version: 66.12
glider: 402
mission: 3
dive: 30
start: 5 3 117 13 3 30
data:
$ID,402
$MISSION,3
$DIVE,30
$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
$GPS1,030517,125812,4743.5415,-12224.3975,3,1.1,24,16.3,0.0,0.0,9,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-51.3
$GPS2,030517,130227,4743.5601,-12224.3594,6,0.9,15,16.3,0.0,0.0,10,8.6
$SPEED_LIMITS,0.101,0.290
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.177469,-0.229844
$KALMAN_X,-3518.877441,27.540102,212.935837,3775.449219,279.876465
$KALMAN_Y,205.686249,-1564.553955,439.527893,2250.737305,198.552704
$MHEAD_RNG_PITCHd_Wd,176.9,2039,-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,-244.4,369,2267,2134,764,0.0,0.0,0,26,0.00,0.00,-6.05,0.000,16390,0.000,0.000,369,2266,2843,2843,810,0,0,0,0,0,0,26.78,25.51,26.79,10.41,39.13
$GC,27,-1.64,-244.4,369,2267,2843,809,1.3,0.0,1,52,20.10,0.00,0.00,0.000,2566,0.469,0.000,1954,2266,2844,2844,830,0,0,0,0,0,0,26.29,26.46,26.43,10.58,40.07
$GC,83,-1.64,-244.4,1953,2266,2845,712,13.2,-16.0,10,89,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2266,2846,2846,723,0,0,0,0,0,0,26.72,26.74,26.73,10.58,39.72
$GC,120,-1.64,-244.4,1953,2266,2846,684,17.8,-12.3,16,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2266,2847,2847,697,0,0,0,0,0,0,26.76,26.77,26.77,10.58,39.76
$GC,157,-1.64,-244.4,1953,2266,2847,684,22.3,-11.9,22,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2266,2848,2848,698,0,0,0,0,0,0,26.79,26.81,26.81,10.58,39.84
$GC,193,-1.64,-244.4,1953,2266,2848,676,26.7,-12.0,28,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2266,2849,2849,690,0,0,0,0,0,0,26.82,26.84,26.84,10.58,39.64
$GC,230,-1.64,-244.4,1953,2266,2849,678,31.2,-12.2,34,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2266,2849,2849,692,0,0,0,0,0,0,26.85,26.86,26.86,10.58,39.48
$GC,267,-1.64,-244.4,1953,2266,2850,673,35.6,-11.7,40,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2266,2850,2850,688,0,0,0,0,0,0,26.88,26.89,26.89,10.58,38.62
$GC,304,-1.64,-244.4,1953,2266,2851,677,40.0,-12.1,46,311,0.00,3.20,0.00,0.000,516,0.000,0.204,1954,1079,2851,2851,695,0,0,0,0,0,0,26.90,26.54,26.91,10.58,39.13
$GC,402,-1.64,-244.4,1953,1080,2853,660,53.6,-14.1,62,409,0.00,3.10,0.00,0.000,1030,0.000,0.134,1953,2283,2854,2854,680,0,0,0,0,0,0,26.74,26.63,26.77,10.57,39.60
$GC,439,-1.64,-244.4,1953,2283,2854,665,58.5,-12.5,68,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2855,2855,681,0,0,0,0,0,0,26.96,26.98,26.98,10.58,39.17
$GC,476,-1.64,-244.4,1953,2283,2855,673,62.9,-12.1,74,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2855,2855,688,0,0,0,0,0,0,26.99,27.01,27.00,10.58,39.09
$GC,512,-1.64,-244.4,1953,2283,2856,671,67.3,-12.2,80,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2856,2856,686,0,0,0,0,0,0,27.00,27.01,27.01,10.58,39.52
$GC,549,-1.64,-244.4,1953,2283,2857,676,71.7,-11.9,86,555,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2857,2857,691,0,0,0,0,0,0,27.02,27.03,27.03,10.58,39.13
$GC,586,-1.64,-244.4,1953,2283,2858,672,75.9,-11.6,92,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2858,2858,688,0,0,0,0,0,0,27.03,27.05,27.04,10.58,39.44
$GC,624,-1.64,-244.4,1953,2283,2858,676,79.9,-10.8,98,630,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2859,2859,692,0,0,0,0,0,0,27.05,27.06,27.06,10.57,39.25
$GC,660,-1.64,-244.4,1953,2283,2859,673,84.2,-11.3,104,666,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2859,2859,688,0,0,0,0,0,0,27.05,27.08,27.07,10.58,39.76
$GC,697,-1.64,-244.4,1953,2283,2860,677,88.1,-10.7,110,703,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2860,2860,692,0,0,0,0,0,0,27.07,27.08,27.08,10.58,39.01
$GC,734,-1.64,-244.4,1953,2283,2861,672,91.7,-9.8,116,740,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2861,2861,688,0,0,0,0,0,0,27.08,27.10,27.09,10.58,39.25
$GC,771,-1.64,-244.4,1953,2283,2861,677,95.6,-10.5,122,777,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2861,2861,692,0,0,0,0,0,0,27.09,27.11,27.10,10.58,38.62
$GC,807,-1.64,-244.4,1953,2283,2862,673,99.8,-11.4,128,818,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2283,2862,2862,701,0,0,0,0,0,0,27.10,27.12,27.12,10.58,39.32
$STATE,823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,823,begin apogee
$GC,826,-0.39,0.0,1953,2283,2863,703,101.8,-11.6,130,852,4.40,0.00,16.30,4.968,10246,0.261,0.000,2355,2284,2548,2548,3947,0,0,0,0,0,0,26.77,26.08,24.89,10.58,39.01
$STATE,853,end apogee,CONTROL_FINISHED_OK
$STATE,853,begin climb
$GC,855,1.64,244.4,2356,2284,2548,882,103.4,0.0,134,887,13.05,0.00,15.30,4.864,10502,1.030,0.000,2989,2283,2261,2261,4095,9,0,0,0,0,0,25.77,25.57,24.43,10.51,39.01
$GC,917,1.64,244.4,2988,2283,2260,706,98.5,11.0,144,924,0.00,3.45,0.00,0.000,260,0.000,0.256,2989,3482,2261,2261,704,0,0,0,0,0,0,26.22,25.86,26.22,10.45,39.13
$GC,1015,1.64,244.4,2988,3481,2257,675,83.1,16.9,160,1022,0.00,3.15,0.00,0.000,1030,0.000,0.117,2989,2278,2257,2257,673,0,0,0,0,0,0,26.29,26.21,26.32,10.44,38.89
$GC,1053,1.64,244.4,2988,2278,2256,667,77.5,14.8,166,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2256,2256,665,0,0,0,0,0,0,26.55,26.56,26.56,10.44,39.01
$GC,1090,1.64,244.4,2989,2278,2255,656,73.1,11.8,172,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2254,2254,655,0,0,0,0,0,0,26.60,26.62,26.62,10.44,39.64
$GC,1128,1.64,244.4,2988,2277,2254,651,68.6,12.4,178,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2254,2254,651,0,0,0,0,0,0,26.65,26.67,26.67,10.44,39.48
$GC,1164,1.64,244.4,2988,2277,2253,645,64.1,11.4,184,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2253,2253,645,0,0,0,0,0,0,26.70,26.71,26.71,10.44,39.28
$GC,1201,1.64,244.4,2989,2277,2253,641,59.8,11.8,190,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2252,2252,642,0,0,0,0,0,0,26.74,26.75,26.75,10.44,39.72
$GC,1237,1.64,244.4,2988,2277,2251,637,55.5,12.0,196,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2278,2251,2251,638,0,0,0,0,0,0,26.77,26.79,26.78,10.44,39.52
$GC,1274,1.64,244.4,2988,2277,2251,635,51.2,11.6,202,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2251,2251,636,0,0,0,0,0,0,26.80,26.81,26.82,10.44,39.80
$GC,1311,1.64,244.4,2988,2277,2250,632,46.9,12.0,208,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2249,2249,634,0,0,0,0,0,0,26.82,26.84,26.84,10.44,39.25
$GC,1347,1.64,244.4,2988,2277,2248,630,42.4,12.2,214,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2248,2248,632,0,0,0,0,0,0,26.86,26.87,26.86,10.43,39.05
$GC,1384,1.64,244.4,2988,2277,2247,628,38.0,11.9,220,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2277,2247,2247,630,0,0,0,0,0,0,26.88,26.90,26.89,10.43,39.32
$GC,1422,1.64,244.4,2988,2277,2247,627,33.6,11.9,226,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2246,2246,629,0,0,0,0,0,0,26.90,26.92,26.91,10.43,39.48
$GC,1458,1.64,244.4,2988,2277,2246,625,29.3,11.5,232,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2245,2245,628,0,0,0,0,0,0,26.92,26.94,26.94,10.44,39.01
$GC,1495,1.64,244.4,2988,2277,2246,625,25.3,10.8,238,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2245,2245,627,0,0,0,0,0,0,26.94,26.96,26.96,10.43,39.95
$GC,1532,1.64,244.4,2988,2277,2244,623,21.1,11.8,244,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2277,2243,2243,626,0,0,0,0,0,0,26.96,26.98,26.98,10.43,39.84
$GC,1569,1.64,244.4,2988,2276,2242,622,16.6,12.4,250,1576,0.00,3.22,0.00,0.000,516,0.000,0.216,2989,1076,2243,2243,628,0,0,0,0,0,0,26.98,26.62,26.99,10.43,39.56
$GC,1630,1.64,244.4,2988,1076,2241,621,8.7,12.8,260,1637,0.00,3.10,0.00,0.000,1030,0.000,0.129,2989,2285,2241,2241,627,0,0,0,0,0,0,26.79,26.68,26.82,10.43,39.40
$GC,1668,1.64,244.4,2988,2285,2240,623,4.7,10.3,266,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2285,2239,2239,626,0,0,0,0,0,0,27.02,27.03,27.03,10.43,39.88
$STATE,1697,end climb,SURFACE_DEPTH_REACHED
$STATE,1698,begin surface coast
$FINISH,0.3,1.020838
$STATE,1718,end surface coast,CONTROL_FINISHED_OK
$STATE,1718,begin surface
$SM_CCo,1750,6.00,1.472,0,0,2135,350.20
$SM_GC,2.25,26.80,0.00,6.00,0.099,0.000,1.472,354,2286,2135,-6.65,0.32,350.20,0,0,0,0,0,0,26.77,27.04,26.03
$IRIDIUM_FIX,4748.51,-12337.82,030517,125900
$TT8_MAMPS,0.02247,0.104111
$HUMID,39.25
$INTERNAL_PRESSURE,10.352
$TCM_TEMP,9.40
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,100.4,86.7
$24V_AH,24.43,4.465
$10V_AH,10.56,2.331
$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,64.350,19.225,31.600,6.000,0.000,28.949,20.461,131.918,4.500,0.000,16.863,732.600,419.631,245.783,611.232,31.078,33.469,539.903,0.000,404.806,0.000,9.178,0.000
$DEVICE_MAMPS,1030.445,255.749,4968.483,1472.419,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,182.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323544
$DATA_FILE_SIZE,10551,274
$CAP_FILE_SIZE,53755,0
$CFSIZE,1024409600,1018871808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,9,0,0,1,0
$CURRENT,0.026,179.25,1
$GPS,030517,133355,4743.268,-12224.418,12,0.9,34,16.3,0.0,0.0,10,7.5