version: 66.12
glider: 40
mission: 3
dive: 12
start: 3 9 117 6 3 28
data:
$ID,40
$MISSION,3
$DIVE,12
$N_DIVES,0
$STOP_T,3101715
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,65
$T_MISSION,70
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-1
$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,300
$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,300
$C_ROLL_CLIMB,300
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,45
$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,-19.753868
$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,12
$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
$GPS1,090317,055701,4742.9639,-12224.5010,5,0.9,29,16.3,0.0,0.0,9,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.4
$GPS2,090317,060256,4742.9380,-12224.5557,5,0.9,16,16.3,0.7,341.8,9,4.5
$SPEED_LIMITS,0.287,0.288
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$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,331.3,2893,-9.6,-7.692,-14.98,4651
$D_GRID,177
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,49,-0.68,-244.4,201,306,1064,1103,0.5,1.0,6,165,0.00,0.00,-113.07,0.156,16386,0.000,0.000,201,306,2344,2300,2388,0,0,0,0,0,0,26.20,28.83,26.20,8.59,13.85
$GC,168,-0.68,-244.4,201,306,2300,2388,3.1,-2.2,24,221,14.27,0.00,-36.83,0.164,18438,0.313,0.000,3332,304,2981,2967,2995,0,0,0,0,0,0,25.36,25.63,25.50,8.71,13.53
$GC,284,-0.68,-244.4,3332,304,2967,2995,12.5,-8.9,44,290,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,305,2981,2967,2995,0,0,0,0,0,0,26.06,26.07,26.06,8.77,14.12
$GC,352,-0.68,-244.4,3332,305,2968,2995,18.9,-6.9,57,360,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,304,2981,2967,2995,0,0,0,0,0,0,26.17,26.19,26.19,8.76,13.57
$GC,418,-0.68,-244.4,3332,304,2967,2995,24.2,-8.9,64,419,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,304,2980,2966,2995,0,0,0,0,0,0,26.26,26.27,26.27,8.76,13.26
$GC,538,-0.68,-244.4,3332,304,2967,2995,34.4,-8.6,76,539,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,304,2981,2967,2995,0,0,0,0,0,0,26.38,26.39,26.39,8.77,14.12
$GC,658,-0.68,-244.4,3331,304,2967,2995,44.7,-8.4,88,659,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,304,2981,2967,2995,0,0,0,0,0,0,26.47,26.48,26.48,8.76,13.61
$GC,778,-0.68,-244.4,3332,304,2967,2995,55.2,-8.7,100,779,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,305,2981,2967,2995,0,0,0,0,0,0,26.54,26.55,26.55,8.77,13.37
$GC,898,-0.68,-244.4,3332,305,2967,2995,65.2,-8.2,112,899,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,304,2981,2967,2995,0,0,0,0,0,0,26.60,26.61,26.60,8.77,13.26
$GC,1018,-0.68,-244.4,3332,304,2967,2995,74.2,-6.8,124,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,305,2981,2967,2995,0,0,0,0,0,0,26.64,26.66,26.65,8.77,13.77
$GC,1138,-0.68,-244.4,3332,304,2968,2995,83.2,-7.7,136,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,304,2981,2967,2995,0,0,0,0,0,0,26.68,26.70,26.70,8.77,13.49
$GC,1258,-0.68,-244.4,3331,305,2967,2995,91.7,-7.7,148,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,304,2980,2966,2995,0,0,0,0,0,0,26.72,26.73,26.73,8.77,13.93
$GC,1378,-0.68,-244.4,3331,304,2967,2995,101.0,-8.0,160,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,304,2981,2967,2995,0,0,0,0,0,0,26.74,26.76,26.75,8.77,13.77
$GC,1498,-0.68,-244.4,3332,305,2967,2994,110.2,-7.7,172,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,305,2981,2967,2995,0,0,0,0,0,0,26.77,26.79,26.78,8.77,13.57
$GC,1618,-0.68,-244.4,3332,305,2967,2995,121.6,-10.2,184,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,305,2981,2967,2995,0,0,0,0,0,0,26.80,26.81,26.81,8.77,13.73
$GC,1738,-0.68,-244.4,3332,304,2967,2995,132.2,-8.6,196,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,304,2981,2967,2995,0,0,0,0,0,0,26.82,26.84,26.83,8.77,14.00
$GC,1858,-0.68,-244.4,3332,304,2967,2995,142.0,-7.9,208,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,305,2981,2967,2995,0,0,0,0,0,0,26.84,26.85,26.85,8.77,13.37
$STATE,1966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1966,begin apogee
$GC,1970,-0.20,0.0,3332,304,2967,2995,150.7,-8.2,219,2160,0.50,0.00,186.12,0.767,10246,0.181,0.000,3493,305,2137,2129,2146,0,0,0,0,0,0,26.42,24.58,24.04,8.77,13.69
$STATE,2161,end apogee,CONTROL_FINISHED_OK
$STATE,2161,begin climb
$GC,2162,0.68,244.4,3492,304,2129,2146,159.1,0.0,238,2359,0.82,0.00,188.70,0.737,10246,0.164,0.000,3755,304,1294,1295,1294,0,0,0,0,0,0,24.68,24.44,23.94,8.70,13.06
$GC,2478,0.74,290.5,3754,304,1296,1294,140.5,6.7,270,2520,0.08,0.00,36.30,0.713,10246,0.174,0.000,3784,304,1135,1132,1139,0,0,0,0,0,0,25.44,24.79,24.28,8.63,12.78
$GC,2638,0.74,290.5,3783,304,1134,1140,127.1,8.5,286,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,3784,305,1136,1133,1140,0,0,0,0,0,0,25.81,25.83,25.82,8.60,13.65
$GC,2759,0.76,301.9,3783,304,1133,1139,117.5,7.4,298,2771,0.00,0.00,10.18,0.648,8198,0.000,0.000,3783,304,1097,1094,1100,0,0,0,0,0,0,26.06,25.48,24.94,8.61,13.81
$GC,2888,0.76,301.9,3783,304,1094,1101,108.0,8.2,311,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,3784,304,1097,1094,1101,0,0,0,0,0,0,26.11,26.13,26.13,8.61,13.73
$GC,3008,0.76,301.9,3783,304,1094,1101,98.3,8.8,323,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,3783,304,1097,1094,1101,0,0,0,0,0,0,26.26,26.28,26.27,8.61,13.10
$GC,3128,0.76,301.9,3783,304,1094,1101,88.9,8.3,335,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,3784,304,1097,1094,1101,0,0,0,0,0,0,26.37,26.39,26.39,8.61,13.61
$GC,3248,0.76,301.9,3783,304,1094,1101,79.1,7.9,347,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,3783,304,1098,1095,1101,0,0,0,0,0,0,26.46,26.47,26.47,8.61,13.85
$GC,3368,0.76,301.9,3783,304,1094,1100,68.6,8.7,359,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,3783,304,1097,1094,1101,0,0,0,0,0,0,26.52,26.54,26.53,8.61,13.57
$GC,3488,0.77,317.1,3783,304,1094,1101,59.1,7.4,371,3508,0.00,0.00,12.50,0.653,8198,0.000,0.000,3783,304,1045,1041,1049,0,0,0,0,0,0,26.58,25.93,25.39,8.60,13.26
$GC,3628,0.84,372.0,3783,304,1041,1049,49.1,6.5,385,3680,0.08,0.00,43.35,0.683,10246,0.184,0.000,3819,304,855,848,863,0,0,0,0,0,0,26.17,25.13,24.76,8.60,13.30
$GC,3798,0.84,372.0,3818,304,848,859,35.6,8.0,402,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3819,304,853,849,858,0,0,0,0,0,0,26.08,26.10,26.09,8.58,13.41
$GC,3918,0.84,372.0,3818,304,848,858,25.6,8.3,414,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,3819,304,853,849,858,0,0,0,0,0,0,26.27,26.28,26.27,8.58,13.96
$GC,4040,0.84,372.0,3818,304,848,857,16.2,7.7,430,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,3819,304,853,849,857,0,0,0,0,0,0,26.39,26.40,26.39,8.58,13.57
$GC,4108,0.87,395.3,3818,304,848,857,11.5,7.2,443,4130,0.00,0.00,19.05,0.651,8198,0.000,0.000,3819,304,776,770,782,0,0,0,0,0,0,26.44,25.68,25.17,8.58,13.26
$GC,4192,0.92,435.3,3818,304,770,780,3.9,6.8,458,4212,0.00,0.00,17.90,0.636,10242,0.000,0.000,3819,304,705,697,713,0,0,0,0,0,0,26.20,28.83,26.20,8.57,13.18
$GC,4220,1.28,728.1,3818,304,697,712,3.1,3.1,462,4240,0.00,0.00,18.02,0.623,10242,0.000,0.000,3818,304,635,627,643,0,0,0,0,0,0,25.89,28.83,25.90,8.56,13.30
$STATE,4241,end climb,SURFACE_DEPTH_REACHED
$STATE,4241,begin surface coast
$FINISH,-0.8,1.006953
$STATE,4268,end surface coast,CONTROL_FINISHED_OK
$STATE,4268,begin surface
$SM_CCo,4345,0.00,0.000,0,0,632,437.19
$SM_GC,1.56,10.05,0.00,0.00,0.097,0.000,0.000,196,304,632,-10.47,0.11,437.19,0,0,0,0,0,0,25.54,25.81,25.61
$IRIDIUM_FIX,4722.92,-12220.67,090317,042704
$TT8_MAMPS,0.02247,0.18725
$HUMID,13.41
$INTERNAL_PRESSURE,8.51005
$TCM_TEMP,9.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,3.4
$ALTIM_BOTTOM_PING,100.4,3.4
$24V_AH,23.94,1.786
$10V_AH,10.53,2.544
$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,25.800,2.400,532.125,0.000,149.900,23.342,36.117,208.337,0.750,0.000,17.891,1192.900,1848.982,631.315,984.163,53.072,0.000,1082.947,0.000,704.434,0.000,7.167,0.000
$DEVICE_MAMPS,312.858,81.939,767.247,0.000,163.878,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.681,619.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323180
$DATA_FILE_SIZE,31323,470
$CAP_FILE_SIZE,60894,1
$CFSIZE,2047311872,2042724352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.186,186.00,1
$GPS,090317,071633,4742.495,-12225.069,3,1.0,16,16.3,0.5,241.1,8,4.8