version: 66.12
glider: 402
mission: 3
dive: 34
start: 5 3 117 15 30 59
data:
$ID,402
$MISSION,3
$DIVE,34
$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,22
$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
$GPS1,030517,152559,4742.6260,-12224.6348,4,0.9,8,16.3,0.0,0.0,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-47.9
$GPS2,030517,152956,4742.6226,-12224.6211,5,0.9,8,16.3,0.0,0.0,9,10.0
$SPEED_LIMITS,0.101,0.354
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.108143,0.337468
$KALMAN_X,-2463.297607,229.779160,77.207161,2325.144043,177.644119
$KALMAN_Y,-1313.965576,-710.037109,251.302536,1369.253906,-246.380966
$MHEAD_RNG_PITCHd_Wd,355.1,2561,-12.6,-10.101,-15.91,5808
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.57,-391.0,355,2275,2063,353,0.0,0.0,0,25,0.00,0.00,-8.25,0.000,16390,0.000,0.000,356,2275,3016,3016,443,0,0,0,0,0,0,26.84,25.59,26.85,10.39,39.68
$GC,27,-1.57,-391.0,354,2275,3017,443,1.2,0.0,1,59,20.50,3.45,0.00,0.000,2308,0.474,0.266,1976,3482,3019,3019,689,0,0,0,0,0,0,26.40,26.41,26.54,10.62,40.43
$GC,287,-1.57,-391.0,1975,3482,3025,634,45.0,-14.3,44,294,0.00,3.10,0.00,0.000,1030,0.000,0.117,1975,2273,3026,3026,663,0,0,0,0,0,0,26.77,26.70,26.79,10.61,39.88
$GC,325,-1.57,-391.0,1975,2273,3027,656,49.8,-12.8,50,332,0.00,3.40,0.00,0.000,260,0.000,0.263,1976,3482,3027,3027,684,0,0,0,0,0,0,26.98,26.60,26.99,10.62,39.52
$GC,561,-1.57,-391.0,1975,3482,3032,634,82.7,-13.5,89,568,0.00,3.08,0.00,0.000,1030,0.000,0.117,1976,2279,3032,3032,667,0,0,0,0,0,0,26.88,26.81,26.91,10.62,39.72
$GC,599,-1.57,-391.0,1975,2279,3033,656,87.4,-12.1,95,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2278,3033,3033,679,0,0,0,0,0,0,27.09,27.10,27.10,10.62,40.07
$GC,635,-1.57,-391.0,1975,2278,3033,665,91.7,-11.6,101,642,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2278,3034,3034,691,0,0,0,0,0,0,27.10,27.11,27.11,10.62,39.48
$GC,673,-1.57,-391.0,1974,2279,3035,673,95.8,-10.9,107,679,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2278,3035,3035,694,0,0,0,0,0,0,27.11,27.13,27.12,10.61,40.19
$GC,709,-1.57,-391.0,1975,2278,3036,674,99.4,-9.7,113,716,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2279,3035,3035,698,0,0,0,0,0,0,27.12,27.14,27.13,10.62,39.91
$STATE,725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,725,begin apogee
$GC,728,-0.39,0.0,1975,2278,3036,701,100.7,-9.8,115,760,4.10,0.00,24.30,5.152,10246,0.243,0.000,2355,2278,2549,2549,3660,0,0,0,0,0,0,26.79,25.83,24.69,10.62,40.03
$STATE,761,end apogee,CONTROL_FINISHED_OK
$STATE,761,begin climb
$GC,762,1.57,391.0,2354,2278,2548,882,102.5,0.0,120,800,9.05,0.00,23.35,5.058,10246,0.665,0.000,2968,2276,2089,2089,3497,4,0,0,0,0,0,25.63,25.23,24.13,10.51,39.72
$GC,831,1.57,391.0,2967,2275,2088,721,96.4,11.7,131,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2088,2088,707,0,0,0,0,0,0,25.99,26.01,26.01,10.41,39.09
$GC,868,1.57,391.0,2967,2276,2086,683,91.1,15.1,137,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2086,2086,674,0,0,0,0,0,0,26.17,26.19,26.18,10.40,39.52
$GC,905,1.57,391.0,2967,2276,2085,669,85.8,14.1,143,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2086,2086,661,0,0,0,0,0,0,26.30,26.32,26.32,10.41,39.28
$GC,941,1.57,391.0,2967,2276,2084,654,80.5,15.0,149,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2084,2084,649,0,0,0,0,0,0,26.40,26.41,26.41,10.41,39.64
$GC,978,1.57,391.0,2968,2275,2083,645,75.5,13.0,155,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2083,2083,640,0,0,0,0,0,0,26.48,26.49,26.48,10.41,39.52
$GC,1016,1.57,391.0,2967,2276,2082,636,71.1,12.0,161,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2082,2082,632,0,0,0,0,0,0,26.54,26.56,26.55,10.40,39.28
$GC,1052,1.57,391.0,2967,2276,2081,629,66.6,12.0,167,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2082,2082,626,0,0,0,0,0,0,26.60,26.62,26.62,10.40,39.32
$GC,1089,1.57,391.0,2967,2276,2080,622,62.1,12.4,173,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2277,2080,2080,620,0,0,0,0,0,0,26.65,26.66,26.66,10.40,39.32
$GC,1126,1.57,391.0,2967,2276,2079,617,58.0,11.1,179,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2079,2079,616,0,0,0,0,0,0,26.70,26.71,26.70,10.41,38.89
$GC,1162,1.57,391.0,2967,2276,2078,613,54.1,10.9,185,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2078,2078,611,0,0,0,0,0,0,26.73,26.74,26.74,10.40,39.64
$GC,1199,1.57,391.0,2967,2275,2077,609,50.1,11.1,191,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2077,2077,609,0,0,0,0,0,0,26.77,26.78,26.78,10.40,39.40
$GC,1235,1.57,391.0,2967,2276,2077,605,46.1,10.4,197,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2077,2077,605,0,0,0,0,0,0,26.79,26.81,26.81,10.40,39.88
$GC,1272,1.57,391.0,2967,2276,2076,603,42.1,11.1,203,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2076,2076,602,0,0,0,0,0,0,26.83,26.84,26.84,10.40,39.80
$GC,1310,1.57,391.0,2967,2276,2075,724,37.8,11.3,209,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2075,2075,708,0,0,0,0,0,0,26.85,26.86,26.86,10.39,39.32
$GC,1347,1.57,391.0,2967,2276,2074,690,33.5,12.0,215,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2073,2073,678,0,0,0,0,0,0,26.88,26.89,26.89,10.40,39.56
$GC,1383,1.57,391.0,2967,2276,2073,664,29.3,11.5,221,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2072,2072,656,0,0,0,0,0,0,26.90,26.91,26.91,10.39,39.91
$GC,1420,1.57,391.0,2967,2276,2072,651,25.3,10.7,227,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2071,2071,645,0,0,0,0,0,0,26.92,26.94,26.94,10.39,39.48
$GC,1456,1.57,391.0,2967,2276,2071,639,21.5,10.7,233,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2070,2070,634,0,0,0,0,0,0,26.94,26.96,26.96,10.39,39.13
$GC,1493,1.57,391.0,2967,2275,2070,630,17.6,10.6,239,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2070,2070,626,0,0,0,0,0,0,26.96,26.98,26.97,10.40,39.13
$GC,1530,1.57,391.0,2968,2276,2069,622,13.6,10.7,245,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2069,2069,619,0,0,0,0,0,0,26.98,26.99,26.99,10.39,40.31
$GC,1566,1.57,391.0,2967,2276,2068,616,9.7,10.8,251,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2067,2067,614,0,0,0,0,0,0,26.99,27.01,27.01,10.39,39.60
$GC,1603,1.69,470.0,2967,2276,2067,611,6.4,8.7,257,1611,0.40,0.00,4.93,1.428,10246,0.142,0.000,3009,2277,1994,1994,4095,0,0,0,0,0,0,26.74,26.58,26.01,10.39,39.44
$GC,1643,1.83,561.4,3008,2276,1994,713,3.1,8.5,263,1655,0.77,0.00,6.32,1.542,10246,1.060,0.000,3049,2277,1885,1885,4095,0,0,0,0,0,0,26.25,26.53,25.99,10.37,39.76
$STATE,1660,end climb,SURFACE_DEPTH_REACHED
$STATE,1660,begin surface coast
$FINISH,0.2,1.007294
$STATE,1680,end surface coast,CONTROL_FINISHED_OK
$STATE,1680,begin surface
$SM_CCo,1774,0.00,0.000,0,0,1883,566.10
$SM_GC,0.98,27.50,0.00,0.00,0.099,0.000,0.000,356,2276,1883,-6.65,-0.09,566.10,0,0,0,0,0,0,26.66,26.94,26.72
$IRIDIUM_FIX,4748.51,-12337.82,030517,152645
$TT8_MAMPS,0.023219,0.164031
$HUMID,39.60
$INTERNAL_PRESSURE,10.3031
$TCM_TEMP,9.40
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.5,19.5
$ALTIM_BOTTOM_PING,100.7,70.5
$24V_AH,24.13,4.810
$10V_AH,10.45,2.406
$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,62.325,13.025,58.900,0.000,0.000,28.170,16.420,122.442,4.750,0.000,9.722,695.415,491.086,227.949,586.115,28.341,33.436,501.459,0.000,397.706,0.000,9.145,0.000
$DEVICE_MAMPS,1060.241,265.681,5152.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10557,269
$CAP_FILE_SIZE,47954,0
$CFSIZE,1024409600,1018691584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,1,0
$CURRENT,0.136,236.44,1
$GPS,030517,160140,4742.763,-12224.571,3,1.4,44,16.3,0.0,0.0,7,3.1