version: 66.12
glider: 41
mission: 1
dive: 4
start: 3 8 117 21 19 48
data:
$ID,41
$MISSION,1
$DIVE,4
$N_DIVES,0
$STOP_T,3101715
$D_SURF,2
$D_FLARE,5
$D_TGT,150
$D_ABORT,6050
$D_NO_BLEED,200
$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,60
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,78979
$MASS_COMP,10116.5
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,280
$N_FILEKB,4
$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,3855
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3810
$ROLL_DEG,45
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,325
$VBD_MAX,3960
$C_VBD,2276
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$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,14
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.91282
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.5
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$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,0.004404949
$SEABIRD_T_H,0.00063597533
$SEABIRD_T_I,2.5248395e-05
$SEABIRD_T_J,3.0657955e-06
$SEABIRD_C_G,-9.8935871
$SEABIRD_C_H,1.1112591
$SEABIRD_C_I,-0.0028695636
$SEABIRD_C_J,0.00027461493
$SEABIRD_C_Z,2992.0601
$GPS1,080317,211252,4743.4160,-12223.7607,1,0.9,15,16.3,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-65.2
$GPS2,080317,211848,4743.4424,-12223.6680,5,0.9,18,16.3,0.0,0.0,9,4.7
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.193161,0.170527
$KALMAN_X,700.480469,324.784943,276.852356,-662.415710,373.817078
$KALMAN_Y,-235.647064,-142.462509,-122.011993,751.722412,-122.884941
$MHEAD_RNG_PITCHd_Wd,295.1,2216,-17.6,-10.000,-21.21,2209
$D_GRID,163
$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,15,-1.28,-146.6,203,2039,1308,1314,0.0,0.0,0,147,0.00,0.00,-129.80,0.149,16386,0.000,0.000,202,2040,2705,2749,2662,0,0,0,0,0,0,26.36,28.83,26.37,8.91,9.71
$GC,149,-1.28,-146.6,203,2039,2749,2662,6.2,-11.6,18,174,10.82,2.55,-3.10,0.293,18948,0.281,0.089,2850,471,2782,2841,2724,0,0,0,0,0,0,25.65,25.86,25.80,9.05,9.67
$GC,395,-1.28,-146.6,2850,471,2841,2724,43.3,-13.9,47,405,0.00,2.45,0.00,0.000,1030,0.000,0.077,2841,2052,2782,2841,2724,0,0,0,0,0,0,26.27,26.20,26.26,9.06,9.79
$GC,524,-1.28,-146.6,2840,2052,2841,2724,60.2,-11.8,60,535,0.00,2.50,0.00,0.000,260,0.000,0.094,2829,3634,2782,2841,2724,0,0,0,0,0,0,26.58,26.25,26.59,9.06,10.03
$GC,623,-1.28,-146.6,2828,3634,2841,2724,72.1,-11.9,69,634,0.08,2.40,0.00,0.000,3078,0.201,0.072,2851,2030,2782,2841,2724,0,0,0,0,0,0,26.20,26.38,26.29,9.06,9.63
$GC,753,-1.28,-146.6,2850,2030,2841,2724,87.4,-12.1,82,764,0.00,2.53,0.00,0.000,260,0.000,0.092,2841,3637,2782,2841,2724,0,0,0,0,0,0,26.70,26.37,26.71,9.06,9.79
$GC,831,-1.28,-146.6,2840,3637,2841,2724,96.9,-12.3,89,841,0.00,2.38,0.00,0.000,1030,0.000,0.074,2841,2054,2782,2840,2724,0,0,0,0,0,0,26.48,26.46,26.52,9.06,10.22
$GC,961,-1.28,-146.6,2840,2053,2841,2724,113.0,-12.6,102,971,0.00,2.47,0.00,0.000,260,0.000,0.092,2830,3642,2782,2841,2724,0,0,0,0,0,0,26.77,26.44,26.78,9.06,10.07
$GC,1125,-1.28,-146.6,2829,3642,2841,2724,130.7,-10.7,117,1135,0.00,2.38,0.00,0.000,1030,0.000,0.072,2830,2049,2782,2841,2724,0,0,0,0,0,0,26.58,26.55,26.60,9.07,9.91
$GC,1255,-1.28,-146.6,2829,2049,2841,2723,146.2,-12.8,130,1265,0.00,2.47,0.00,0.000,260,0.000,0.094,2819,3634,2783,2842,2724,0,0,0,0,0,0,26.85,26.50,26.86,9.07,10.34
$STATE,1298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1298,begin apogee
$GC,1305,-0.31,0.0,2819,1941,2841,2724,151.1,-10.7,134,1421,1.05,0.00,110.18,0.747,10246,0.176,0.000,3163,1940,2274,2298,2251,0,0,0,0,0,0,26.38,25.18,24.66,9.07,10.26
$STATE,1422,end apogee,CONTROL_FINISHED_OK
$STATE,1422,begin climb
$GC,1423,1.28,146.6,3162,1939,2299,2251,156.8,0.0,146,1541,1.45,0.00,111.10,0.725,10758,0.129,0.000,3660,1940,1770,1791,1750,0,0,0,0,0,0,25.26,24.94,24.45,9.02,9.79
$GC,1660,1.28,146.6,3659,1940,1792,1750,133.5,12.8,170,1670,0.00,2.58,0.00,0.000,260,0.000,0.092,3660,3532,1770,1791,1750,0,0,0,0,0,0,26.01,25.72,26.02,8.97,9.55
$GC,1793,1.28,146.6,3660,3532,1791,1750,115.3,13.5,182,1803,0.00,2.45,0.00,0.000,1030,0.000,0.074,3672,1958,1770,1791,1750,0,0,0,0,0,0,26.06,26.03,26.08,8.98,9.52
$GC,1922,1.28,146.6,3671,1958,1791,1749,100.7,10.6,195,1932,0.00,2.50,0.00,0.000,260,0.000,0.092,3672,3531,1770,1791,1750,0,0,0,0,0,0,26.44,26.12,26.46,8.97,9.71
$GC,1958,1.28,146.6,3671,3532,1791,1750,96.5,12.0,198,1967,0.00,2.45,0.00,0.000,1030,0.000,0.074,3683,1954,1770,1791,1750,0,0,0,0,0,0,26.25,26.22,26.27,8.97,9.83
$GC,2087,1.28,146.6,3683,1954,1791,1750,79.6,14.0,211,2097,0.00,2.53,0.00,0.000,260,0.000,0.094,3683,3539,1771,1792,1750,0,0,0,0,0,0,26.57,26.25,26.58,8.98,9.71
$GC,2285,1.28,146.6,3683,3539,1791,1750,52.5,14.1,229,2295,0.00,2.45,0.00,0.000,1030,0.000,0.074,3695,1948,1771,1791,1751,0,0,0,0,0,0,26.45,26.41,26.47,8.98,9.99
$GC,2414,1.28,146.6,3695,1947,1791,1750,35.6,13.3,242,2425,0.00,2.45,0.00,0.000,516,0.000,0.092,3707,376,1770,1791,1750,0,0,0,0,0,0,26.73,26.41,26.74,8.97,9.87
$GC,2535,1.28,146.6,3707,376,1792,1750,20.4,13.1,253,2548,0.00,2.42,0.00,0.000,1030,0.000,0.077,3707,1953,1770,1791,1750,0,0,0,0,0,0,26.52,26.49,26.55,8.96,9.83
$STATE,2674,end climb,SURFACE_DEPTH_REACHED
$STATE,2674,begin surface coast
$FINISH,0.0,1.008625
$STATE,2687,end surface coast,CONTROL_FINISHED_OK
$STATE,2687,begin surface
$SM_CCo,2704,96.97,0.646,0,0,1311,280.04
$SM_GC,2.19,9.15,0.15,96.97,0.087,0.124,0.646,206,2072,1311,-9.52,-0.79,280.04,0,0,0,0,0,0,26.52,26.54,24.96
$IRIDIUM_FIX,4722.92,-12225.08,080317,202414
$TT8_MAMPS,0.021721,0.215712
$HUMID,9.67
$INTERNAL_PRESSURE,8.8831
$TCM_TEMP,6.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,3.5
$ALTIM_BOTTOM_PING,100.6,3.2
$24V_AH,24.45,1.144
$10V_AH,10.39,1.231
$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,22.550,44.700,221.275,96.975,132.900,26.397,40.714,207.054,0.750,0.000,19.179,737.686,760.320,443.215,1189.882,49.753,32.443,911.569,0.000,903.360,0.000,7.162,0.000
$DEVICE_MAMPS,280.579,124.150,747.383,645.580,292.994,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.279,367.140,682.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322752
$DATA_FILE_SIZE,21151,280
$CAP_FILE_SIZE,49226,0
$CFSIZE,2047311872,2042003456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080317,220719,4743.724,-12223.924,2,0.9,15,16.3,0.0,0.0,9,4.9