version: 66.12
glider: 40
mission: 3
dive: 19
start: 3 9 117 13 21 30
data:
$ID,40
$MISSION,3
$DIVE,19
$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,44
$R_STBD_OVSHOOT,49
$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,-19.822441
$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
$GPS1,090317,131541,4742.2422,-12225.2705,4,1.1,15,16.3,0.0,0.0,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-68.1
$GPS2,090317,132101,4742.2412,-12225.2754,5,0.9,18,16.3,0.7,92.1,9,5.0
$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,321.4,4293,-13.2,-7.500,-17.95,2906
$D_GRID,158
$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,14,begin dive
$GC,49,-0.71,-146.6,191,1795,1071,1137,0.5,0.2,6,159,0.00,0.00,-107.60,0.156,16386,0.000,0.000,192,1795,2321,2276,2366,0,0,0,0,0,0,26.13,28.83,26.15,8.60,13.61
$GC,162,-0.71,-146.6,192,1795,2276,2366,3.2,-1.7,23,201,13.40,0.00,-19.33,0.174,18950,0.293,0.000,3324,1793,2642,2623,2662,0,0,0,0,0,0,25.37,25.56,25.48,8.71,13.02
$GC,264,-0.71,-146.6,3323,1793,2623,2662,11.9,-8.5,41,271,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1793,2642,2623,2662,0,0,0,0,0,0,26.04,26.05,26.05,8.74,12.90
$GC,334,-0.71,-146.6,3323,1793,2623,2662,18.2,-8.6,54,340,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1793,2642,2623,2662,0,0,0,0,0,0,26.16,26.17,26.17,8.73,13.49
$GC,404,-0.71,-146.6,3323,1793,2623,2662,24.4,-9.2,62,413,0.00,2.47,0.00,0.000,260,0.000,0.092,3315,3375,2642,2623,2662,0,0,0,0,0,0,26.25,25.95,26.27,8.73,12.86
$GC,600,-0.71,-146.6,3315,3375,2623,2662,37.7,-6.4,81,609,0.00,2.35,0.00,0.000,1030,0.000,0.072,3314,1804,2642,2623,2662,0,0,0,0,0,0,26.21,26.17,26.22,8.73,13.30
$GC,728,-0.71,-146.6,3314,1805,2623,2662,46.7,-7.5,94,738,0.00,2.42,0.00,0.000,516,0.000,0.089,3314,236,2642,2623,2662,0,0,0,0,0,0,26.51,26.21,26.51,8.73,12.98
$GC,1157,-0.71,-146.6,3314,235,2623,2662,71.0,-3.8,136,1164,0.00,2.35,0.00,0.000,1030,0.000,0.070,3306,1807,2642,2623,2662,0,0,0,0,0,0,26.49,26.42,26.51,8.73,13.06
$GC,1284,-0.71,-146.6,3305,1807,2623,2662,78.0,-6.2,149,1295,0.00,2.40,0.00,0.000,260,0.000,0.089,3295,3383,2642,2623,2662,0,0,0,0,0,0,26.71,26.41,26.72,8.73,13.85
$GC,1500,-0.71,-146.6,3293,3382,2622,2662,90.5,-8.8,170,1511,0.12,2.33,0.00,0.000,3078,0.194,0.070,3333,1784,2643,2623,2663,0,0,0,0,0,0,26.34,26.51,26.48,8.73,13.37
$GC,1630,-0.71,-146.6,3333,1785,2623,2662,103.0,-9.3,183,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1784,2642,2623,2662,0,0,0,0,0,0,26.78,26.79,26.79,8.74,13.81
$GC,1750,-0.71,-146.6,3333,1785,2623,2662,113.3,-8.4,195,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1784,2642,2623,2662,0,0,0,0,0,0,26.79,26.82,26.81,8.74,13.53
$GC,1870,-0.71,-146.6,3332,1784,2623,2662,121.9,-7.7,207,1880,0.00,2.42,0.00,0.000,260,0.000,0.092,3324,3374,2642,2623,2662,0,0,0,0,0,0,26.82,26.51,26.83,8.74,13.30
$GC,2017,-0.71,-146.6,3324,3373,2623,2662,133.1,-7.6,221,2026,0.00,2.28,0.00,0.000,1030,0.000,0.070,3324,1804,2642,2622,2662,0,0,0,0,0,0,26.65,26.59,26.66,8.73,13.22
$GC,2145,-0.71,-146.6,3324,1803,2623,2662,142.1,-6.8,234,2154,0.00,2.40,0.00,0.000,260,0.000,0.092,3316,3373,2642,2622,2662,0,0,0,0,0,0,26.85,26.55,26.86,8.74,13.37
$GC,2321,-0.71,-146.6,3315,3373,2623,2662,155.9,-8.5,251,2329,0.00,2.28,0.00,0.000,1030,0.000,0.070,3316,1799,2642,2623,2662,0,0,0,0,0,0,26.68,26.63,26.70,8.74,13.45
$STATE,2356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2357,begin apogee
$GC,2360,-0.20,0.0,3316,1799,2623,2662,158.0,-3.8,255,2479,0.55,0.00,111.28,0.772,10246,0.169,0.000,3496,1799,2137,2120,2154,0,0,0,0,0,0,26.46,24.58,24.18,8.73,13.02
$STATE,2480,end apogee,CONTROL_FINISHED_OK
$STATE,2480,begin climb
$GC,2481,0.71,146.6,3496,1799,2120,2154,161.2,0.0,267,2599,0.80,0.00,113.90,0.747,10758,0.139,0.000,3766,1799,1631,1628,1635,0,0,0,0,0,0,24.91,24.53,24.01,8.70,13.57
$GC,2718,0.82,235.6,3765,1799,1629,1635,151.3,4.4,291,2794,0.12,2.60,69.05,0.735,10500,0.119,0.094,3829,3366,1325,1324,1327,0,0,0,0,0,0,25.55,24.50,24.10,8.65,13.33
$GC,2894,0.82,235.6,3828,3366,1324,1327,136.5,10.0,308,2902,0.00,2.38,0.00,0.000,1030,0.000,0.070,3835,1800,1325,1324,1327,0,0,0,0,0,0,25.56,25.51,25.58,8.63,12.82
$GC,3021,0.82,235.6,3834,1800,1323,1327,125.1,8.7,321,3030,0.00,2.50,0.00,0.000,260,0.000,0.092,3835,3380,1325,1324,1327,0,0,0,0,0,0,26.03,25.75,26.05,8.62,12.90
$GC,3082,0.82,235.6,3834,3380,1324,1327,118.9,10.0,327,3092,0.00,2.38,0.00,0.000,1030,0.000,0.072,3835,1797,1325,1324,1327,0,0,0,0,0,0,25.95,25.88,25.96,8.62,13.26
$GC,3212,0.82,235.6,3835,1797,1324,1327,106.6,9.0,340,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,3836,1797,1325,1323,1327,0,0,0,0,0,0,26.28,26.29,26.29,8.62,12.94
$GC,3332,0.82,235.6,3835,1797,1324,1327,95.4,10.1,352,3337,0.00,2.47,0.00,0.000,260,0.000,0.092,3836,3380,1325,1324,1327,0,0,0,0,0,0,26.39,26.08,26.39,8.62,13.10
$GC,3406,0.82,235.6,3835,3380,1324,1327,87.1,11.8,359,3414,0.00,2.38,0.00,0.000,1030,0.000,0.070,3836,1796,1325,1324,1326,0,0,0,0,0,0,26.20,26.17,26.23,8.62,13.41
$GC,3534,0.82,235.6,3835,1796,1324,1327,73.5,10.4,372,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,3836,1797,1325,1324,1327,0,0,0,0,0,0,26.51,26.52,26.52,8.62,13.37
$GC,3654,0.82,235.6,3835,1797,1324,1327,62.8,7.7,384,3659,0.00,2.42,0.00,0.000,516,0.000,0.092,3847,244,1325,1324,1327,0,0,0,0,0,0,26.56,26.26,26.57,8.62,13.69
$GC,3808,0.82,235.6,3847,245,1324,1327,48.6,9.6,399,3816,0.00,2.33,0.00,0.000,1030,0.000,0.067,3847,1804,1325,1324,1327,0,0,0,0,0,0,26.40,26.38,26.42,8.62,13.85
$GC,3936,0.82,235.6,3846,1803,1323,1327,37.3,8.6,412,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,3847,1804,1325,1324,1327,0,0,0,0,0,0,26.67,26.68,26.67,8.62,13.02
$GC,4056,0.82,235.6,3846,1803,1324,1327,26.3,9.0,424,4061,0.00,2.40,0.00,0.000,260,0.000,0.092,3846,3366,1325,1324,1327,0,0,0,0,0,0,26.70,26.39,26.71,8.62,12.98
$GC,4143,0.82,235.6,3846,3367,1324,1326,17.7,8.9,434,4150,0.00,2.30,0.00,0.000,1030,0.000,0.072,3853,1798,1325,1324,1327,0,0,0,0,0,0,26.53,26.46,26.55,8.62,13.10
$GC,4213,0.84,254.6,3853,1798,1324,1326,12.2,6.8,447,4234,0.00,0.00,15.27,0.653,8198,0.000,0.000,3854,1798,1259,1257,1262,0,0,0,0,0,0,26.73,26.03,25.48,8.62,12.94
$GC,4297,0.84,254.6,3853,1798,1258,1262,4.1,8.3,462,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,3854,1798,1259,1257,1262,0,0,0,0,0,0,26.48,26.50,26.49,8.62,12.90
$STATE,4329,end climb,SURFACE_DEPTH_REACHED
$STATE,4329,begin surface coast
$FINISH,-0.4,1.022136
$STATE,4350,end surface coast,CONTROL_FINISHED_OK
$STATE,4350,begin surface
$SM_CCo,4367,34.22,0.665,0,0,1105,300.08
$SM_GC,2.30,9.75,0.00,34.22,0.092,0.000,0.665,207,1798,1105,-10.42,-0.14,300.08,0,0,0,0,0,0,26.24,26.54,24.98
$IRIDIUM_FIX,4722.92,-12225.08,090317,122435
$TT8_MAMPS,0.02247,0.187999
$HUMID,13.02
$INTERNAL_PRESSURE,8.54912
$TCM_TEMP,9.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,3.5
$ALTIM_BOTTOM_PING,100.3,3.5
$24V_AH,24.01,2.420
$10V_AH,10.52,2.778
$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,24.750,47.850,309.500,34.225,126.925,22.605,44.655,169.529,0.750,0.000,20.155,1329.764,1615.858,520.026,1224.106,56.351,0.000,1085.792,0.000,959.471,0.000,7.167,0.000
$DEVICE_MAMPS,292.994,94.354,772.213,665.444,173.810,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.482,622.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323228
$DATA_FILE_SIZE,31415,472
$CAP_FILE_SIZE,70899,0
$CFSIZE,2047311872,2042003456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,54.32,1
$GPS,090317,143605,4742.872,-12225.219,4,0.8,39,16.3,0.0,0.0,11,4.8