version: 66.12
glider: 40
mission: 3
dive: 14
start: 3 9 117 8 37 7
data:
$ID,40
$MISSION,3
$DIVE,14
$N_DIVES,0
$STOP_T,3101715
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,80
$T_MISSION,100
$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,-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,1803
$C_ROLL_CLIMB,1803
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,34
$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,-19.5958
$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,4
$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
$GPS1,090317,083115,4742.0127,-12225.7686,16,0.8,40,16.3,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-69.6
$GPS2,090317,083635,4741.9775,-12225.8076,6,0.9,20,16.3,0.0,0.0,9,4.9
$SPEED_LIMITS,0.206,0.231
$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,20.9,4947,-13.2,-7.500,-17.95,2906
$D_GRID,175
$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,-0.71,-146.6,216,1752,1076,1133,0.8,-0.1,6,160,0.00,0.00,-107.43,0.156,16386,0.000,0.000,216,1752,2303,2257,2350,0,0,0,0,0,0,26.17,28.83,26.18,8.59,13.57
$GC,163,-0.71,-146.6,216,1752,2257,2351,3.1,-1.0,23,204,13.50,2.53,-21.55,0.171,18948,0.298,0.092,3320,213,2644,2623,2665,0,0,0,0,0,0,25.37,25.57,25.48,8.70,13.96
$GC,897,-0.71,-146.6,3320,213,2624,2664,68.3,-8.5,113,907,0.00,2.40,0.00,0.000,1030,0.000,0.070,3312,1827,2644,2624,2665,0,0,0,0,0,0,26.39,26.32,26.40,8.74,13.33
$GC,1027,-0.71,-146.6,3311,1827,2624,2664,79.0,-8.4,126,1032,0.00,2.38,0.00,0.000,260,0.000,0.092,3301,3379,2644,2624,2664,0,0,0,0,0,0,26.63,26.32,26.64,8.74,13.53
$GC,1193,-0.71,-146.6,3301,3379,2624,2664,91.6,-7.4,142,1200,0.10,2.38,0.00,0.000,3078,0.206,0.072,3330,1762,2644,2624,2665,0,0,0,0,0,0,26.27,26.43,26.41,8.73,13.77
$GC,1319,-0.71,-146.6,3330,1762,2623,2665,99.1,-4.8,155,1333,0.00,2.35,0.00,0.000,516,0.000,0.092,3331,245,2644,2624,2665,0,0,0,0,0,0,26.71,26.40,26.72,8.73,13.49
$GC,1419,-0.71,-146.6,3331,245,2624,2665,105.0,-6.4,164,1426,0.00,2.30,0.00,0.000,1030,0.000,0.070,3325,1805,2644,2624,2665,0,0,0,0,0,0,26.54,26.48,26.55,8.73,13.65
$GC,1546,-0.71,-146.6,3324,1805,2624,2665,112.4,-5.6,177,1555,0.00,2.40,0.00,0.000,260,0.000,0.092,3315,3378,2644,2624,2664,0,0,0,0,0,0,26.76,26.45,26.77,8.74,14.04
$GC,1681,-0.71,-146.6,3315,3378,2624,2665,120.1,-6.1,190,1688,0.00,2.30,0.00,0.000,1030,0.000,0.072,3315,1798,2644,2624,2665,0,0,0,0,0,0,26.59,26.53,26.60,8.74,13.26
$GC,1807,-0.71,-146.6,3315,1798,2623,2665,127.3,-5.9,203,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1798,2644,2624,2665,0,0,0,0,0,0,26.80,26.82,26.82,8.73,13.61
$GC,1927,-0.71,-146.6,3315,1798,2625,2665,134.4,-6.3,215,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1798,2644,2624,2665,0,0,0,0,0,0,26.82,26.84,26.84,8.73,14.12
$GC,2047,-0.71,-146.6,3315,1798,2625,2665,141.2,-6.0,227,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1798,2644,2624,2665,0,0,0,0,0,0,26.84,26.86,26.85,8.73,13.57
$GC,2167,-0.71,-146.6,3315,1798,2624,2665,147.6,-4.9,239,2177,0.00,2.40,0.00,0.000,260,0.000,0.092,3307,3372,2644,2624,2664,0,0,0,0,0,0,26.85,26.55,26.86,8.74,14.04
$GC,2309,-0.71,-146.6,3306,3372,2624,2665,155.7,-5.7,253,2319,0.00,2.28,0.00,0.000,1030,0.000,0.070,3307,1801,2644,2624,2664,0,0,0,0,0,0,26.68,26.62,26.70,8.74,13.26
$GC,2439,-0.71,-146.6,3306,1801,2624,2664,163.6,-6.1,266,2444,0.00,2.38,0.00,0.000,516,0.000,0.089,3307,249,2644,2624,2665,0,0,0,0,0,0,26.89,26.58,26.90,8.73,13.45
$STATE,2710,end dive,NO_VERTICAL_VELOCITY
$STATE,2710,begin apogee
$GC,2716,-0.20,0.0,3306,1807,2624,2665,171.3,0.0,293,2832,0.50,0.00,111.80,0.785,10246,0.137,0.000,3494,1807,2136,2119,2154,0,0,0,0,0,0,26.55,24.71,24.14,8.74,13.33
$STATE,2834,end apogee,CONTROL_FINISHED_OK
$STATE,2834,begin climb
$GC,2835,0.71,146.6,3493,1807,2120,2155,172.7,0.0,305,2956,0.82,2.60,113.70,0.752,10500,0.142,0.094,3769,3375,1632,1628,1636,0,0,0,0,0,0,24.84,24.56,24.00,8.70,13.30
$GC,2995,0.71,146.6,3768,3376,1629,1637,163.3,11.0,321,3003,0.00,2.42,0.00,0.000,1030,0.000,0.070,3773,1814,1633,1629,1637,0,0,0,0,0,0,25.25,25.22,25.27,8.66,13.02
$GC,3123,0.71,146.6,3773,1814,1629,1637,152.7,8.8,334,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,3773,1814,1633,1629,1637,0,0,0,0,0,0,25.93,25.94,25.94,8.66,12.98
$GC,3243,0.71,146.6,3772,1814,1629,1636,141.9,8.1,346,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,3773,1813,1633,1629,1637,0,0,0,0,0,0,26.15,26.16,26.16,8.65,13.14
$GC,3363,0.76,186.5,3772,1813,1629,1637,133.4,6.1,358,3404,0.00,2.58,30.95,0.730,8452,0.000,0.097,3773,3372,1495,1491,1499,0,0,0,0,0,0,26.29,25.31,24.72,8.66,13.22
$GC,3429,0.76,186.5,3772,3371,1491,1499,128.8,11.4,364,3436,0.00,2.40,0.00,0.000,1030,0.000,0.072,3776,1790,1495,1492,1499,0,0,0,0,0,0,25.64,25.58,25.66,8.64,13.73
$GC,3556,0.78,203.4,3775,1789,1492,1499,119.4,6.9,377,3578,0.05,2.62,14.43,0.688,10500,0.181,0.094,3813,3378,1435,1433,1438,0,0,0,0,0,0,25.93,25.49,24.89,8.64,13.61
$GC,3621,0.78,203.4,3813,3378,1433,1440,113.4,12.1,383,3630,0.00,2.38,0.00,0.000,1030,0.000,0.072,3816,1803,1436,1433,1439,0,0,0,0,0,0,25.81,25.74,25.82,8.64,13.45
$GC,3750,0.78,203.4,3815,1803,1433,1440,103.1,8.6,396,3755,0.00,2.50,0.00,0.000,260,0.000,0.094,3816,3371,1436,1433,1439,0,0,0,0,0,0,26.22,25.91,26.23,8.64,13.85
$GC,3782,0.78,203.4,3816,3371,1433,1439,100.3,8.5,399,3786,0.00,2.35,0.00,0.000,1030,0.000,0.072,3818,1797,1435,1432,1439,0,0,0,0,0,0,26.06,26.00,26.08,8.64,13.37
$GC,3907,0.78,203.4,3817,1796,1433,1439,90.8,7.9,411,3918,0.00,2.47,0.00,0.000,260,0.000,0.094,3818,3373,1436,1433,1439,0,0,0,0,0,0,26.38,26.07,26.39,8.64,13.77
$GC,3980,0.78,203.4,3817,3373,1433,1439,84.2,9.0,418,3990,0.00,2.35,0.00,0.000,1030,0.000,0.072,3819,1790,1436,1433,1439,0,0,0,0,0,0,26.24,26.17,26.25,8.64,13.30
$GC,4110,0.78,203.4,3819,1790,1433,1439,73.2,8.5,431,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,3819,1790,1436,1433,1439,0,0,0,0,0,0,26.51,26.53,26.52,8.64,13.10
$GC,4230,0.78,203.4,3819,1790,1433,1440,63.7,8.0,443,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,3819,1790,1436,1433,1439,0,0,0,0,0,0,26.57,26.58,26.58,8.63,13.49
$GC,4350,0.78,203.4,3819,1790,1433,1439,53.7,8.4,455,4360,0.00,2.47,0.00,0.000,260,0.000,0.094,3819,3384,1436,1433,1439,0,0,0,0,0,0,26.62,26.31,26.63,8.63,12.98
$GC,4433,0.78,203.4,3819,3384,1433,1439,47.0,7.7,463,4437,0.00,2.33,0.00,0.000,1030,0.000,0.072,3819,1802,1436,1433,1439,0,0,0,0,0,0,26.46,26.39,26.47,8.63,13.06
$GC,4558,0.84,252.1,3819,1801,1433,1440,38.6,5.8,475,4603,0.00,2.55,36.90,0.690,8452,0.000,0.094,3819,3366,1268,1265,1271,0,0,0,0,0,0,26.68,25.58,25.02,8.63,13.57
$GC,4623,0.84,252.1,3819,3366,1265,1272,34.3,9.8,481,4631,0.00,2.35,0.00,0.000,1030,0.000,0.072,3819,1801,1268,1264,1272,0,0,0,0,0,0,25.84,25.77,25.86,8.62,13.61
$GC,4750,0.85,265.8,3819,1800,1265,1272,25.5,7.0,494,4764,0.00,0.00,11.80,0.636,8198,0.000,0.000,3819,1801,1220,1217,1224,0,0,0,0,0,0,26.26,25.65,25.10,8.62,13.26
$GC,4882,0.85,265.8,3819,1801,1216,1225,17.3,8.6,510,4889,0.00,2.47,0.00,0.000,260,0.000,0.094,3820,3370,1221,1217,1225,0,0,0,0,0,0,26.25,25.95,26.27,8.61,13.30
$GC,4952,0.90,299.0,3819,3369,1216,1225,11.8,6.3,523,4986,0.00,2.35,25.88,0.663,9222,0.000,0.072,3819,1792,1106,1102,1111,0,0,0,0,0,0,26.14,26.08,24.94,8.61,13.49
$GC,5048,0.90,299.0,3819,1792,1102,1110,5.6,8.5,540,5056,0.00,2.53,0.00,0.000,260,0.000,0.094,3818,3379,1106,1102,1111,0,0,0,0,0,0,26.05,25.75,26.06,8.61,12.90
$STATE,5108,end climb,SURFACE_DEPTH_REACHED
$STATE,5108,begin surface coast
$FINISH,0.9,1.022270
$STATE,5124,end surface coast,CONTROL_FINISHED_OK
$STATE,5124,begin surface
$SM_CCo,5143,0.00,0.000,0,0,1105,300.08
$SM_GC,2.83,9.77,2.42,0.00,0.092,0.067,0.000,213,1779,1105,-10.41,1.05,300.08,0,0,0,0,0,0,25.90,25.96,26.17
$IRIDIUM_FIX,4722.92,-12226.80,090317,071738
$TT8_MAMPS,0.02247,0.246421
$HUMID,13.37
$INTERNAL_PRESSURE,8.55888
$TCM_TEMP,9.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,3.5
$ALTIM_BOTTOM_PING,100.6,3.4
$24V_AH,24.00,1.962
$10V_AH,10.51,2.627
$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,24.750,75.550,345.450,0.000,128.975,25.434,14.233,192.388,0.750,0.000,21.784,1561.848,1984.459,518.603,1360.828,63.409,0.000,1166.276,0.000,1099.836,0.000,7.153,0.000
$DEVICE_MAMPS,297.960,96.837,784.628,0.000,171.327,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.831,730.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323148
$DATA_FILE_SIZE,34827,554
$CAP_FILE_SIZE,82508,0
$CFSIZE,2047311872,2042462208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.253,189.58,1
$GPS,090317,100345,4741.717,-12225.715,4,0.8,19,16.3,0.0,0.0,11,4.8