version: 66.12
glider: 402
mission: 3
dive: 33
start: 5 3 117 14 56 18
data:
$ID,402
$MISSION,3
$DIVE,33
$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,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
$GPS1,030517,145023,4742.5186,-12224.7266,4,1.0,44,16.3,0.0,0.0,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-46.7
$GPS2,030517,145515,4742.4941,-12224.7070,5,1.1,45,16.3,0.0,0.0,7,3.0
$SPEED_LIMITS,0.101,0.354
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.103042,0.339060
$KALMAN_X,-2789.348877,201.782913,127.963242,2524.135010,182.202408
$KALMAN_Y,-790.419312,-938.746155,377.335938,709.301697,-146.886841
$MHEAD_RNG_PITCHd_Wd,351.0,2791,-12.6,-10.101,-15.91,5808
$D_GRID,158
$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,15,-1.57,-391.0,367,2278,2076,356,0.0,0.0,0,25,0.00,0.00,-8.10,0.000,16390,0.000,0.000,368,2278,3017,3017,441,0,0,0,0,0,0,26.85,25.61,26.86,10.40,40.43
$GC,27,-1.57,-391.0,368,2278,3017,441,1.2,0.0,1,59,20.33,3.42,0.00,0.000,2308,0.477,0.266,1975,3481,3019,3019,689,0,0,0,0,0,0,26.41,26.43,26.56,10.62,40.35
$GC,287,-1.57,-391.0,1974,3480,3026,634,47.1,-13.3,44,294,0.00,3.10,0.00,0.000,1030,0.000,0.119,1974,2272,3027,3027,663,0,0,0,0,0,0,26.77,26.70,26.79,10.62,39.32
$GC,326,-1.57,-391.0,1974,2271,3027,656,52.6,-13.9,50,332,0.00,3.42,0.00,0.000,260,0.000,0.271,1975,3482,3027,3027,684,0,0,0,0,0,0,26.99,26.60,27.00,10.62,40.23
$GC,561,-1.57,-391.0,1974,3482,3033,634,85.5,-14.3,89,569,0.00,3.08,0.00,0.000,1030,0.000,0.119,1975,2275,3032,3032,666,0,0,0,0,0,0,26.89,26.81,26.91,10.61,40.11
$GC,599,-1.57,-391.0,1974,2276,3034,656,90.4,-12.5,95,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2276,3034,3034,679,0,0,0,0,0,0,27.09,27.11,27.10,10.61,39.28
$GC,636,-1.57,-391.0,1974,2276,3035,665,94.5,-11.1,101,642,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2276,3035,3035,690,0,0,0,0,0,0,27.10,27.12,27.12,10.62,39.56
$GC,673,-1.57,-391.0,1974,2276,3035,672,98.7,-11.2,107,678,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2275,3036,3036,693,0,0,0,0,0,0,27.11,27.13,27.13,10.62,39.52
$STATE,687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,687,begin apogee
$GC,690,-0.39,0.0,1975,2276,3036,696,100.1,-11.8,109,722,4.10,0.00,24.27,5.125,10246,0.238,0.000,2355,2276,2549,2549,3638,0,0,0,0,0,0,26.79,25.84,24.68,10.62,40.19
$STATE,723,end apogee,CONTROL_FINISHED_OK
$STATE,723,begin climb
$GC,725,1.57,391.0,2355,2276,2549,882,102.0,0.0,114,761,6.55,0.00,23.58,5.045,10246,0.151,0.000,2976,2276,2087,2087,3374,0,0,0,0,0,0,26.08,24.97,24.15,10.51,39.64
$GC,792,1.57,391.0,2975,2275,2087,706,96.0,11.9,125,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2086,2086,693,0,0,0,0,0,0,26.01,26.02,26.01,10.41,39.05
$GC,830,1.57,391.0,2976,2276,2086,678,91.4,12.1,131,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2085,2085,669,0,0,0,0,0,0,26.19,26.20,26.20,10.41,39.17
$GC,866,1.57,391.0,2976,2276,2085,661,87.0,11.8,137,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2084,2084,654,0,0,0,0,0,0,26.31,26.33,26.32,10.40,39.36
$GC,903,1.57,391.0,2976,2275,2082,648,82.6,11.8,143,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2276,2084,2084,643,0,0,0,0,0,0,26.41,26.42,26.42,10.40,39.32
$GC,939,1.57,391.0,2976,2275,2083,638,78.4,11.6,149,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2275,2082,2082,634,0,0,0,0,0,0,26.48,26.50,26.50,10.40,38.62
$GC,977,1.57,391.0,2976,2275,2082,630,74.3,10.9,155,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2081,2081,627,0,0,0,0,0,0,26.55,26.57,26.56,10.40,39.48
$GC,1014,1.57,391.0,2976,2276,2081,623,70.2,11.0,161,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2081,2081,620,0,0,0,0,0,0,26.60,26.62,26.62,10.40,39.68
$GC,1053,1.57,391.0,2976,2276,2080,617,66.0,10.8,167,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2276,2080,2080,616,0,0,0,0,0,0,26.66,26.67,26.67,10.40,39.48
$GC,1089,1.57,391.0,2976,2276,2079,613,61.8,11.7,173,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2079,2079,611,0,0,0,0,0,0,26.70,26.72,26.71,10.40,38.85
$GC,1126,1.57,391.0,2976,2275,2078,608,57.3,12.2,179,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2079,2079,608,0,0,0,0,0,0,26.74,26.75,26.75,10.40,39.21
$GC,1163,1.57,391.0,2976,2276,2077,605,53.1,11.4,185,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2276,2077,2077,604,0,0,0,0,0,0,26.77,26.79,26.79,10.40,39.17
$GC,1200,1.57,391.0,2976,2275,2076,602,49.0,10.8,191,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2276,2076,2076,602,0,0,0,0,0,0,26.81,26.82,26.82,10.40,39.48
$GC,1236,1.57,391.0,2976,2275,2075,600,45.0,11.3,197,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2075,2075,600,0,0,0,0,0,0,26.83,26.85,26.84,10.40,39.25
$GC,1273,1.57,391.0,2976,2276,2074,597,40.9,10.8,203,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2276,2074,2074,598,0,0,0,0,0,0,26.86,26.87,26.87,10.39,39.52
$GC,1310,1.57,391.0,2976,2275,2073,596,37.0,10.7,209,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2073,2073,597,0,0,0,0,0,0,26.88,26.90,26.90,10.40,39.60
$GC,1348,1.57,391.0,2976,2275,2072,594,33.0,10.5,215,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2072,2072,595,0,0,0,0,0,0,26.91,26.91,26.92,10.39,39.36
$GC,1385,1.57,391.0,2975,2276,2071,592,29.1,10.6,221,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2276,2072,2072,594,0,0,0,0,0,0,26.93,26.94,26.94,10.40,39.36
$GC,1422,1.57,391.0,2976,2276,2070,592,25.1,10.8,227,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2071,2071,593,0,0,0,0,0,0,26.95,26.96,26.96,10.39,39.28
$GC,1458,1.57,391.0,2976,2275,2070,590,21.0,11.3,233,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2276,2069,2069,593,0,0,0,0,0,0,26.96,26.98,26.98,10.39,39.40
$GC,1495,1.57,391.0,2976,2275,2068,590,16.9,11.2,239,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2275,2068,2068,592,0,0,0,0,0,0,26.98,27.00,27.00,10.39,39.91
$GC,1532,1.57,391.0,2976,2276,2067,589,12.7,11.2,245,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2276,2067,2067,591,0,0,0,0,0,0,27.00,27.01,27.01,10.39,39.48
$GC,1569,1.57,391.0,2975,2275,2066,588,8.5,11.1,251,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2066,2066,590,0,0,0,0,0,0,27.01,27.03,27.03,10.39,39.48
$GC,1606,1.57,391.0,2976,2276,2066,587,4.4,11.1,257,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2065,2065,590,0,0,0,0,0,0,27.03,27.05,27.04,10.39,39.64
$STATE,1629,end climb,SURFACE_DEPTH_REACHED
$STATE,1630,begin surface coast
$FINISH,0.2,1.001134
$STATE,1649,end surface coast,CONTROL_FINISHED_OK
$STATE,1649,begin surface
$SM_CCo,1741,0.00,0.000,0,0,2064,413.10
$SM_GC,1.29,26.58,0.00,0.00,0.092,0.000,0.000,355,2275,2064,-6.65,-0.14,413.10,0,0,0,0,0,0,26.79,27.06,26.83
$IRIDIUM_FIX,4748.51,-12337.82,030517,145112
$TT8_MAMPS,0.020972,0.158788
$HUMID,39.72
$INTERNAL_PRESSURE,10.3324
$TCM_TEMP,9.30
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,100.1,23.0
$24V_AH,24.15,4.722
$10V_AH,10.45,2.389
$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,57.550,13.025,47.850,0.000,0.000,30.402,17.493,133.241,4.250,0.000,46.911,686.465,485.153,227.620,631.647,27.889,33.469,494.329,0.000,390.718,0.000,9.017,0.000
$DEVICE_MAMPS,476.736,270.647,5124.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323512
$DATA_FILE_SIZE,10514,264
$CAP_FILE_SIZE,46112,0
$CFSIZE,1024409600,1018740736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,232.09,1
$GPS,030517,152559,4742.626,-12224.635,4,0.9,8,16.3,0.0,0.0,9,8.9