version: 66.12
glider: 40
mission: 3
dive: 16
start: 3 9 117 11 2 29
data:
$ID,40
$MISSION,3
$DIVE,16
$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,15
$R_STBD_OVSHOOT,53
$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,-19.494907
$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
$GPS1,090317,105646,4741.7671,-12225.6191,3,0.9,32,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-67.3
$GPS2,090317,110201,4741.7485,-12225.6084,6,0.9,27,16.3,0.0,0.0,10,4.2
$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,336.3,5279,-13.2,-7.500,-17.95,2906
$D_GRID,71
$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,50,-0.71,-146.6,211,1790,999,1029,0.7,-0.2,6,166,0.00,0.00,-113.47,0.156,16386,0.000,0.000,211,1791,2279,2234,2324,0,0,0,0,0,0,26.31,28.83,26.32,8.58,13.61
$GC,169,-0.71,-146.6,211,1791,2234,2324,3.1,-1.5,24,216,13.48,2.58,-24.67,0.171,18948,0.298,0.089,3322,209,2644,2625,2663,0,0,0,0,0,0,25.46,25.67,25.58,8.70,13.53
$GC,370,-0.71,-146.6,3322,209,2625,2662,18.4,-8.5,61,378,0.00,2.40,0.00,0.000,1030,0.000,0.070,3314,1802,2643,2625,2662,0,0,0,0,0,0,26.07,26.01,26.09,8.73,12.86
$GC,440,-0.71,-146.6,3314,1801,2625,2662,24.3,-7.9,69,444,0.00,2.45,0.00,0.000,260,0.000,0.092,3303,3381,2643,2625,2662,0,0,0,0,0,0,26.33,26.03,26.34,8.73,13.14
$GC,604,-0.71,-146.6,3302,3381,2625,2662,38.4,-8.6,85,612,0.00,2.40,0.00,0.000,1030,0.000,0.072,3303,1760,2644,2625,2663,0,0,0,0,0,0,26.27,26.21,26.28,8.73,13.14
$GC,732,-0.71,-146.6,3302,1760,2625,2663,49.4,-10.4,98,741,0.00,2.38,0.00,0.000,516,0.000,0.092,3303,237,2644,2625,2663,0,0,0,0,0,0,26.53,26.23,26.54,8.73,13.06
$GC,896,-0.71,-146.6,3302,237,2625,2663,64.8,-9.1,114,904,0.12,2.33,0.00,0.000,3078,0.209,0.067,3329,1812,2644,2625,2663,0,0,0,0,0,0,26.19,26.36,26.33,8.73,13.26
$STATE,992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,992,begin apogee
$GC,996,-0.20,0.0,3329,1812,2625,2663,71.3,-6.0,124,1114,0.50,0.00,111.50,0.713,10246,0.174,0.000,3492,1812,2137,2120,2155,0,0,0,0,0,0,26.22,24.75,24.21,8.74,13.73
$STATE,1115,end apogee,CONTROL_FINISHED_OK
$STATE,1115,begin climb
$GC,1117,0.71,146.6,3493,1812,2120,2155,75.7,0.0,136,1238,0.82,2.67,112.15,0.693,10756,0.144,0.094,3767,246,1632,1629,1635,0,0,0,0,0,0,24.90,24.61,24.08,8.70,13.14
$GC,1286,0.71,146.6,3767,246,1629,1635,64.6,10.1,153,1291,0.00,2.42,0.00,0.000,1030,0.000,0.067,3767,1808,1632,1629,1636,0,0,0,0,0,0,25.35,25.29,25.37,8.65,12.51
$GC,1412,0.84,250.7,3767,1808,1629,1635,59.4,3.8,165,1494,0.12,0.00,79.28,0.680,10246,0.127,0.000,3838,1808,1274,1274,1275,0,0,0,0,0,0,25.69,24.70,24.20,8.65,12.94
$GC,1612,0.84,250.7,3837,1808,1273,1276,44.2,7.6,185,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,3838,1808,1274,1273,1275,0,0,0,0,0,0,25.81,25.82,25.82,8.62,12.78
$GC,1731,0.84,250.7,3838,1808,1272,1275,33.5,9.1,197,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,3838,1808,1274,1273,1275,0,0,0,0,0,0,26.07,26.08,26.08,8.63,12.70
$GC,1851,0.84,250.7,3837,1808,1273,1275,21.6,10.0,209,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,3838,1808,1274,1273,1275,0,0,0,0,0,0,26.23,26.25,26.25,8.62,12.82
$GC,1975,0.84,250.7,3837,1808,1272,1275,10.0,8.6,230,1982,0.00,2.45,0.00,0.000,260,0.000,0.092,3838,3381,1274,1273,1275,0,0,0,0,0,0,26.35,26.05,26.36,8.62,13.06
$GC,2054,0.84,250.7,3837,3381,1273,1275,3.4,9.8,245,2062,0.00,2.35,0.00,0.000,1030,0.000,0.072,3843,1801,1274,1273,1275,0,0,0,0,0,0,26.22,26.15,26.23,8.62,13.06
$STATE,2072,end climb,SURFACE_DEPTH_REACHED
$STATE,2073,begin surface coast
$FINISH,-0.0,1.021874
$STATE,2095,end surface coast,CONTROL_FINISHED_OK
$STATE,2095,begin surface
$SM_CCo,2111,37.30,0.656,0,0,1105,300.08
$SM_GC,2.35,9.73,0.00,37.30,0.089,0.000,0.656,206,1801,1105,-10.42,-0.06,300.08,0,0,0,0,0,0,26.15,26.45,24.86
$IRIDIUM_FIX,4722.92,-12225.08,090317,100454
$TT8_MAMPS,0.02247,0.188748
$HUMID,13.02
$INTERNAL_PRESSURE,8.55888
$TCM_TEMP,9.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,3.4
$24V_AH,24.08,2.144
$10V_AH,10.53,2.682
$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,24.775,24.425,302.925,37.300,138.150,22.420,18.936,181.522,0.250,0.000,28.209,661.592,623.716,453.992,710.318,37.685,0.000,791.335,0.000,464.409,0.000,2.735,0.000
$DEVICE_MAMPS,297.960,94.354,712.621,655.512,171.327,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,167.704,331.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,14130,252
$CAP_FILE_SIZE,39466,0
$CFSIZE,2047311872,2042331136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.144,153.57,1
$GPS,090317,113930,4741.835,-12225.511,5,0.9,38,16.3,0.0,0.0,10,5.0