version: 66.12
glider: 402
mission: 3
dive: 31
start: 5 3 117 13 39 25
data:
$ID,402
$MISSION,3
$DIVE,31
$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,400
$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,19
$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
$GPS1,030517,133355,4743.2676,-12224.4180,12,0.9,34,16.3,0.0,0.0,10,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-50.3
$GPS2,030517,133823,4743.2822,-12224.3799,5,0.7,10,16.3,0.0,0.0,12,8.0
$SPEED_LIMITS,0.101,0.354
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.201611,-0.291431
$KALMAN_X,-3260.601318,97.794678,208.354752,3425.382812,220.412140
$KALMAN_Y,-89.719757,-1365.290771,484.411072,1788.148926,79.523438
$MHEAD_RNG_PITCHd_Wd,185.0,1540,-12.6,-10.101,-15.91,5808
$D_GRID,176
$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,-1.57,-391.0,354,2286,2135,763,0.0,0.0,0,26,0.00,0.00,-7.65,0.000,16390,0.000,0.000,354,2287,3018,3018,784,0,0,0,0,0,0,26.77,25.52,26.80,10.41,39.60
$GC,28,-1.57,-391.0,354,2286,3017,784,1.2,0.0,1,60,20.55,3.25,0.00,0.000,2564,0.472,0.169,1976,1078,3020,3020,838,0,0,0,0,0,0,26.32,26.37,26.46,10.62,40.15
$GC,144,-1.57,-391.0,1975,1078,3023,674,25.0,-14.6,20,151,0.00,3.10,0.00,0.000,1030,0.000,0.137,1976,2276,3023,3023,697,0,0,0,0,0,0,26.59,26.48,26.62,10.62,38.97
$GC,183,-1.57,-391.0,1975,2276,3023,684,30.2,-12.9,26,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2276,3024,3024,703,0,0,0,0,0,0,26.84,26.85,26.85,10.62,39.28
$GC,219,-1.57,-391.0,1975,2276,3024,678,34.8,-12.4,32,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2277,3025,3025,698,0,0,0,0,0,0,26.86,26.88,26.87,10.62,39.48
$GC,256,-1.57,-391.0,1976,2276,3025,683,39.3,-12.1,38,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2276,3025,3025,702,0,0,0,0,0,0,26.89,26.90,26.90,10.61,39.52
$GC,292,-1.57,-391.0,1975,2276,3026,676,43.9,-11.9,44,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2277,3027,3027,697,0,0,0,0,0,0,26.91,26.92,26.92,10.62,38.81
$GC,329,-1.57,-391.0,1975,2276,3027,683,48.1,-12.2,50,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2276,3027,3027,702,0,0,0,0,0,0,26.93,26.94,26.94,10.61,39.09
$GC,367,-1.57,-391.0,1975,2277,3028,677,52.4,-12.1,56,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2277,3028,3028,697,0,0,0,0,0,0,26.95,26.96,26.96,10.62,38.62
$GC,403,-1.57,-391.0,1975,2276,3029,683,57.1,-12.3,62,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2276,3029,3029,703,0,0,0,0,0,0,26.97,26.98,26.98,10.62,39.28
$GC,440,-1.57,-391.0,1975,2276,3029,677,61.9,-12.8,68,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2277,3030,3030,697,0,0,0,0,0,0,26.98,27.00,27.00,10.62,39.44
$GC,477,-1.57,-391.0,1975,2276,3030,683,66.7,-13.0,74,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2277,3030,3030,703,0,0,0,0,0,0,27.00,27.01,27.01,10.61,39.25
$GC,513,-1.57,-391.0,1975,2277,3031,678,71.3,-12.1,80,520,0.00,3.22,0.00,0.000,516,0.000,0.201,1976,1077,3032,3032,702,0,0,0,0,0,0,27.02,26.65,27.03,10.62,39.25
$GC,575,-1.57,-391.0,1975,1077,3033,679,79.5,-13.3,90,582,0.00,3.10,0.00,0.000,1030,0.000,0.139,1976,2281,3033,3033,702,0,0,0,0,0,0,26.82,26.71,26.84,10.62,39.13
$GC,612,-1.57,-391.0,1975,2282,3034,677,84.1,-11.9,96,618,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2282,3034,3034,697,0,0,0,0,0,0,27.05,27.06,27.06,10.62,39.21
$GC,649,-1.57,-391.0,1975,2282,3034,730,88.1,-10.8,102,655,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2282,3035,3035,743,0,0,0,0,0,0,27.06,27.08,27.08,10.62,39.21
$GC,686,-1.57,-391.0,1975,2282,3035,688,91.9,-10.7,108,691,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2282,3035,3035,706,0,0,0,0,0,0,27.07,27.09,27.08,10.62,39.32
$GC,722,-1.57,-391.0,1976,2282,3036,690,95.8,-10.9,114,728,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2282,3036,3036,708,0,0,0,0,0,0,27.08,27.10,27.10,10.62,39.99
$STATE,762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,762,begin apogee
$GC,765,-0.39,0.0,1976,2282,3038,684,100.2,-12.2,120,797,4.07,0.00,24.30,5.152,10246,0.233,0.000,2355,2283,2549,2549,3672,0,0,0,0,0,0,26.76,25.80,24.63,10.62,39.95
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,798,begin climb
$GC,799,1.57,391.0,2355,2282,2549,882,102.6,0.0,125,837,8.80,0.00,23.58,5.053,10502,0.631,0.000,2967,2283,2088,2088,3497,2,0,0,0,0,0,25.56,25.19,24.08,10.51,39.60
$GC,868,1.57,391.0,2966,2283,2088,707,97.8,10.4,136,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2088,2088,696,0,0,0,0,0,0,25.97,25.98,25.98,10.41,39.01
$GC,904,1.57,391.0,2966,2283,2087,679,93.5,11.9,142,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2086,2086,668,0,0,0,0,0,0,26.16,26.17,26.17,10.40,39.21
$GC,941,1.57,391.0,2966,2283,2085,661,88.6,13.3,148,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2086,2086,654,0,0,0,0,0,0,26.29,26.31,26.30,10.40,39.17
$GC,978,1.57,391.0,2966,2283,2084,648,83.8,13.6,154,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2084,2084,642,0,0,0,0,0,0,26.39,26.41,26.40,10.40,38.65
$GC,1015,1.57,391.0,2966,2282,2083,638,79.2,12.1,160,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2282,2084,2084,634,0,0,0,0,0,0,26.48,26.48,26.48,10.41,39.01
$GC,1052,1.57,391.0,2966,2283,2082,630,75.1,10.8,166,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2283,2082,2082,626,0,0,0,0,0,0,26.54,26.55,26.55,10.40,38.97
$GC,1091,1.57,391.0,2966,2283,2081,623,70.9,11.8,172,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2081,2081,621,0,0,0,0,0,0,26.60,26.62,26.62,10.40,38.62
$GC,1127,1.57,391.0,2966,2283,2081,618,66.5,11.7,178,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2081,2081,616,0,0,0,0,0,0,26.65,26.67,26.67,10.40,39.56
$GC,1164,1.57,391.0,2966,2283,2080,613,61.9,12.5,184,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2080,2080,612,0,0,0,0,0,0,26.70,26.72,26.71,10.40,39.36
$GC,1201,1.57,391.0,2966,2283,2079,609,57.3,12.4,190,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2079,2079,609,0,0,0,0,0,0,26.74,26.75,26.74,10.40,39.21
$GC,1238,1.57,391.0,2966,2283,2078,606,52.9,11.7,196,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2077,2077,606,0,0,0,0,0,0,26.77,26.77,26.79,10.40,39.72
$GC,1274,1.57,391.0,2966,2283,2077,603,48.4,12.6,202,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2077,2077,603,0,0,0,0,0,0,26.80,26.82,26.82,10.40,38.73
$GC,1312,1.57,391.0,2966,2283,2076,600,44.0,12.0,208,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2076,2076,600,0,0,0,0,0,0,26.84,26.85,26.84,10.40,39.05
$GC,1348,1.57,391.0,2966,2283,2075,598,39.5,12.5,214,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2075,2075,599,0,0,0,0,0,0,26.86,26.88,26.87,10.40,39.36
$GC,1385,1.57,391.0,2966,2283,2073,596,34.9,11.6,220,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2283,2074,2074,597,0,0,0,0,0,0,26.88,26.90,26.89,10.39,39.05
$GC,1423,1.57,391.0,2966,2283,2072,594,30.8,11.2,226,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2072,2072,596,0,0,0,0,0,0,26.91,26.92,26.92,10.39,39.52
$GC,1460,1.57,391.0,2966,2283,2071,593,26.3,11.6,232,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2282,2071,2071,595,0,0,0,0,0,0,26.93,26.94,26.94,10.39,39.09
$GC,1497,1.57,391.0,2966,2283,2070,592,22.1,12.3,238,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2282,2070,2070,593,0,0,0,0,0,0,26.94,26.96,26.96,10.39,39.40
$GC,1534,1.57,391.0,2966,2283,2070,591,17.5,12.0,244,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2282,2069,2069,593,0,0,0,0,0,0,26.96,26.98,26.98,10.39,38.73
$GC,1570,1.57,391.0,2966,2283,2068,590,13.1,11.9,250,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2068,2068,592,0,0,0,0,0,0,26.98,27.00,27.00,10.39,38.85
$GC,1607,1.57,391.0,2966,2283,2067,589,8.7,12.0,256,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2067,2067,591,0,0,0,0,0,0,27.00,27.02,27.01,10.39,39.48
$GC,1644,1.58,393.8,2966,2283,2066,588,4.9,10.1,262,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2283,2066,2066,590,0,0,0,0,0,0,27.02,27.03,27.03,10.39,39.60
$STATE,1675,end climb,SURFACE_DEPTH_REACHED
$STATE,1675,begin surface coast
$FINISH,0.2,1.021071
$STATE,1694,end surface coast,CONTROL_FINISHED_OK
$STATE,1694,begin surface
$SM_CCo,1786,0.00,0.000,0,0,2064,413.10
$SM_GC,1.33,26.40,0.00,0.00,0.097,0.000,0.000,369,2283,2064,-6.61,0.23,413.10,0,0,0,0,0,0,26.77,27.03,26.82
$IRIDIUM_FIX,4748.51,-12337.82,030517,133452
$TT8_MAMPS,0.02247,0.110103
$HUMID,38.89
$INTERNAL_PRESSURE,10.3324
$TCM_TEMP,9.50
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.7,19.7
$24V_AH,24.08,4.550
$10V_AH,10.55,2.350
$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,59.825,12.675,47.875,0.000,0.000,32.980,26.588,136.239,5.250,0.000,11.801,705.603,465.666,259.459,618.564,30.206,33.472,549.793,0.000,399.107,0.000,9.060,0.000
$DEVICE_MAMPS,630.682,201.123,5152.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323536
$DATA_FILE_SIZE,10546,270
$CAP_FILE_SIZE,52526,0
$CFSIZE,1024409600,1018822656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,1,0
$CURRENT,0.075,203.27,1
$GPS,030517,140952,4742.901,-12224.534,4,0.8,7,16.3,0.0,0.0,10,9.4