version: 66.12
glider: 40
mission: 3
dive: 9
start: 3 9 117 2 16 56
data:
$ID,40
$MISSION,3
$DIVE,9
$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,3560
$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,44
$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,-19.602047
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$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
$GPS1,090317,021057,4744.0391,-12224.1992,4,0.8,39,16.3,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-61.7
$GPS2,090317,021606,4744.1025,-12224.2178,5,0.8,18,16.3,0.0,0.0,10,4.7
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,4744.103,-12400.559
$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,214.7,120000,-15.5,-10.000,-19.35,2767
$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,49,-0.80,-146.6,205,1794,380,444,0.0,0.2,6,219,0.00,0.00,-166.38,0.156,16386,0.000,0.000,205,1795,2290,2244,2337,0,0,0,0,0,0,26.17,28.83,26.19,8.53,13.53
$GC,221,-0.80,-146.6,205,1795,2244,2338,3.0,-1.4,32,263,13.30,2.47,-19.12,0.176,18948,0.293,0.089,3293,248,2642,2623,2662,0,0,0,0,0,0,25.36,25.56,25.48,8.70,13.02
$GC,549,-0.80,-146.6,3293,248,2623,2662,34.5,-9.6,80,558,0.00,2.33,0.00,0.000,1030,0.000,0.070,3284,1805,2642,2623,2662,0,0,0,0,0,0,26.15,26.11,26.16,8.74,13.41
$GC,678,-0.80,-146.6,3284,1806,2622,2662,45.8,-8.3,93,679,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1805,2642,2623,2662,0,0,0,0,0,0,26.46,26.47,26.47,8.74,13.57
$GC,798,-0.80,-146.6,3283,1805,2623,2662,56.2,-8.3,105,808,0.00,2.42,0.00,0.000,260,0.000,0.092,3272,3376,2642,2623,2662,0,0,0,0,0,0,26.53,26.22,26.54,8.74,13.65
$GC,985,-0.80,-146.6,3272,3376,2623,2662,73.1,-9.0,123,994,0.10,2.33,0.00,0.000,3078,0.201,0.072,3303,1793,2642,2623,2662,0,0,0,0,0,0,26.20,26.36,26.34,8.74,14.08
$GC,1113,-0.80,-146.6,3302,1792,2623,2662,83.6,-8.0,136,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1792,2642,2623,2662,0,0,0,0,0,0,26.65,26.67,26.67,8.73,14.16
$STATE,1200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1201,begin apogee
$GC,1204,-0.20,0.0,3302,1792,2623,2662,90.8,-7.9,145,1323,0.57,0.00,110.28,0.723,10246,0.169,0.000,3491,1792,2137,2120,2155,0,0,0,0,0,0,26.28,24.62,24.25,8.74,13.22
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1325,0.80,146.6,3490,1792,2119,2155,96.2,0.0,157,1447,0.93,2.62,111.70,0.703,10756,0.142,0.094,3805,253,1631,1626,1637,0,0,0,0,0,0,24.93,24.65,24.13,8.70,13.18
$GC,1515,0.94,259.0,3805,253,1626,1638,87.3,5.8,176,1607,0.08,2.42,85.38,0.688,11270,0.144,0.072,3850,1809,1245,1242,1248,0,0,0,0,0,0,25.40,25.42,24.15,8.66,13.77
$GC,1725,0.94,264.5,3849,1809,1242,1248,68.9,9.8,197,1737,0.00,2.60,5.80,0.546,8452,0.000,0.094,3850,3381,1226,1224,1229,0,0,0,0,0,0,25.80,25.39,24.84,8.62,13.18
$GC,1979,1.01,318.6,3850,3380,1224,1229,45.0,8.0,222,2030,0.00,2.38,41.25,0.668,9222,0.000,0.072,3858,1794,1040,1037,1043,0,0,0,0,0,0,26.04,25.98,24.67,8.62,13.30
$GC,2150,1.05,349.5,3857,1793,1037,1043,28.9,8.9,239,2179,0.00,0.00,24.90,0.648,12294,0.000,0.000,3857,1794,932,928,936,0,0,0,0,0,0,26.01,25.22,24.74,8.60,13.18
$GC,2302,1.07,366.2,3857,1793,928,934,12.8,9.4,260,2323,0.00,2.65,13.95,0.621,12548,0.000,0.099,3858,3383,875,871,879,0,0,0,0,0,0,26.03,25.45,24.93,8.59,13.37
$GC,2421,1.55,757.0,3857,3383,871,879,15.5,-4.4,282,2556,0.05,2.38,127.25,0.651,13318,0.251,0.072,3851,1800,349,345,353,0,0,0,0,0,0,25.70,25.82,24.20,8.59,13.37
$GC,2619,1.69,867.3,3850,1799,346,349,8.8,5.9,315,2627,0.00,2.60,0.00,0.000,4356,0.000,0.097,3851,3386,347,346,349,0,0,0,0,0,0,25.63,25.34,25.64,8.54,13.18
$GC,2679,1.87,1013.8,3850,3385,345,349,6.7,4.6,326,2687,0.00,2.40,0.00,0.000,5126,0.000,0.072,3850,1802,347,345,349,0,0,0,0,0,0,25.69,25.62,25.70,8.54,13.14
$GC,2708,1.39,628.1,3850,1802,345,348,5.3,6.0,331,2715,0.00,0.00,0.00,0.000,4102,0.000,0.000,3851,1802,347,345,349,0,0,0,0,0,0,25.94,25.94,25.94,8.54,13.22
$STATE,2776,end climb,SURFACE_DEPTH_REACHED
$STATE,2776,begin surface coast
$FINISH,-0.4,1.022064
$STATE,2813,end surface coast,CONTROL_FINISHED_OK
$STATE,2813,begin surface
$SM_CCo,2890,0.00,0.000,0,0,345,520.56
$SM_GC,1.54,9.85,0.00,0.00,0.089,0.000,0.000,184,1802,345,-10.46,-0.03,520.56,0,0,0,0,0,0,25.90,26.15,25.94
$IRIDIUM_FIX,4722.92,-12220.67,090317,011952
$TT8_MAMPS,0.02247,0.190995
$HUMID,13.37
$INTERNAL_PRESSURE,8.48076
$TCM_TEMP,9.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,3.3
$24V_AH,24.13,1.460
$10V_AH,10.52,2.419
$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,24.875,29.600,520.500,0.000,185.500,25.829,16.402,184.937,0.250,0.000,19.328,861.832,806.356,624.954,907.100,42.713,0.000,1096.570,0.000,661.694,0.000,2.736,0.000
$DEVICE_MAMPS,292.994,99.320,722.553,0.000,176.293,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.549,460.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323132
$DATA_FILE_SIZE,21035,351
$CAP_FILE_SIZE,49251,2
$CFSIZE,2047311872,2043019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,37.18,1
$GPS,090317,030555,4744.058,-12224.376,3,0.8,16,16.3,0.0,0.0,9,4.7