version: 66.12
glider: 40
mission: 3
dive: 4
start: 3 8 117 22 39 26
data:
$ID,40
$MISSION,3
$DIVE,4
$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,-6
$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,49
$R_STBD_OVSHOOT,14
$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
$GPS1,080317,223442,4743.5112,-12223.2871,2,0.9,17,16.3,0.0,0.0,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-63.7
$GPS2,080317,223836,4743.5601,-12223.2549,4,0.9,20,16.3,1.6,46.1,8,4.9
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,4743.560,-12359.579
$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,246.3,120000,-15.5,-10.000,-19.35,2767
$D_GRID,154
$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,-146.6,209,1788,381,442,-0.2,-0.1,6,218,0.00,0.00,-164.80,0.156,16386,0.000,0.000,210,1788,2262,2217,2308,0,0,0,0,0,0,26.17,28.83,26.18,8.54,13.89
$GC,221,-0.80,-146.6,210,1788,2217,2307,3.2,-2.6,32,263,13.10,2.55,-21.23,0.174,18948,0.295,0.089,3234,241,2643,2624,2662,0,0,0,0,0,0,25.33,25.57,25.47,8.71,13.53
$GC,489,-0.80,-146.6,3234,241,2624,2663,34.7,-10.9,71,498,0.00,2.42,0.00,0.000,1030,0.000,0.072,3226,1832,2644,2625,2663,0,0,0,0,0,0,26.09,26.06,26.10,8.74,13.65
$GC,617,-0.80,-146.6,3226,1832,2624,2663,49.0,-10.8,84,627,0.00,2.50,0.00,0.000,516,0.000,0.089,3226,241,2643,2624,2663,0,0,0,0,0,0,26.43,26.11,26.44,8.75,13.53
$GC,723,-0.80,-146.6,3226,241,2625,2663,61.6,-12.6,94,732,0.00,2.38,0.00,0.000,1030,0.000,0.070,3216,1814,2644,2625,2664,0,0,0,0,0,0,26.27,26.25,26.29,8.74,13.89
$STATE,802,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,802,begin apogee
$GC,806,-0.20,0.0,3215,1814,2624,2663,70.4,-11.2,102,922,0.68,0.00,111.25,0.708,10246,0.196,0.000,3427,1814,2137,2119,2155,0,0,0,0,0,0,26.08,24.74,24.22,8.75,13.53
$STATE,923,end apogee,CONTROL_FINISHED_OK
$STATE,923,begin climb
$GC,924,0.80,146.6,3426,1814,2119,2155,76.9,0.0,114,1044,0.98,2.70,112.22,0.685,10756,0.166,0.092,3736,247,1631,1625,1638,0,0,0,0,0,0,24.83,24.68,24.15,8.71,13.45
$GC,1090,0.86,197.7,3736,247,1625,1638,68.6,8.1,130,1140,0.05,2.45,39.65,0.673,11270,0.137,0.070,3761,1805,1455,1451,1460,0,0,0,0,0,0,25.27,25.34,24.30,8.66,13.49
$GC,1258,0.99,298.3,3761,1805,1451,1460,58.0,6.3,147,1342,0.08,2.65,76.45,0.675,10500,0.166,0.097,3812,3379,1109,1107,1112,0,0,0,0,0,0,25.63,24.75,24.23,8.65,13.93
$GC,1403,1.04,342.0,3812,3379,1106,1113,45.9,8.4,161,1444,0.00,2.45,34.75,0.653,9222,0.000,0.072,3813,1799,957,955,960,0,0,0,0,0,0,25.46,25.43,24.39,8.61,13.65
$GC,1572,1.10,393.0,3812,1799,955,960,31.0,8.1,178,1616,0.05,0.00,40.75,0.651,10246,0.189,0.000,3848,1799,784,781,787,0,0,0,0,0,0,25.71,24.95,24.47,8.60,13.10
$GC,1736,1.11,398.0,3847,1799,779,784,16.5,9.8,197,1751,0.00,2.60,5.30,0.511,8452,0.000,0.097,3848,3377,766,765,768,0,0,0,0,0,0,25.91,25.50,24.95,8.59,13.30
$GC,1813,1.22,485.3,3847,3377,765,768,10.5,6.8,211,1892,0.00,2.38,73.25,0.646,13318,0.000,0.074,3848,1803,465,464,467,0,0,0,0,0,0,25.85,25.77,24.31,8.57,13.33
$STATE,1908,end climb,SURFACE_DEPTH_REACHED
$STATE,1908,begin surface coast
$FINISH,0.6,1.021600
$STATE,1925,end surface coast,CONTROL_FINISHED_OK
$STATE,1926,begin surface
$SM_CCo,1943,13.90,0.598,0,0,414,500.22
$SM_GC,1.00,10.30,0.00,13.90,0.102,0.000,0.598,203,1802,414,-10.25,0.00,500.22,0,0,0,0,0,0,25.32,25.53,24.58
$IRIDIUM_FIX,4722.92,-12220.67,080317,215531
$TT8_MAMPS,0.02247,0.197736
$HUMID,13.41
$INTERNAL_PRESSURE,8.50029
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,3.3
$ALTIM_BOTTOM_PING,70.4,3.8
$24V_AH,24.15,0.871
$10V_AH,10.50,2.280
$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,25.225,25.075,493.625,13.900,186.025,22.856,14.432,113.530,0.750,0.000,22.348,536.575,448.681,600.897,618.860,32.790,0.000,930.126,0.000,439.733,0.000,7.160,0.000
$DEVICE_MAMPS,295.477,96.837,707.655,598.403,173.810,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,147.627,299.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323156
$DATA_FILE_SIZE,14071,229
$CAP_FILE_SIZE,37856,1
$CFSIZE,2047311872,2043478016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,71.93,1
$GPS,080317,231257,4743.552,-12223.486,3,0.9,19,16.3,0.0,0.0,9,4.7