version: 66.12
glider: 40
mission: 3
dive: 5
start: 3 8 117 23 18 15
data:
$ID,40
$MISSION,3
$DIVE,5
$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,45
$R_STBD_OVSHOOT,42
$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
$GPS1,080317,231257,4743.5522,-12223.4863,3,0.9,19,16.3,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.6
$GPS2,080317,231725,4743.6128,-12223.4678,6,1.0,29,16.3,0.0,0.0,8,5.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,4743.613,-12359.793
$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,247.6,120000,-15.5,-10.000,-19.35,2767
$D_GRID,161
$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,49,-0.80,-146.6,200,1800,387,437,-0.1,0.1,6,217,0.00,0.00,-164.98,0.156,16386,0.000,0.000,201,1801,2277,2232,2322,0,0,0,0,0,0,26.19,28.83,26.20,8.54,13.53
$GC,220,-0.80,-146.6,201,1801,2232,2322,3.4,-2.4,32,261,13.12,2.50,-19.38,0.176,18948,0.295,0.089,3232,240,2643,2623,2663,0,0,0,0,0,0,25.32,25.56,25.47,8.71,13.57
$GC,586,-0.80,-146.6,3233,240,2624,2663,46.0,-11.5,80,595,0.00,2.35,0.00,0.000,1030,0.000,0.072,3225,1808,2643,2624,2663,0,0,0,0,0,0,26.21,26.15,26.22,8.75,14.32
$GC,716,-0.80,-146.6,3224,1808,2623,2663,60.0,-10.7,93,726,0.00,2.45,0.00,0.000,516,0.000,0.089,3225,241,2643,2623,2663,0,0,0,0,0,0,26.49,26.18,26.51,8.75,13.49
$GC,771,-0.80,-146.6,3224,241,2624,2663,66.2,-9.3,98,779,0.00,2.38,0.00,0.000,1030,0.000,0.072,3214,1811,2643,2623,2663,0,0,0,0,0,0,26.29,26.27,26.32,8.75,13.65
$STATE,811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,811,begin apogee
$GC,815,-0.20,0.0,3214,1811,2624,2663,70.5,-9.3,102,930,0.68,0.00,111.20,0.708,10246,0.194,0.000,3426,1812,2137,2119,2155,0,0,0,0,0,0,26.08,24.73,24.22,8.74,13.49
$STATE,931,end apogee,CONTROL_FINISHED_OK
$STATE,931,begin climb
$GC,932,0.80,146.6,3426,1811,2119,2156,77.2,0.0,114,1050,0.98,0.00,112.07,0.690,10758,0.164,0.000,3737,1811,1631,1625,1637,0,0,0,0,0,0,24.81,24.63,24.15,8.70,13.57
$GC,1169,0.92,247.7,3737,1812,1625,1638,65.3,6.3,138,1253,0.10,2.62,76.72,0.678,10500,0.146,0.094,3794,3374,1284,1282,1286,0,0,0,0,0,0,25.59,24.76,24.25,8.67,13.45
$GC,1405,1.01,316.4,3793,3374,1282,1287,48.2,7.5,161,1465,0.00,2.40,52.40,0.668,9222,0.000,0.072,3795,1799,1047,1044,1050,0,0,0,0,0,0,25.75,25.72,24.39,8.63,13.22
$GC,1584,1.06,356.6,3795,1799,1044,1050,34.6,8.5,179,1625,0.08,0.00,31.70,0.651,10246,0.149,0.000,3838,1798,908,905,912,0,0,0,0,0,0,25.69,25.05,24.56,8.61,13.33
$GC,1745,1.06,357.3,3837,1798,906,910,19.5,10.0,195,1752,0.00,2.53,0.00,0.000,260,0.000,0.097,3837,3380,908,906,910,0,0,0,0,0,0,25.95,25.67,25.96,8.59,13.37
$GC,1799,1.12,405.5,3837,3380,905,910,14.8,8.2,205,1847,0.00,2.38,39.40,0.648,9222,0.000,0.074,3840,1806,740,737,744,0,0,0,0,0,0,25.89,25.82,24.60,8.60,13.61
$GC,1909,1.20,471.6,3840,1806,737,741,6.2,7.6,224,1969,0.00,1.67,55.38,0.638,10755,0.000,0.087,3840,800,513,512,515,0,0,0,0,0,0,25.82,24.84,24.34,8.59,14.28
$STATE,1970,end climb,SURFACE_DEPTH_REACHED
$STATE,1971,begin surface coast
$FINISH,-0.7,1.010012
$STATE,1997,end surface coast,CONTROL_FINISHED_OK
$STATE,1997,begin surface
$SM_CCo,2016,25.20,0.621,0,0,416,500.22
$SM_GC,1.67,10.15,1.60,25.20,0.092,0.067,0.621,188,1835,416,-10.28,-1.07,500.22,0,0,0,0,0,0,25.33,25.30,24.46
$IRIDIUM_FIX,4722.92,-12222.38,080317,223540
$TT8_MAMPS,0.023219,0.18725
$HUMID,13.96
$INTERNAL_PRESSURE,8.50029
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,3.2
$ALTIM_BOTTOM_PING,70.5,3.6
$24V_AH,24.15,0.985
$10V_AH,10.49,2.304
$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,25.100,22.875,478.875,25.200,184.350,24.592,36.102,111.838,0.750,0.000,30.992,562.564,483.668,603.131,674.803,32.907,0.000,937.902,0.000,460.560,0.000,7.158,0.000
$DEVICE_MAMPS,295.477,96.837,707.655,620.750,176.293,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.844,311.365,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323084
$DATA_FILE_SIZE,14136,238
$CAP_FILE_SIZE,38184,1
$CFSIZE,2047311872,2043379712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138,42.28,1
$GPS,080317,235311,4743.654,-12223.713,4,0.8,20,16.3,0.0,0.0,11,4.9