version: 66.12
glider: 40
mission: 3
dive: 11
start: 3 9 117 4 32 51
data:
$ID,40
$MISSION,3
$DIVE,11
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$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,-19.507048
$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,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
$GPS1,090317,042551,4743.7363,-12224.1562,3,1.0,22,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.5
$GPS2,090317,043222,4743.7417,-12224.1924,6,1.0,26,16.3,1.2,201.1,10,4.9
$SPEED_LIMITS,0.206,0.231
$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,205.4,1426,-13.2,-7.500,-17.95,2906
$D_GRID,173
$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,-0.71,-146.6,202,1785,1079,1130,0.8,0.0,6,155,0.00,0.00,-102.35,0.156,16386,0.000,0.000,202,1785,2249,2205,2294,0,0,0,0,0,0,26.25,28.83,26.27,8.59,13.93
$GC,158,-0.71,-146.6,202,1785,2206,2294,3.0,-1.1,22,205,13.23,2.60,-27.17,0.169,18948,0.291,0.089,3320,206,2643,2625,2662,0,0,0,0,0,0,25.45,25.65,25.56,8.70,13.85
$GC,415,-0.71,-146.6,3319,206,2625,2662,22.7,-9.0,68,425,0.00,2.42,0.00,0.000,1030,0.000,0.070,3312,1814,2644,2626,2662,0,0,0,0,0,0,26.13,26.06,26.14,8.73,13.45
$GC,544,-0.71,-146.6,3311,1814,2625,2662,33.7,-8.2,81,555,0.00,2.42,0.00,0.000,260,0.000,0.094,3300,3379,2643,2624,2662,0,0,0,0,0,0,26.43,26.13,26.44,8.73,13.49
$GC,579,-0.71,-146.6,3299,3378,2625,2662,36.3,-8.2,84,588,0.08,2.40,0.00,0.000,3078,0.196,0.072,3323,1771,2644,2626,2662,0,0,0,0,0,0,26.04,26.20,26.13,8.74,13.57
$GC,707,-0.71,-146.6,3323,1771,2626,2662,46.5,-8.2,97,717,0.00,2.50,0.00,0.000,260,0.000,0.092,3314,3381,2643,2625,2662,0,0,0,0,0,0,26.53,26.22,26.53,8.74,14.36
$GC,783,-0.71,-146.6,3314,3381,2625,2662,52.8,-8.0,104,791,0.00,2.35,0.00,0.000,1030,0.000,0.072,3315,1801,2643,2625,2662,0,0,0,0,0,0,26.33,26.32,26.36,8.73,13.30
$GC,911,-0.71,-146.6,3314,1801,2625,2662,63.3,-8.1,117,912,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1801,2643,2625,2662,0,0,0,0,0,0,26.62,26.63,26.63,8.73,13.33
$GC,1031,-0.71,-146.6,3314,1800,2626,2662,72.3,-7.7,129,1041,0.00,2.42,0.00,0.000,260,0.000,0.092,3305,3375,2643,2625,2662,0,0,0,0,0,0,26.66,26.36,26.67,8.74,13.53
$GC,1127,-0.71,-146.6,3304,3375,2625,2662,79.5,-7.5,138,1135,0.00,2.33,0.00,0.000,1030,0.000,0.072,3305,1799,2644,2625,2663,0,0,0,0,0,0,26.47,26.44,26.48,8.74,14.24
$GC,1255,-0.71,-146.6,3304,1799,2626,2662,89.7,-7.3,151,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1799,2643,2625,2662,0,0,0,0,0,0,26.72,26.74,26.74,8.74,13.37
$GC,1375,-0.71,-146.6,3304,1800,2627,2662,98.2,-7.0,163,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1799,2643,2625,2662,0,0,0,0,0,0,26.75,26.77,26.77,8.74,14.24
$GC,1495,-0.71,-146.6,3304,1799,2625,2662,106.7,-6.8,175,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1799,2643,2625,2662,0,0,0,0,0,0,26.78,26.79,26.79,8.73,13.41
$GC,1614,-0.71,-146.6,3304,1799,2625,2662,116.0,-8.5,187,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1799,2644,2626,2662,0,0,0,0,0,0,26.80,26.82,26.82,8.74,13.57
$GC,1735,-0.71,-146.6,3304,1799,2625,2662,124.5,-7.1,199,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1799,2643,2625,2662,0,0,0,0,0,0,26.82,26.84,26.83,8.73,13.61
$GC,1855,-0.71,-146.6,3304,1799,2625,2662,132.8,-7.2,211,1865,0.00,2.42,0.00,0.000,260,0.000,0.092,3296,3385,2643,2625,2662,0,0,0,0,0,0,26.84,26.53,26.85,8.73,14.00
$GC,1970,-0.71,-146.6,3295,3385,2625,2662,141.4,-7.6,222,1979,0.08,2.33,0.00,0.000,3078,0.186,0.070,3320,1797,2643,2625,2662,0,0,0,0,0,0,26.44,26.60,26.53,8.74,13.37
$GC,2099,-0.71,-146.6,3319,1797,2625,2662,150.6,-6.7,235,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1797,2644,2625,2663,0,0,0,0,0,0,26.86,26.89,26.88,8.73,13.61
$GC,2219,-0.71,-146.6,3319,1797,2625,2662,158.1,-6.7,247,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1797,2643,2625,2662,0,0,0,0,0,0,26.88,26.90,26.89,8.74,14.44
$GC,2339,-0.71,-146.6,3319,1797,2625,2662,165.7,-6.2,259,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1797,2643,2625,2662,0,0,0,0,0,0,26.89,26.91,26.91,8.73,13.65
$STATE,2457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2457,begin apogee
$GC,2461,-0.20,0.0,3320,1797,2625,2662,173.3,-6.5,271,2579,0.52,0.00,111.28,0.790,10246,0.166,0.000,3495,1797,2137,2120,2154,0,0,0,0,0,0,26.50,24.58,24.18,8.74,13.89
$STATE,2580,end apogee,CONTROL_FINISHED_OK
$STATE,2580,begin climb
$GC,2582,0.71,146.6,3495,1796,2120,2155,177.2,0.0,283,2702,0.80,2.67,112.88,0.760,10756,0.139,0.094,3766,248,1632,1628,1636,0,0,0,0,0,0,24.90,24.58,24.02,8.71,13.41
$GC,2786,0.77,199.1,3766,248,1629,1636,166.8,5.7,303,2837,0.08,2.40,41.15,0.742,11270,0.151,0.070,3811,1801,1450,1448,1453,0,0,0,0,0,0,25.42,25.46,24.24,8.66,12.74
$GC,2956,0.77,199.1,3811,1801,1448,1453,153.5,7.9,320,2966,0.00,2.50,0.00,0.000,260,0.000,0.094,3812,3372,1450,1448,1453,0,0,0,0,0,0,25.86,25.58,25.87,8.64,12.98
$GC,3072,0.77,199.1,3811,3372,1448,1454,143.7,8.8,331,3080,0.00,2.38,0.00,0.000,1030,0.000,0.072,3815,1809,1450,1448,1453,0,0,0,0,0,0,25.89,25.85,25.91,8.64,13.61
$GC,3199,0.77,199.1,3815,1809,1448,1453,133.3,7.8,344,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,3816,1809,1450,1448,1453,0,0,0,0,0,0,26.27,26.29,26.28,8.64,13.10
$GC,3319,0.77,199.1,3815,1809,1448,1454,124.2,7.7,356,3330,0.00,2.47,0.00,0.000,260,0.000,0.094,3816,3385,1451,1448,1454,0,0,0,0,0,0,26.38,26.08,26.39,8.64,13.30
$GC,3425,0.77,199.1,3815,3386,1448,1453,115.6,9.0,366,3434,0.00,2.38,0.00,0.000,1030,0.000,0.072,3816,1800,1450,1448,1453,0,0,0,0,0,0,26.22,26.20,26.25,8.64,13.14
$GC,3553,0.77,199.1,3815,1800,1448,1454,105.0,8.6,379,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,3816,1801,1450,1448,1453,0,0,0,0,0,0,26.53,26.54,26.54,8.64,13.45
$GC,3673,0.77,199.1,3816,1801,1448,1454,94.6,8.5,391,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,3816,1801,1450,1448,1453,0,0,0,0,0,0,26.58,26.60,26.60,8.64,13.85
$GC,3793,0.77,199.1,3816,1801,1448,1454,83.8,8.5,403,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,3816,1801,1450,1448,1453,0,0,0,0,0,0,26.63,26.65,26.65,8.64,13.73
$GC,3913,0.77,199.6,3815,1801,1448,1454,74.2,7.5,415,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3816,1801,1450,1447,1453,0,0,0,0,0,0,26.67,26.70,26.69,8.64,14.04
$GC,4033,0.80,220.6,3815,1800,1448,1453,66.1,6.8,427,4056,0.00,2.55,17.15,0.690,8452,0.000,0.097,3816,3376,1377,1375,1380,0,0,0,0,0,0,26.71,25.98,25.39,8.64,13.57
$GC,4171,0.80,220.6,3816,3375,1375,1381,55.1,7.9,440,4181,0.00,2.35,0.00,0.000,1030,0.000,0.072,3817,1802,1378,1375,1381,0,0,0,0,0,0,26.24,26.21,26.27,8.63,13.49
$GC,4300,0.80,220.6,3817,1802,1375,1381,45.3,7.5,453,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,3817,1802,1378,1375,1381,0,0,0,0,0,0,26.55,26.56,26.56,8.63,14.12
$GC,4420,0.81,228.4,3817,1802,1375,1381,36.3,7.2,465,4433,0.00,2.53,7.47,0.613,8452,0.000,0.097,3817,3379,1350,1348,1352,0,0,0,0,0,0,26.61,26.10,25.49,8.63,13.45
$GC,4543,0.81,228.4,3817,3379,1347,1353,26.4,8.2,477,4552,0.00,2.30,0.00,0.000,1030,0.000,0.072,3817,1806,1350,1347,1353,0,0,0,0,0,0,26.32,26.27,26.34,8.61,14.12
$GC,4672,0.82,241.1,3817,1806,1348,1353,16.5,7.1,494,4688,0.00,2.55,10.68,0.638,8452,0.000,0.094,3817,3385,1307,1306,1308,0,0,0,0,0,0,26.61,26.03,25.44,8.63,13.18
$GC,4752,0.82,241.1,3817,3385,1306,1309,10.4,7.7,508,4759,0.00,2.35,0.00,0.000,1030,0.000,0.072,3817,1796,1307,1306,1309,0,0,0,0,0,0,26.27,26.21,26.29,8.62,13.33
$GC,4821,0.90,305.0,3817,1796,1306,1310,6.5,5.2,521,4876,0.00,2.60,48.22,0.673,8708,0.000,0.092,3818,242,1085,1080,1091,0,0,0,0,0,0,26.51,25.29,24.75,8.62,13.26
$STATE,4887,end climb,SURFACE_DEPTH_REACHED
$STATE,4887,begin surface coast
$FINISH,-0.6,1.022129
$STATE,4908,end surface coast,CONTROL_FINISHED_OK
$STATE,4908,begin surface
$SM_CCo,4988,0.00,0.000,0,0,1085,306.18
$SM_GC,2.17,9.88,2.45,0.00,0.089,0.067,0.000,200,1804,1085,-10.43,-1.44,306.18,0,0,0,0,0,0,25.63,25.62,25.68
$IRIDIUM_FIX,4726.11,-12224.09,090317,030656
$TT8_MAMPS,0.020972,0.189497
$HUMID,13.85
$INTERNAL_PRESSURE,8.54912
$TCM_TEMP,9.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,3.4
$ALTIM_BOTTOM_PING,100.6,3.6
$24V_AH,24.02,1.655
$10V_AH,10.52,2.505
$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,24.650,58.675,348.825,0.000,129.525,26.023,41.068,227.558,0.750,0.000,27.631,1467.034,2076.411,506.916,1284.557,61.667,0.000,1113.535,0.000,958.393,0.000,7.164,0.000
$DEVICE_MAMPS,290.511,96.837,789.594,0.000,168.844,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.566,705.545,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323144
$DATA_FILE_SIZE,34766,535
$CAP_FILE_SIZE,78542,0
$CFSIZE,2047311872,2042757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.143,152.63,1
$GPS,090317,055701,4742.964,-12224.501,5,0.9,29,16.3,0.0,0.0,9,4.0