version: 66.12
glider: 40
mission: 3
dive: 17
start: 3 9 117 11 44 52
data:
$ID,40
$MISSION,3
$DIVE,17
$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,45
$R_STBD_OVSHOOT,48
$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,-19.775478
$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
$GPS1,090317,113930,4741.8354,-12225.5107,5,0.9,38,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.5
$GPS2,090317,114423,4741.8066,-12225.4922,5,0.9,16,16.3,0.6,98.2,10,5.0
$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,333.9,5139,-13.2,-7.500,-17.95,2906
$D_GRID,75
$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,14,begin dive
$GC,49,-0.71,-146.6,206,1800,1077,1132,0.7,0.7,6,159,0.00,0.00,-107.20,0.156,16386,0.000,0.000,206,1800,2321,2276,2366,0,0,0,0,0,0,26.17,28.83,26.18,8.59,13.37
$GC,162,-0.71,-146.6,206,1800,2276,2365,3.1,-2.1,23,203,13.45,2.58,-20.95,0.171,18948,0.295,0.089,3322,235,2643,2625,2662,0,0,0,0,0,0,25.39,25.60,25.51,8.70,13.81
$GC,406,-0.71,-146.6,3321,236,2625,2662,22.9,-8.2,66,410,0.00,2.38,0.00,0.000,1030,0.000,0.067,3314,1813,2644,2625,2663,0,0,0,0,0,0,26.08,26.03,26.09,8.73,13.65
$GC,537,-0.71,-146.6,3314,1814,2625,2662,34.9,-9.0,79,538,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1814,2643,2625,2662,0,0,0,0,0,0,26.39,26.40,26.40,8.73,12.90
$GC,657,-0.71,-146.6,3313,1814,2625,2662,45.2,-10.2,91,658,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1814,2643,2625,2662,0,0,0,0,0,0,26.47,26.48,26.48,8.73,13.18
$GC,777,-0.71,-146.6,3313,1814,2625,2663,56.9,-10.9,103,778,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1814,2644,2625,2663,0,0,0,0,0,0,26.53,26.55,26.55,8.73,13.06
$GC,897,-0.71,-146.6,3314,1813,2625,2663,66.9,-8.7,115,898,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1813,2643,2625,2662,0,0,0,0,0,0,26.59,26.60,26.60,8.73,13.45
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,999,-0.20,0.0,3314,1814,2625,2663,75.5,-8.1,125,1118,0.55,0.00,110.88,0.715,10246,0.169,0.000,3492,1814,2138,2122,2155,0,0,0,0,0,0,26.22,24.57,24.19,8.73,13.89
$STATE,1119,end apogee,CONTROL_FINISHED_OK
$STATE,1119,begin climb
$GC,1120,0.71,146.6,3491,1814,2121,2155,81.2,0.0,137,1238,0.82,0.00,112.57,0.693,10502,0.149,0.000,3765,1814,1632,1629,1635,0,0,0,0,0,0,24.87,24.58,24.07,8.70,13.53
$GC,1357,0.78,203.7,3764,1814,1629,1635,67.2,5.5,161,1409,0.08,0.00,44.40,0.678,10246,0.151,0.000,3809,1814,1434,1432,1437,0,0,0,0,0,0,25.58,24.87,24.32,8.65,12.67
$GC,1528,0.87,277.4,3808,1814,1432,1437,56.4,4.9,178,1591,0.00,2.62,56.47,0.673,8452,0.000,0.094,3809,3370,1180,1176,1184,0,0,0,0,0,0,25.86,24.82,24.29,8.64,13.26
$GC,1667,0.89,291.3,3808,3370,1176,1185,47.1,7.0,191,1685,0.00,2.40,11.88,0.618,9222,0.000,0.072,3813,1798,1133,1130,1137,0,0,0,0,0,0,25.53,25.46,24.64,8.61,13.14
$GC,1804,0.99,375.5,3812,1797,1130,1138,39.3,4.5,205,1875,0.05,0.00,65.93,0.663,10502,0.186,0.000,3851,1797,844,838,850,0,0,0,0,0,0,25.75,24.76,24.27,8.61,13.65
$GC,1994,0.99,375.5,3850,1798,838,844,21.5,10.6,224,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3850,1798,841,838,844,0,0,0,0,0,0,25.82,25.84,25.84,8.58,13.57
$GC,2116,0.99,375.5,3850,1798,838,843,10.3,8.5,246,2123,0.00,2.50,0.00,0.000,260,0.000,0.092,3851,3380,840,838,843,0,0,0,0,0,0,26.08,25.78,26.09,8.58,12.98
$STATE,2184,end climb,SURFACE_DEPTH_REACHED
$STATE,2184,begin surface coast
$FINISH,1.0,1.022392
$STATE,2196,end surface coast,CONTROL_FINISHED_OK
$STATE,2197,begin surface
$SM_CCo,2276,0.00,0.000,0,0,836,377.93
$SM_GC,1.65,10.18,2.42,0.00,0.109,0.070,0.000,212,1830,836,-10.42,1.19,377.93,0,0,0,0,0,0,25.89,25.94,25.96
$IRIDIUM_FIX,4722.92,-12217.96,090317,105749
$TT8_MAMPS,0.02247,0.188748
$HUMID,13.49
$INTERNAL_PRESSURE,8.51982
$TCM_TEMP,9.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,3.3
$24V_AH,24.07,2.240
$10V_AH,10.53,2.707
$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,25.125,14.900,402.125,0.000,128.150,23.987,19.114,168.642,0.250,0.000,17.639,654.301,763.341,472.769,666.679,36.585,0.000,796.407,0.000,441.958,0.000,2.736,0.000
$DEVICE_MAMPS,295.477,94.354,715.104,0.000,171.327,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,173.390,342.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323220
$DATA_FILE_SIZE,17571,261
$CAP_FILE_SIZE,37234,0
$CFSIZE,2047311872,2042232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.126,125.27,1
$GPS,090317,122335,4741.982,-12225.434,3,0.9,14,16.3,0.0,0.0,9,4.9