version: 66.12
glider: 40
mission: 3
dive: 10
start: 3 9 117 3 12 20
data:
$ID,40
$MISSION,3
$DIVE,10
$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,60
$T_MISSION,80
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,38
$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,-19.559202
$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
$GPS1,090317,030555,4744.0581,-12224.3760,3,0.8,16,16.3,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-63.2
$GPS2,090317,031131,4744.1138,-12224.4053,5,1.1,21,16.3,1.6,61.7,8,4.9
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,183.9,2066,-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,-146.6,183,1799,329,358,-0.0,0.6,6,232,0.00,0.00,-179.35,0.156,16386,0.000,0.000,184,1799,2322,2276,2369,0,0,0,0,0,0,26.27,28.83,26.29,8.52,14.04
$GC,235,-0.80,-146.6,184,1799,2276,2370,3.4,-2.0,34,275,13.30,2.55,-17.23,0.179,18948,0.293,0.092,3289,242,2643,2625,2662,0,0,0,0,0,0,25.39,25.60,25.51,8.71,13.65
$GC,450,-0.80,-146.6,3288,242,2625,2663,24.4,-14.5,72,459,0.00,2.38,0.00,0.000,1030,0.000,0.070,3280,1817,2644,2626,2663,0,0,0,0,0,0,26.07,26.01,26.08,8.74,13.10
$GC,580,-0.80,-146.6,3280,1817,2625,2662,38.0,-8.3,85,590,0.00,2.40,0.00,0.000,260,0.000,0.092,3269,3374,2643,2625,2662,0,0,0,0,0,0,26.39,26.08,26.40,8.73,13.18
$GC,736,-0.80,-146.6,3268,3374,2625,2663,51.2,-8.2,100,746,0.08,2.30,0.00,0.000,3078,0.181,0.072,3293,1795,2644,2625,2663,0,0,0,0,0,0,26.10,26.24,26.18,8.74,13.89
$GC,864,-0.80,-146.6,3293,1795,2625,2663,60.8,-8.1,113,874,0.00,2.45,0.00,0.000,260,0.000,0.092,3284,3381,2644,2625,2663,0,0,0,0,0,0,26.56,26.26,26.58,8.73,13.57
$GC,1040,-0.80,-146.6,3283,3382,2625,2662,75.4,-9.4,130,1048,0.00,2.35,0.00,0.000,1030,0.000,0.072,3283,1795,2644,2625,2663,0,0,0,0,0,0,26.42,26.39,26.44,8.74,13.26
$GC,1168,-0.80,-146.6,3282,1795,2626,2663,86.1,-8.4,143,1178,0.00,2.42,0.00,0.000,260,0.000,0.092,3273,3375,2643,2625,2662,0,0,0,0,0,0,26.67,26.37,26.69,8.74,13.18
$GC,1183,-0.80,-146.6,3272,3375,2625,2663,87.8,-10.4,144,1191,0.00,2.33,0.00,0.000,1030,0.000,0.070,3273,1798,2644,2625,2663,0,0,0,0,0,0,26.46,26.44,26.48,8.74,14.20
$GC,1311,-0.80,-146.6,3273,1798,2625,2663,98.2,-8.7,157,1324,0.00,2.42,0.00,0.000,260,0.000,0.092,3262,3382,2644,2625,2663,0,0,0,0,0,0,26.71,26.41,26.72,8.74,13.37
$GC,1336,-0.80,-146.6,3262,3383,2625,2662,100.6,-9.6,159,1347,0.12,2.30,0.00,0.000,3078,0.191,0.072,3302,1802,2644,2625,2663,0,0,0,0,0,0,26.30,26.46,26.44,8.74,13.22
$GC,1467,-0.80,-146.6,3301,1802,2625,2663,110.3,-7.4,172,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1802,2644,2626,2663,0,0,0,0,0,0,26.74,26.76,26.76,8.74,13.37
$GC,1587,-0.80,-146.6,3301,1802,2625,2663,117.4,-6.1,184,1596,0.00,2.42,0.00,0.000,516,0.000,0.089,3302,244,2644,2625,2663,0,0,0,0,0,0,26.77,26.46,26.78,8.73,13.22
$GC,1631,-0.80,-146.6,3301,244,2625,2663,120.1,-4.9,188,1639,0.00,2.33,0.00,0.000,1030,0.000,0.067,3295,1807,2644,2625,2663,0,0,0,0,0,0,26.55,26.53,26.58,8.74,13.30
$GC,1759,-0.80,-146.6,3294,1807,2625,2662,127.6,-5.4,201,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1806,2644,2625,2663,0,0,0,0,0,0,26.80,26.82,26.82,8.74,13.53
$GC,1879,-0.80,-146.6,3294,1806,2625,2663,134.9,-6.0,213,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1807,2644,2625,2663,0,0,0,0,0,0,26.82,26.84,26.84,8.74,13.65
$GC,1999,-0.80,-146.6,3294,1807,2625,2662,142.9,-6.9,225,2009,0.00,2.38,0.00,0.000,260,0.000,0.092,3284,3372,2644,2625,2663,0,0,0,0,0,0,26.84,26.53,26.85,8.73,13.37
$GC,2113,-0.80,-146.6,3284,3372,2625,2662,151.1,-7.5,236,2123,0.00,2.28,0.00,0.000,1030,0.000,0.072,3284,1801,2644,2625,2663,0,0,0,0,0,0,26.66,26.60,26.67,8.73,13.18
$GC,2243,-0.80,-146.6,3284,1801,2625,2662,161.0,-7.6,249,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1801,2644,2625,2663,0,0,0,0,0,0,26.86,26.89,26.88,8.73,13.33
$GC,2363,-0.80,-146.6,3283,1800,2625,2662,169.8,-6.4,261,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1801,2643,2625,2662,0,0,0,0,0,0,26.88,26.90,26.89,8.74,14.36
$STATE,2411,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2411,begin apogee
$GC,2415,-0.20,0.0,3284,1801,2625,2662,173.2,-6.6,266,2533,0.65,0.00,111.12,0.785,10246,0.166,0.000,3498,1801,2137,2119,2155,0,0,0,0,0,0,26.48,24.58,24.18,8.74,13.49
$STATE,2534,end apogee,CONTROL_FINISHED_OK
$STATE,2535,begin climb
$GC,2536,0.80,146.6,3498,1801,2119,2154,177.0,0.0,278,2657,0.90,2.65,113.15,0.757,10500,0.139,0.094,3802,3362,1631,1626,1637,0,0,0,0,0,0,24.91,24.60,24.04,8.70,13.10
$GC,2718,0.88,213.6,3801,3363,1627,1639,165.6,7.5,296,2777,0.05,2.38,52.12,0.742,11270,0.181,0.072,3842,1806,1401,1398,1404,0,0,0,0,0,0,25.32,25.38,24.15,8.66,13.33
$GC,2895,0.93,256.0,3842,1806,1398,1405,149.7,8.4,314,2936,0.00,2.60,33.35,0.728,8708,0.000,0.092,3850,240,1254,1252,1256,0,0,0,0,0,0,25.82,24.79,24.39,8.64,12.86
$GC,3002,0.93,256.0,3850,240,1252,1257,139.6,10.8,324,3010,0.00,2.42,0.00,0.000,1030,0.000,0.070,3850,1815,1254,1252,1257,0,0,0,0,0,0,25.56,25.50,25.58,8.62,13.53
$GC,3130,0.94,262.5,3849,1815,1252,1257,126.5,9.8,337,3141,0.00,2.55,5.97,0.584,8452,0.000,0.094,3850,3376,1233,1232,1235,0,0,0,0,0,0,26.06,25.60,25.01,8.62,12.98
$GC,3244,0.94,262.5,3850,3375,1232,1237,114.1,10.3,348,3254,0.00,2.38,0.00,0.000,1030,0.000,0.072,3858,1790,1234,1232,1237,0,0,0,0,0,0,25.97,25.91,25.98,8.62,13.18
$GC,3374,0.96,276.5,3858,1791,1232,1237,101.5,9.5,361,3396,0.00,2.50,12.32,0.670,8708,0.000,0.094,3868,238,1184,1182,1187,0,0,0,0,0,0,26.31,25.70,25.13,8.62,13.33
$GC,3471,0.96,276.5,3868,238,1183,1188,90.8,11.9,370,3480,0.00,2.40,0.00,0.000,1030,0.000,0.072,3868,1805,1185,1183,1188,0,0,0,0,0,0,26.00,25.96,26.01,8.62,13.93
$GC,3599,0.96,276.5,3868,1805,1183,1188,76.7,10.8,383,3608,0.00,2.45,0.00,0.000,260,0.000,0.097,3868,3372,1185,1182,1188,0,0,0,0,0,0,26.34,26.04,26.36,8.62,13.10
$GC,3722,0.96,276.5,3868,3372,1182,1188,63.1,11.0,395,3731,0.00,2.35,0.00,0.000,1030,0.000,0.074,3875,1793,1185,1183,1188,0,0,0,0,0,0,26.25,26.18,26.27,8.62,14.00
$GC,3851,0.96,276.5,3873,1794,1183,1188,50.0,10.0,408,3861,0.00,2.50,0.00,0.000,260,0.000,0.099,3875,3380,1185,1182,1188,0,0,0,0,0,0,26.52,26.21,26.53,8.62,14.12
$GC,3906,0.96,276.5,3874,3380,1182,1188,43.9,14.3,413,3915,0.00,2.35,0.00,0.000,1030,0.000,0.072,3881,1805,1185,1183,1188,0,0,0,0,0,0,26.32,26.29,26.34,8.62,13.81
$GC,4034,0.96,276.5,3881,1805,1183,1188,30.1,11.0,426,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,3882,1805,1185,1182,1188,0,0,0,0,0,0,26.60,26.62,26.62,8.61,13.77
$GC,4155,0.97,284.2,3881,1805,1182,1188,18.0,9.7,439,4170,0.00,2.50,7.45,0.596,8452,0.000,0.099,3881,3383,1156,1153,1159,0,0,0,0,0,0,26.65,25.96,25.56,8.61,13.49
$STATE,4301,end climb,SURFACE_DEPTH_REACHED
$STATE,4301,begin surface coast
$FINISH,-0.2,1.021887
$STATE,4322,end surface coast,CONTROL_FINISHED_OK
$STATE,4322,begin surface
$SM_CCo,4341,12.55,0.641,0,0,1104,300.08
$SM_GC,3.21,9.75,2.40,12.55,0.089,0.070,0.641,203,1821,1104,-10.42,1.07,300.08,0,0,0,0,0,0,26.31,26.35,25.41
$IRIDIUM_FIX,4722.92,-12222.38,090317,021200
$TT8_MAMPS,0.02247,0.190246
$HUMID,13.96
$INTERNAL_PRESSURE,8.55888
$TCM_TEMP,9.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,3.3
$ALTIM_BOTTOM_PING,100.3,3.4
$24V_AH,24.04,1.558
$10V_AH,10.51,2.460
$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,24.850,67.725,335.500,12.550,196.575,23.060,16.322,205.714,0.750,0.000,22.283,1285.389,1633.494,597.452,1158.658,58.630,0.000,1176.914,0.000,882.671,0.000,7.151,0.000
$DEVICE_MAMPS,292.994,99.320,784.628,640.614,178.776,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.834,620.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323232
$DATA_FILE_SIZE,31336,471
$CAP_FILE_SIZE,74226,1
$CFSIZE,2047311872,2042888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124,71.06,1
$GPS,090317,042551,4743.736,-12224.156,3,1.0,22,16.3,0.0,0.0,10,5.0