version: 66.12
glider: 40
mission: 3
dive: 2
start: 3 8 117 21 0 46
data:
$ID,40
$MISSION,3
$DIVE,2
$N_DIVES,0
$STOP_T,3101715
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,6020
$D_NO_BLEED,50
$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,30
$T_MISSION,45
$T_ABORT,120
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,30
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80370
$MASS_COMP,11448
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,270
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3845
$C_PITCH,3500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,1803
$C_ROLL_CLIMB,1803
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2138
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.034054
$PRESSURE_SLOPE,0
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,2927.6399
$GPS1,080317,205614,4743.4067,-12222.9707,3,0.9,16,16.3,0.0,0.0,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-59.0
$GPS2,080317,205959,4743.4028,-12222.9492,5,0.9,18,16.3,0.9,228.4,9,4.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,4743.403,-12359.268
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.155390,0.205534
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,253.7,120000,-15.5,-10.000,-19.35,2767
$D_GRID,90
$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,50,-0.80,-146.6,197,1812,330,363,-0.3,-0.9,6,244,0.00,0.00,-190.50,0.156,16386,0.000,0.000,198,1812,2369,2325,2414,0,0,0,0,0,0,26.67,28.83,26.69,8.53,13.69
$GC,247,-0.80,-146.6,198,1812,2325,2413,3.6,-3.6,36,281,13.50,2.53,-13.02,0.186,18948,0.308,0.092,3233,238,2643,2622,2664,0,0,0,0,0,0,25.44,25.73,25.64,8.72,13.65
$GC,323,-0.80,-146.6,3232,238,2623,2664,15.0,-14.4,49,331,0.00,2.45,0.00,0.000,1030,0.000,0.074,3225,1842,2643,2623,2664,0,0,0,0,0,0,25.98,25.91,26.00,8.74,13.41
$GC,398,-0.80,-146.6,3224,1841,2623,2664,24.2,-13.5,60,409,0.00,2.53,0.00,0.000,516,0.000,0.092,3225,245,2643,2623,2664,0,0,0,0,0,0,26.30,25.96,26.32,8.74,13.85
$GC,452,-0.80,-146.6,3224,245,2623,2664,31.6,-11.9,65,461,0.00,2.35,0.00,0.000,1030,0.000,0.072,3214,1806,2643,2623,2663,0,0,0,0,0,0,26.16,26.08,26.17,8.74,14.12
$GC,581,-0.80,-146.6,3213,1806,2623,2664,47.5,-12.2,78,591,0.00,2.47,0.00,0.000,516,0.000,0.092,3214,234,2643,2623,2664,0,0,0,0,0,0,26.48,26.13,26.50,8.74,13.89
$GC,627,-0.80,-146.6,3213,234,2623,2664,52.2,-9.6,82,636,0.12,2.35,0.00,0.000,3078,0.236,0.072,3235,1808,2643,2623,2664,0,0,0,0,0,0,25.94,26.23,26.14,8.75,13.85
$GC,755,-0.80,-146.6,3234,1808,2623,2664,64.5,-8.0,95,756,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1808,2643,2623,2664,0,0,0,0,0,0,26.59,26.61,26.60,8.75,14.36
$STATE,827,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,827,begin apogee
$GC,830,-0.20,0.0,3235,1808,2624,2664,70.8,-9.7,102,945,0.60,0.00,111.62,0.735,10246,0.191,0.000,3426,1808,2138,2119,2157,0,0,0,0,0,0,26.06,24.74,24.20,8.74,14.12
$STATE,946,end apogee,CONTROL_FINISHED_OK
$STATE,946,begin climb
$GC,948,0.80,146.6,3427,1808,2118,2156,78.3,0.0,114,1069,0.98,2.67,112.80,0.705,10756,0.169,0.097,3734,247,1631,1623,1640,0,0,0,0,0,0,24.82,24.68,24.15,8.71,13.77
$GC,1117,0.90,230.3,3733,247,1623,1641,71.5,6.9,131,1190,0.12,2.42,64.40,0.693,11270,0.144,0.072,3783,1800,1344,1339,1349,0,0,0,0,0,0,25.32,25.38,24.20,8.67,13.37
$GC,1307,1.03,332.6,3783,1800,1339,1350,60.1,6.2,150,1392,0.08,2.67,78.05,0.685,10500,0.169,0.102,3832,3390,992,988,996,0,0,0,0,0,0,25.63,24.74,24.21,8.64,13.73
$GC,1560,1.03,332.6,3831,3390,988,996,35.8,11.1,175,1571,0.00,2.40,0.00,0.000,1030,0.000,0.074,3834,1802,992,988,996,0,0,0,0,0,0,25.84,25.77,25.86,8.61,13.65
$GC,1692,1.06,357.3,3834,1802,988,995,22.3,9.1,188,1714,0.00,0.00,20.08,0.651,8198,0.000,0.000,3834,1802,907,904,910,0,0,0,0,0,0,26.25,25.47,24.96,8.61,14.28
$GC,1830,1.24,501.4,3835,1802,904,910,11.1,4.7,213,1959,0.00,2.67,119.10,0.656,10500,0.000,0.102,3835,3366,409,408,411,0,0,0,0,0,0,26.18,24.75,24.25,8.59,14.00
$STATE,1965,end climb,SURFACE_DEPTH_REACHED
$STATE,1965,begin surface coast
$FINISH,-0.7,1.021869
$STATE,1991,end surface coast,CONTROL_FINISHED_OK
$STATE,1991,begin surface
$SM_CCo,2071,0.00,0.000,0,0,408,502.55
$SM_GC,1.11,10.07,2.47,0.00,0.089,0.074,0.000,187,1798,408,-10.29,1.33,502.55,0,0,0,0,0,0,25.39,25.32,25.43
$IRIDIUM_FIX,4722.92,-12225.08,080317,205152
$TT8_MAMPS,0.02247,0.196987
$HUMID,13.30
$INTERNAL_PRESSURE,8.50029
$TCM_TEMP,9.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,3.2
$ALTIM_BOTTOM_PING,70.8,3.5
$24V_AH,24.15,0.629
$10V_AH,10.51,2.225
$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,25.475,30.000,506.050,0.000,203.525,0.000,0.000,0.000,0.750,0.000,19.507,532.813,530.431,619.220,463.618,23.179,0.000,959.477,0.000,445.346,0.000,7.157,0.000
$DEVICE_MAMPS,307.892,101.803,734.968,0.000,186.225,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.590,312.356,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345960
$DATA_FILE_SIZE,14094,239
$CAP_FILE_SIZE,65155,1
$CFSIZE,2047311872,2043674624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.084,132.35,1
$GPS,080317,213605,4743.307,-12223.233,3,0.9,15,16.3,0.0,0.0,9,4.8