version: 66.12
glider: 40
mission: 3
dive: 8
start: 3 9 117 1 24 53
data:
$ID,40
$MISSION,3
$DIVE,8
$N_DIVES,0
$STOP_T,3101715
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,270
$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,500
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,11
$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,-19.367367
$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,13
$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
$GPS1,090317,011853,4743.9121,-12224.1025,2,1.0,16,16.3,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-64.0
$GPS2,090317,012403,4744.0083,-12224.1133,5,1.1,19,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,HEADING
$TGT_LATLONG,4744.008,-12400.451
$TGT_RADIUS,1852.000
$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,210.6,120000,-15.5,-10.000,-19.35,2767
$D_GRID,174
$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,-0.80,-146.6,199,1822,380,445,0.6,-0.8,6,198,0.00,0.00,-145.43,0.156,16386,0.000,0.000,200,1822,2082,2038,2127,0,0,0,0,0,0,26.17,28.83,26.18,8.53,13.77
$GC,201,-0.80,-146.6,200,1822,2038,2127,3.1,-1.7,29,263,13.12,2.62,-40.45,0.164,18948,0.288,0.089,3296,238,2643,2625,2662,0,0,0,0,0,0,25.37,25.58,25.48,8.69,13.96
$GC,316,-0.80,-146.6,3295,238,2624,2662,10.4,-10.5,48,323,0.00,2.42,0.00,0.000,1030,0.000,0.072,3287,1842,2643,2625,2662,0,0,0,0,0,0,25.85,25.79,25.86,8.74,13.69
$GC,386,-0.80,-146.6,3286,1842,2625,2662,17.2,-7.2,61,394,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1842,2643,2625,2662,0,0,0,0,0,0,26.16,26.18,26.17,8.74,13.53
$GC,461,-0.80,-146.6,3286,1842,2625,2662,23.3,-5.8,71,471,0.00,2.55,0.00,0.000,516,0.000,0.089,3287,234,2643,2625,2662,0,0,0,0,0,0,26.27,25.96,26.28,8.74,13.61
$GC,593,-0.80,-146.6,3286,234,2625,2662,35.3,-9.6,84,598,0.00,2.38,0.00,0.000,1030,0.000,0.070,3277,1812,2643,2625,2661,0,0,0,0,0,0,26.21,26.15,26.22,8.74,13.06
$GC,726,-0.80,-146.6,3276,1813,2625,2662,47.0,-8.3,97,735,0.00,2.40,0.00,0.000,260,0.000,0.092,3265,3374,2643,2624,2662,0,0,0,0,0,0,26.48,26.18,26.50,8.74,13.26
$GC,879,-0.80,-146.6,3264,3374,2625,2662,59.7,-8.3,112,884,0.12,2.33,0.00,0.000,3078,0.196,0.072,3303,1791,2643,2625,2662,0,0,0,0,0,0,26.15,26.32,26.29,8.74,13.53
$GC,1012,-0.80,-146.6,3303,1791,2625,2662,70.7,-7.5,125,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1790,2643,2625,2662,0,0,0,0,0,0,26.63,26.64,26.63,8.74,13.37
$GC,1132,-0.80,-146.6,3302,1790,2625,2662,79.6,-7.4,137,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1790,2644,2626,2662,0,0,0,0,0,0,26.67,26.68,26.67,8.74,14.20
$GC,1252,-0.80,-146.6,3302,1791,2625,2662,87.7,-7.1,149,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1791,2643,2625,2662,0,0,0,0,0,0,26.70,26.72,26.71,8.74,13.57
$STATE,1290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1290,begin apogee
$GC,1294,-0.20,0.0,3302,1791,2625,2662,90.3,-6.8,153,1412,0.57,0.00,110.35,0.720,10246,0.174,0.000,3490,1790,2137,2119,2155,0,0,0,0,0,0,26.29,24.63,24.27,8.74,13.22
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1415,0.80,146.6,3490,1790,2119,2155,94.9,0.0,165,1533,0.93,0.00,112.40,0.700,10246,0.144,0.000,3798,1789,1631,1625,1637,0,0,0,0,0,0,24.94,24.62,24.14,8.70,13.10
$GC,1652,0.93,255.1,3798,1789,1626,1638,82.7,6.0,189,1742,0.10,0.00,82.78,0.688,10246,0.129,0.000,3853,1790,1256,1254,1259,0,0,0,0,0,0,25.63,24.54,24.21,8.66,12.74
$GC,1862,0.93,255.1,3853,1789,1255,1260,64.3,10.5,210,1872,0.00,2.55,0.00,0.000,260,0.000,0.094,3853,3380,1257,1255,1260,0,0,0,0,0,0,25.84,25.56,25.86,8.63,12.90
$GC,2109,0.94,256.4,3853,3380,1254,1260,40.0,10.0,234,2117,0.00,2.38,0.00,0.000,1030,0.000,0.072,3861,1805,1257,1254,1260,0,0,0,0,0,0,26.06,26.03,26.08,8.62,13.61
$GC,2237,0.99,298.2,3861,1805,1255,1260,28.3,8.5,247,2278,0.00,2.53,32.58,0.660,8708,0.000,0.094,3865,240,1109,1106,1113,0,0,0,0,0,0,26.39,25.29,24.93,8.62,13.61
$GC,2351,1.00,306.0,3864,239,1107,1113,17.3,9.7,260,2366,0.00,2.40,7.18,0.561,9222,0.000,0.072,3865,1811,1083,1080,1087,0,0,0,0,0,0,25.86,25.79,25.05,8.61,13.02
$GC,2429,1.05,347.4,3864,1811,1080,1088,10.0,8.5,274,2469,0.00,2.55,32.65,0.646,8452,0.000,0.097,3865,3381,940,936,945,0,0,0,0,0,0,26.09,25.06,24.72,8.61,14.08
$STATE,2530,end climb,SURFACE_DEPTH_REACHED
$STATE,2530,begin surface coast
$FINISH,0.4,1.021675
$STATE,2546,end surface coast,CONTROL_FINISHED_OK
$STATE,2546,begin surface
$SM_CCo,2565,124.15,0.646,0,0,415,500.22
$SM_GC,1.84,9.90,2.45,124.15,0.084,0.072,0.646,205,1796,415,-10.43,1.30,500.22,0,0,0,0,0,0,25.68,25.69,24.20
$IRIDIUM_FIX,4726.11,-12226.80,090317,003642
$TT8_MAMPS,0.02247,0.18725
$HUMID,12.82
$INTERNAL_PRESSURE,8.49052
$TCM_TEMP,9.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,3.3
$24V_AH,24.14,1.338
$10V_AH,10.50,2.386
$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,24.750,29.550,377.925,124.150,185.875,24.965,37.011,166.753,0.250,0.000,20.489,768.828,778.829,670.835,787.674,41.329,0.000,1049.152,0.000,543.439,0.000,2.736,0.000
$DEVICE_MAMPS,288.028,96.837,720.070,645.580,163.878,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.163,387.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323128
$DATA_FILE_SIZE,17602,295
$CAP_FILE_SIZE,47505,1
$CFSIZE,2047311872,2043117568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.199,25.80,1
$GPS,090317,021057,4744.039,-12224.199,4,0.8,39,16.3,0.0,0.0,10,4.7