0.00,3.08,0.00,0.000,1030,0.000,0.132,3010,2280,2218,2218,639,0,0,0,0,0,0,26.77,26.67,26.80,10.42,39.52
$GC,1609,1.69,273.8,3009,2280,2217,634,5.2,11.1,256,1616,0.00,3.38,0.00,0.000,260,0.000,0.261,3009,3485,2217,2217,638,0,0,0,0,0,0,27.01,26.63,27.02,10.43,39.05
$STATE,1639,end climb,SURFACE_DEPTH_REACHED
$STATE,1639,begin surface coast
$FINISH,0.2,1.000779
$STATE,1658,end surface coast,CONTROL_FINISHED_OK
$STATE,1658,begin surface
$SM_CCo,1695,5.15,1.361,0,0,2134,350.20
$SM_GC,2.07,26.90,3.17,5.15,0.102,0.119,1.361,369,2268,2134,-6.61,0.77,350.20,0,0,0,0,0,0,26.74,26.76,26.03
$IRIDIUM_FIX,4748.51,-12337.82,030517,122420
$TT8_MAMPS,0.023219,0.101864
$HUMID,39.72
$INTERNAL_PRESSURE,10.352
$TCM_TEMP,9.50
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.8,20.9
$24V_AH,24.45,4.401
$10V_AH,10.56,2.313
$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,61.575,38.675,34.425,5.150,0.000,28.575,19.084,135.888,4.500,0.000,17.135,707.569,408.092,245.888,595.839,29.287,33.477,522.872,0.000,390.514,0.000,6.133,0.000
$DEVICE_MAMPS,757.315,260.715,4933.721,1360.684,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323560
$DATA_FILE_SIZE,10513,264
$CAP_FILE_SIZE,52653,0
$CFSIZE,1024409600,1018920960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,1,0
$CURRENT,0.042,358.89,1
$GPS,030517,125812,4743.542,-12224.397,3,1.1,24,16.3,0.0,0.0,9,8.6