version: 66.12
glider: 40
mission: 3
dive: 6
start: 3 8 117 23 59 21
data:
$ID,40
$MISSION,3
$DIVE,6
$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,42
$R_STBD_OVSHOOT,66
$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,-19.389059
$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
$GPS1,080317,235311,4743.6538,-12223.7129,4,0.8,20,16.3,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.0
$GPS2,080317,235831,4743.7339,-12223.7109,5,0.8,25,16.3,1.0,52.0,10,4.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,4743.734,-12400.040
$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,232.8,120000,-15.5,-10.000,-19.35,2767
$D_GRID,169
$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,-146.6,187,1836,383,440,0.4,0.3,6,205,0.00,0.00,-152.62,0.156,16386,0.000,0.000,188,1837,2150,2107,2194,0,0,0,0,0,0,26.19,28.83,26.20,8.53,14.32
$GC,208,-0.80,-146.6,188,1837,2107,2194,3.2,-2.1,30,261,13.05,2.55,-30.85,0.166,18948,0.293,0.087,3232,242,2642,2622,2662,0,0,0,0,0,0,25.33,25.56,25.49,8.70,13.37
$GC,588,-0.80,-146.6,3232,242,2623,2662,43.3,-10.6,82,597,0.00,2.33,0.00,0.000,1030,0.000,0.070,3223,1785,2642,2622,2662,0,0,0,0,0,0,26.18,26.15,26.20,8.74,14.24
$GC,717,-0.80,-146.6,3223,1784,2622,2662,56.2,-9.7,95,718,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1785,2642,2623,2662,0,0,0,0,0,0,26.48,26.50,26.49,8.74,13.77
$GC,836,-0.80,-146.6,3223,1785,2623,2663,68.2,-10.4,107,837,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1785,2642,2622,2662,0,0,0,0,0,0,26.55,26.57,26.57,8.74,13.41
$STATE,860,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,860,begin apogee
$GC,863,-0.20,0.0,3223,1785,2623,2662,70.0,-9.9,109,978,0.65,0.00,110.57,0.705,10246,0.189,0.000,3428,1786,2137,2119,2155,0,0,0,0,0,0,26.11,24.74,24.24,8.74,14.16
$STATE,979,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,981,0.80,146.6,3429,1785,2119,2155,76.9,0.0,121,1098,0.95,0.00,112.47,0.688,10246,0.159,0.000,3734,1785,1631,1626,1637,0,0,0,0,0,0,24.84,24.63,24.15,8.70,13.14
$GC,1217,0.93,255.5,3733,1785,1625,1638,67.3,6.0,145,1308,0.10,2.62,81.93,0.678,10500,0.142,0.094,3794,3379,1258,1256,1260,0,0,0,0,0,0,25.60,24.58,24.23,8.66,13.14
$GC,1516,1.01,320.6,3794,3379,1256,1262,45.7,7.6,174,1575,0.00,2.38,49.78,0.665,9222,0.000,0.072,3797,1797,1033,1032,1035,0,0,0,0,0,0,25.89,25.83,24.48,8.63,13.33
$GC,1694,1.09,386.2,3796,1797,1031,1035,32.4,7.6,192,1755,0.10,2.62,51.58,0.653,10500,0.139,0.099,3852,3372,806,803,810,0,0,0,0,0,0,25.70,24.91,24.41,8.60,13.57
$GC,1833,1.16,437.3,3853,3373,803,808,19.1,8.1,207,1886,0.00,2.40,42.58,0.641,9222,0.000,0.072,3858,1798,629,627,632,0,0,0,0,0,0,25.60,25.54,24.39,8.58,12.98
$GC,1948,1.25,516.1,3858,1797,628,631,8.4,7.1,227,2021,0.00,2.65,67.35,0.633,12804,0.000,0.092,3860,248,359,355,364,0,0,0,0,0,0,25.72,24.75,24.26,8.57,13.65
$STATE,2026,end climb,SURFACE_DEPTH_REACHED
$STATE,2027,begin surface coast
$FINISH,-0.3,1.021697
$STATE,2048,end surface coast,CONTROL_FINISHED_OK
$STATE,2048,begin surface
$SM_CCo,2128,0.00,0.000,0,0,359,517.07
$SM_GC,1.78,10.20,2.47,0.00,0.092,0.067,0.000,192,1802,359,-10.28,-1.44,517.07,0,0,0,0,0,0,25.27,25.22,25.32
$IRIDIUM_FIX,4722.92,-12225.08,080317,231356
$TT8_MAMPS,0.02247,0.188748
$HUMID,13.26
$INTERNAL_PRESSURE,8.49052
$TCM_TEMP,9.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,3.3
$ALTIM_BOTTOM_PING,70.0,4.4
$24V_AH,24.15,1.104
$10V_AH,10.51,2.330
$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,25.050,20.025,516.250,0.000,183.475,22.716,36.544,169.638,0.750,0.000,26.719,564.890,558.654,605.767,728.158,36.297,0.000,975.246,0.000,471.652,0.000,7.161,0.000
$DEVICE_MAMPS,292.994,99.320,705.172,0.000,166.361,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,157.486,317.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323128
$DATA_FILE_SIZE,14055,243
$CAP_FILE_SIZE,37288,1
$CFSIZE,2047311872,2043314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164,29.02,1
$GPS,090317,003537,4743.732,-12223.906,2,0.8,16,16.3,0.0,0.0,10,4.7