version: 66.12
glider: 40
mission: 3
dive: 18
start: 3 9 117 12 29 6
data:
$ID,40
$MISSION,3
$DIVE,18
$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,10
$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,-19.470736
$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
$GPS1,090317,122335,4741.9824,-12225.4336,3,0.9,14,16.3,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.9
$GPS2,090317,122838,4741.9712,-12225.4121,5,0.9,19,16.3,0.0,0.0,9,4.3
$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,326.9,4819,-13.2,-7.500,-17.95,2906
$D_GRID,93
$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,-146.6,211,1795,820,851,0.9,-0.2,6,172,0.00,0.00,-119.38,0.156,16386,0.000,0.000,212,1795,2198,2153,2243,0,0,0,0,0,0,26.23,28.83,26.25,8.57,13.06
$GC,175,-0.71,-146.6,211,1795,2154,2243,3.1,-1.4,25,229,13.30,2.62,-29.80,0.166,18948,0.293,0.089,3323,200,2644,2625,2663,0,0,0,0,0,0,25.41,25.61,25.51,8.68,13.65
$GC,442,-0.71,-146.6,3322,200,2625,2663,27.0,-11.4,69,452,0.00,2.42,0.00,0.000,1030,0.000,0.067,3315,1811,2644,2625,2663,0,0,0,0,0,0,26.10,26.05,26.11,8.73,13.02
$GC,572,-0.71,-146.6,3314,1811,2626,2663,39.6,-9.7,82,577,0.00,2.42,0.00,0.000,260,0.000,0.089,3303,3384,2644,2625,2663,0,0,0,0,0,0,26.39,26.10,26.41,8.73,13.10
$GC,674,-0.71,-146.6,3303,3384,2625,2663,47.8,-6.6,92,679,0.00,2.40,0.00,0.000,1030,0.000,0.070,3303,1760,2644,2625,2663,0,0,0,0,0,0,26.28,26.21,26.29,8.73,13.02
$GC,806,-0.71,-146.6,3303,1760,2626,2663,58.7,-8.1,105,815,0.00,2.38,0.00,0.000,516,0.000,0.089,3303,234,2644,2625,2663,0,0,0,0,0,0,26.53,26.24,26.55,8.73,13.18
$GC,968,-0.71,-146.6,3303,234,2625,2663,71.1,-6.6,121,978,0.12,2.35,0.00,0.000,3078,0.206,0.070,3331,1818,2644,2625,2663,0,0,0,0,0,0,26.19,26.36,26.33,8.74,13.02
$GC,1098,-0.71,-146.6,3330,1818,2625,2662,77.4,-4.0,134,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1818,2644,2625,2663,0,0,0,0,0,0,26.65,26.66,26.65,8.74,13.33
$GC,1218,-0.71,-146.6,3330,1818,2625,2663,83.3,-6.4,146,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1818,2644,2625,2663,0,0,0,0,0,0,26.68,26.70,26.69,8.74,13.93
$GC,1337,-0.71,-146.6,3330,1818,2625,2663,92.0,-8.1,158,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1818,2644,2625,2663,0,0,0,0,0,0,26.72,26.73,26.72,8.74,13.18
$STATE,1356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1356,begin apogee
$GC,1360,-0.20,0.0,3330,1818,2625,2663,93.5,-7.7,160,1478,0.50,0.00,111.70,0.725,10246,0.166,0.000,3496,1818,2136,2119,2154,0,0,0,0,0,0,26.32,24.74,24.20,8.74,13.18
$STATE,1479,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1481,0.71,146.6,3496,1818,2119,2154,97.2,0.0,172,1599,0.80,0.00,112.75,0.705,10758,0.142,0.000,3766,1818,1632,1629,1635,0,0,0,0,0,0,24.89,24.57,24.06,8.70,13.22
$GC,1717,0.71,146.6,3766,1818,1629,1635,80.3,8.9,196,1727,0.00,2.58,0.00,0.000,516,0.000,0.094,3767,239,1632,1629,1635,0,0,0,0,0,0,25.79,25.50,25.80,8.65,12.74
$GC,1772,0.71,146.6,3766,239,1629,1635,76.3,10.7,201,1779,0.00,2.38,0.00,0.000,1030,0.000,0.067,3767,1801,1632,1629,1635,0,0,0,0,0,0,25.76,25.70,25.77,8.65,12.82
$GC,1899,0.77,195.3,3766,1801,1629,1635,68.4,5.8,214,1943,0.08,2.58,37.45,0.685,10500,0.151,0.094,3825,3369,1464,1462,1466,0,0,0,0,0,0,25.94,25.15,24.60,8.66,13.06
$GC,2091,0.77,195.3,3824,3369,1462,1466,47.9,9.8,233,2095,0.00,2.35,0.00,0.000,1030,0.000,0.070,3831,1804,1464,1462,1467,0,0,0,0,0,0,25.86,25.79,25.87,8.63,12.82
$GC,2223,0.77,195.3,3830,1803,1462,1466,37.0,8.8,246,2232,0.00,2.50,0.00,0.000,516,0.000,0.092,3834,241,1464,1462,1466,0,0,0,0,0,0,26.23,25.94,26.25,8.64,13.22
$GC,2284,0.77,195.3,3834,241,1462,1466,30.8,10.9,252,2288,0.00,2.35,0.00,0.000,1030,0.000,0.067,3835,1804,1464,1462,1466,0,0,0,0,0,0,26.11,26.05,26.13,8.63,13.41
$GC,2411,0.77,195.3,3834,1805,1462,1466,19.5,8.0,264,2418,0.00,2.42,0.00,0.000,260,0.000,0.092,3835,3370,1464,1462,1466,0,0,0,0,0,0,26.39,26.10,26.39,8.64,13.69
$GC,2551,0.82,234.5,3834,3370,1462,1466,8.9,6.1,291,2591,0.00,2.33,30.20,0.658,9222,0.000,0.072,3835,1796,1329,1328,1330,0,0,0,0,0,0,26.30,26.24,25.02,8.64,13.65
$STATE,2647,end climb,SURFACE_DEPTH_REACHED
$STATE,2647,begin surface coast
$FINISH,-0.3,1.000508
$STATE,2679,end surface coast,CONTROL_FINISHED_OK
$STATE,2679,begin surface
$SM_CCo,2696,49.15,0.653,0,0,1104,300.08
$SM_GC,2.27,9.82,0.00,49.15,0.089,0.000,0.653,191,1795,1104,-10.47,-0.23,300.08,0,0,0,0,0,0,25.87,26.15,24.56
$IRIDIUM_FIX,4722.92,-12227.78,090317,114032
$TT8_MAMPS,0.02247,0.18725
$HUMID,13.18
$INTERNAL_PRESSURE,8.54912
$TCM_TEMP,9.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,3.4
$24V_AH,24.06,2.328
$10V_AH,10.53,2.736
$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,24.625,34.075,292.100,49.150,149.175,23.671,37.804,161.257,0.250,0.000,20.317,843.227,885.254,480.953,822.220,42.290,0.000,872.767,0.000,583.933,0.000,2.734,0.000
$DEVICE_MAMPS,292.994,94.354,725.036,653.029,166.361,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.102,413.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323216
$DATA_FILE_SIZE,20998,314
$CAP_FILE_SIZE,47938,0
$CFSIZE,2047311872,2042134528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.134,98.25,1
$GPS,090317,131541,4742.242,-12225.271,4,1.1,15,16.3,0.0,0.0,8,4.9