version: 66.12
glider: 40
mission: 3
dive: 15
start: 3 9 117 10 10 34
data:
$ID,40
$MISSION,3
$DIVE,15
$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,57
$R_STBD_OVSHOOT,46
$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,-19.607307
$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
$GPS1,090317,100345,4741.7168,-12225.7148,4,0.8,19,16.3,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-66.4
$GPS2,090317,101006,4741.6875,-12225.7324,5,0.9,25,16.3,0.0,0.0,10,5.0
$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,352.7,5430,-13.2,-7.500,-17.95,2906
$D_GRID,82
$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,-0.71,-146.6,213,1778,1088,1122,0.6,1.5,6,160,0.00,0.00,-107.53,0.156,16386,0.000,0.000,213,1779,2303,2259,2347,0,0,0,0,0,0,26.22,28.83,26.23,8.59,13.61
$GC,162,-0.71,-146.6,213,1779,2259,2348,3.4,-1.6,23,209,13.82,2.50,-21.92,0.171,18948,0.305,0.089,3323,248,2643,2624,2663,0,0,0,0,0,0,25.41,25.63,25.52,8.71,13.33
$GC,387,-0.71,-146.6,3323,248,2625,2663,21.6,-8.9,64,391,0.00,2.35,0.00,0.000,1030,0.000,0.070,3316,1814,2643,2624,2663,0,0,0,0,0,0,26.08,26.01,26.09,8.73,13.33
$GC,519,-0.71,-146.6,3315,1815,2624,2663,30.6,-7.5,77,528,0.00,2.40,0.00,0.000,260,0.000,0.089,3304,3374,2644,2625,2663,0,0,0,0,0,0,26.39,26.09,26.39,8.73,13.33
$GC,633,-0.71,-146.6,3304,3374,2625,2663,39.7,-8.1,88,641,0.00,2.33,0.00,0.000,1030,0.000,0.070,3304,1797,2644,2625,2663,0,0,0,0,0,0,26.28,26.22,26.29,8.74,13.53
$GC,760,-0.71,-146.6,3304,1797,2625,2663,48.2,-5.5,101,770,0.00,2.42,0.00,0.000,516,0.000,0.089,3304,238,2643,2624,2663,0,0,0,0,0,0,26.54,26.23,26.55,8.73,13.22
$GC,916,-0.71,-146.6,3303,238,2624,2663,60.3,-8.8,116,923,0.12,2.33,0.00,0.000,3078,0.209,0.070,3332,1805,2644,2625,2663,0,0,0,0,0,0,26.19,26.36,26.33,8.74,13.22
$GC,1042,-0.71,-146.6,3331,1805,2625,2664,70.2,-6.5,129,1051,0.00,2.40,0.00,0.000,260,0.000,0.092,3323,3375,2644,2625,2663,0,0,0,0,0,0,26.65,26.34,26.65,8.73,13.18
$STATE,1222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1222,begin apogee
$GC,1228,-0.20,0.0,3323,1798,2625,2663,82.8,-9.6,147,1345,0.50,0.00,111.65,0.728,10246,0.166,0.000,3492,1798,2136,2119,2154,0,0,0,0,0,0,26.31,24.75,24.21,8.73,13.57
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1347,0.71,146.6,3492,1798,2119,2154,92.3,0.0,159,1469,0.82,2.65,112.60,0.708,10500,0.142,0.092,3771,3363,1632,1629,1635,0,0,0,0,0,0,24.87,24.60,24.06,8.70,13.30
$GC,1541,0.90,303.2,3771,3364,1629,1637,89.1,2.0,178,1671,0.15,2.40,119.32,0.695,11270,0.109,0.070,3847,1792,1093,1089,1097,0,0,0,0,0,0,25.39,25.41,24.03,8.66,12.74
$GC,1789,0.90,303.2,3847,1792,1089,1096,72.0,9.2,203,1798,0.00,2.55,0.00,0.000,260,0.000,0.094,3848,3376,1093,1089,1097,0,0,0,0,0,0,25.75,25.46,25.75,8.60,12.59
$GC,1892,0.90,303.2,3847,3376,1089,1097,62.9,8.5,213,1901,0.00,2.38,0.00,0.000,1030,0.000,0.070,3848,1802,1092,1089,1096,0,0,0,0,0,0,25.81,25.75,25.82,8.60,12.63
$GC,2021,0.90,303.2,3847,1802,1089,1096,51.1,8.4,226,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3848,1802,1092,1089,1096,0,0,0,0,0,0,26.18,26.20,26.20,8.61,12.94
$GC,2141,0.90,303.2,3847,1802,1089,1096,40.5,8.7,238,2152,0.00,2.47,0.00,0.000,260,0.000,0.094,3848,3376,1092,1089,1096,0,0,0,0,0,0,26.31,26.01,26.32,8.59,13.30
$GC,2186,0.90,303.2,3847,3376,1090,1096,36.2,11.6,242,2195,0.00,2.38,0.00,0.000,1030,0.000,0.070,3851,1795,1092,1089,1096,0,0,0,0,0,0,26.12,26.09,26.15,8.60,13.26
$GC,2315,0.93,325.1,3850,1795,1089,1096,25.8,6.7,255,2339,0.00,2.55,17.75,0.648,8452,0.000,0.094,3850,3370,1016,1013,1020,0,0,0,0,0,0,26.44,25.74,25.18,8.60,13.33
$GC,2387,0.93,325.1,3850,3369,1014,1020,20.4,9.7,262,2391,0.00,2.35,0.00,0.000,1030,0.000,0.070,3856,1800,1016,1013,1020,0,0,0,0,0,0,26.00,25.94,26.02,8.60,12.90
$GC,2514,0.93,325.1,3856,1799,1013,1020,12.3,7.6,284,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,3857,1799,1016,1013,1020,0,0,0,0,0,0,26.33,26.35,26.34,8.59,12.94
$GC,2584,0.93,325.1,3856,1799,1013,1020,4.6,9.1,297,2591,0.00,2.47,0.00,0.000,260,0.000,0.094,3857,3377,1016,1013,1020,0,0,0,0,0,0,26.39,26.09,26.41,8.60,13.37
$STATE,2611,end climb,SURFACE_DEPTH_REACHED
$STATE,2612,begin surface coast
$FINISH,0.2,1.022279
$STATE,2628,end surface coast,CONTROL_FINISHED_OK
$STATE,2628,begin surface
$SM_CCo,2707,0.00,0.000,0,0,1015,325.93
$SM_GC,2.27,9.77,2.40,0.00,0.089,0.070,0.000,211,1823,1015,-10.42,1.10,325.93,0,0,0,0,0,0,26.13,26.17,26.20
$IRIDIUM_FIX,4726.11,-12222.38,090317,083221
$TT8_MAMPS,0.02247,0.218708
$HUMID,13.14
$INTERNAL_PRESSURE,8.54912
$TCM_TEMP,9.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,3.4
$24V_AH,24.03,2.058
$10V_AH,10.52,2.657
$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,25.200,43.675,361.325,0.000,129.450,24.206,12.982,241.619,0.250,0.000,27.015,809.391,856.482,477.198,915.091,44.598,0.000,906.728,0.000,609.149,0.000,2.734,0.000
$DEVICE_MAMPS,305.409,94.354,727.519,0.000,171.327,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,203.137,400.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323184
$DATA_FILE_SIZE,17579,305
$CAP_FILE_SIZE,49062,0
$CFSIZE,2047311872,2042429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165,162.57,1
$GPS,090317,105646,4741.767,-12225.619,3,0.9,32,16.3,0.0,0.0,10,5.0