version: 66.12
glider: 40
mission: 3
dive: 13
start: 3 9 117 7 23 8
data:
$ID,40
$MISSION,3
$DIVE,13
$N_DIVES,0
$STOP_T,3101715
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,3700
$C_ROLL_CLIMB,3700
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,34
$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,-19.623638
$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
$GPS1,090317,071633,4742.4951,-12225.0693,3,1.0,16,16.3,0.5,241.1,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-65.1
$GPS2,090317,072234,4742.4634,-12225.1553,6,1.0,18,16.3,0.0,0.0,8,4.6
$SPEED_LIMITS,0.084,0.180
$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,349.5,3859,-26.2,-10.000,-29.09,1040
$D_GRID,183
$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,-1.13,-68.4,169,3697,598,650,0.2,-0.4,6,204,0.00,0.00,-150.77,0.156,16386,0.000,0.000,169,3698,2296,2247,2346,0,0,0,0,0,0,26.18,28.83,26.20,8.55,13.93
$GC,206,-1.13,-68.4,170,3698,2248,2347,3.1,-1.2,30,228,13.73,0.00,-4.82,0.238,18438,0.310,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,25.30,25.59,25.46,8.70,13.41
$GC,290,-1.13,-68.4,3189,3699,2342,2409,11.0,-9.6,45,296,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.03,26.04,26.04,8.71,13.33
$GC,359,-1.13,-68.4,3189,3699,2343,2409,16.1,-8.4,58,366,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2375,2343,2408,0,0,0,0,0,0,26.15,26.17,26.16,8.72,13.65
$GC,429,-1.13,-68.4,3189,3699,2343,2409,22.0,-7.5,68,430,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.25,26.27,26.26,8.72,13.37
$GC,549,-1.13,-68.4,3189,3699,2343,2409,32.1,-8.1,80,550,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.36,26.38,26.38,8.72,14.12
$GC,669,-1.13,-68.4,3189,3699,2343,2409,42.5,-8.9,92,670,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.46,26.47,26.47,8.72,13.41
$GC,789,-1.13,-68.4,3189,3699,2343,2409,52.2,-7.9,104,790,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.53,26.54,26.53,8.71,13.33
$GC,909,-1.13,-68.4,3189,3699,2343,2409,62.6,-9.4,116,910,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.58,26.60,26.59,8.72,13.57
$GC,1029,-1.13,-68.4,3189,3699,2343,2409,73.4,-8.4,128,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.63,26.65,26.65,8.72,13.45
$GC,1149,-1.13,-68.4,3189,3698,2343,2409,82.9,-7.5,140,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,3699,2376,2343,2409,0,0,0,0,0,0,26.67,26.68,26.68,8.72,13.30
$GC,1269,-1.13,-68.4,3189,3698,2343,2409,91.6,-7.0,152,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.70,26.72,26.72,8.72,13.57
$GC,1391,-1.13,-68.4,3189,3699,2344,2409,100.3,-7.3,164,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2375,2343,2408,0,0,0,0,0,0,26.71,26.73,26.72,8.72,13.41
$GC,1518,-1.13,-68.4,3189,3699,2343,2409,110.4,-8.7,177,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.76,26.78,26.77,8.72,13.57
$GC,1638,-1.13,-68.4,3189,3699,2343,2409,118.5,-5.9,189,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.79,26.79,26.80,8.72,13.49
$GC,1758,-1.13,-68.4,3189,3699,2343,2409,128.1,-8.9,201,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.80,26.82,26.82,8.72,13.69
$GC,1878,-1.13,-68.4,3189,3699,2343,2409,135.6,-4.7,213,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.83,26.84,26.84,8.72,14.40
$GC,1998,-1.13,-68.4,3189,3699,2343,2409,142.0,-5.5,225,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,3699,2376,2343,2409,0,0,0,0,0,0,26.84,26.86,26.85,8.72,13.49
$STATE,2107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2107,begin apogee
$GC,2111,-0.20,0.0,3190,3699,2343,2409,150.4,-8.2,236,2169,0.98,0.00,53.05,0.772,10246,0.219,0.000,3486,3699,2137,2112,2162,0,0,0,0,0,0,26.38,25.30,24.72,8.72,13.81
$STATE,2170,end apogee,CONTROL_FINISHED_OK
$STATE,2170,begin climb
$GC,2171,1.13,68.4,3485,3699,2112,2162,153.7,0.0,242,2230,1.05,0.00,53.88,0.750,10246,0.169,0.000,3824,3699,1900,1880,1921,0,0,0,0,0,0,25.34,24.75,24.20,8.70,13.77
$GC,2349,1.19,112.8,3823,3699,1880,1921,142.5,5.6,260,2389,0.00,0.00,35.08,0.737,10246,0.000,0.000,3824,3699,1747,1732,1763,0,0,0,0,0,0,25.89,24.90,24.35,8.68,12.98
$GC,2509,1.21,134.0,3823,3699,1732,1763,130.4,7.9,276,2529,0.00,0.00,17.67,0.713,10246,0.000,0.000,3823,3699,1675,1662,1688,0,0,0,0,0,0,25.92,25.19,24.63,8.67,13.18
$GC,2648,1.23,143.3,3823,3699,1662,1688,118.0,9.1,290,2659,0.00,0.00,8.80,0.651,10246,0.000,0.000,3824,3699,1642,1631,1654,0,0,0,0,0,0,26.01,25.44,24.86,8.66,12.94
$GC,2778,1.23,143.3,3823,3698,1630,1655,104.8,10.8,303,2779,0.00,0.00,0.00,0.000,2054,0.000,0.000,3824,3699,1642,1630,1655,0,0,0,0,0,0,26.12,26.13,26.13,8.66,13.57
$GC,2898,1.24,158.5,3823,3699,1630,1654,93.7,8.5,315,2918,0.00,0.00,12.85,0.678,10246,0.000,0.000,3824,3698,1591,1581,1601,0,0,0,0,0,0,26.28,25.61,25.05,8.65,13.73
$GC,3038,1.28,184.8,3823,3699,1581,1601,82.5,7.4,329,3061,0.00,0.00,21.10,0.695,10246,0.000,0.000,3823,3699,1500,1492,1509,0,0,0,0,0,0,26.24,25.41,24.87,8.64,14.08
$GC,3178,1.32,221.5,3823,3699,1491,1510,72.6,6.4,343,3210,0.00,0.00,29.15,0.695,10246,0.000,0.000,3824,3699,1373,1366,1381,0,0,0,0,0,0,26.12,25.19,24.65,8.64,13.02
$GC,3328,1.34,239.5,3823,3699,1366,1381,61.2,8.2,358,3350,0.00,0.00,14.90,0.663,10246,0.000,0.000,3823,3699,1312,1307,1317,0,0,0,0,0,0,26.01,25.34,24.80,8.62,13.41
$GC,3469,1.36,255.4,3823,3699,1306,1317,48.6,8.4,372,3489,0.00,0.00,13.43,0.651,10246,0.000,0.000,3824,3699,1257,1251,1263,0,0,0,0,0,0,26.08,25.28,24.89,8.63,13.45
$GC,3608,1.37,261.7,3823,3699,1251,1263,36.2,9.4,386,3619,0.00,0.00,6.03,0.561,10246,0.000,0.000,3823,3699,1236,1232,1241,0,0,0,0,0,0,26.13,25.62,25.07,8.61,13.06
$GC,3738,1.37,261.7,3823,3699,1231,1243,23.9,10.1,399,3739,0.00,0.00,0.00,0.000,2054,0.000,0.000,3822,3699,1237,1232,1243,0,0,0,0,0,0,26.22,26.23,26.23,8.61,13.26
$GC,3860,1.39,276.0,3823,3699,1232,1243,12.5,8.6,418,3875,0.00,0.00,12.55,0.636,10246,0.000,0.000,3823,3699,1184,1179,1190,0,0,0,0,0,0,26.35,25.71,25.17,8.61,13.89
$GC,3939,1.40,289.0,3823,3699,1179,1192,5.1,8.7,432,3952,0.00,0.00,10.93,0.618,10246,0.000,0.000,3824,3699,1141,1136,1146,0,0,0,0,0,0,26.22,25.62,25.09,8.62,13.57
$STATE,3977,end climb,SURFACE_DEPTH_REACHED
$STATE,3977,begin surface coast
$FINISH,0.5,1.022380
$STATE,3994,end surface coast,CONTROL_FINISHED_OK
$STATE,3994,begin surface
$SM_CCo,4011,9.57,0.603,0,0,1104,300.08
$SM_GC,3.00,10.23,0.00,9.57,0.114,0.000,0.603,210,3699,1104,-10.42,-0.03,300.08,0,0,0,0,0,0,25.81,26.12,25.02
$IRIDIUM_FIX,4722.92,-12225.08,090317,055808
$TT8_MAMPS,0.02247,0.186501
$HUMID,13.26
$INTERNAL_PRESSURE,8.55888
$TCM_TEMP,9.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,3.5
$ALTIM_BOTTOM_PING,100.3,3.5
$24V_AH,24.20,1.869
$10V_AH,10.52,2.579
$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,25.975,5.375,289.400,9.575,155.600,24.102,36.374,209.667,0.750,0.000,19.577,1179.286,1768.361,446.997,953.264,51.428,0.000,878.193,0.000,666.175,0.000,7.166,0.000
$DEVICE_MAMPS,310.375,76.973,772.213,603.369,238.368,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.068,583.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323212
$DATA_FILE_SIZE,27946,442
$CAP_FILE_SIZE,60851,0
$CFSIZE,2047311872,2042626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.267,214.77,1
$GPS,090317,083115,4742.013,-12225.769,16,0.8,40,16.3,0.0,0.0,10,4.9