version: 66.12
glider: 41
mission: 1
dive: 12
start: 3 9 117 5 18 23
data:
$ID,41
$MISSION,1
$DIVE,12
$N_DIVES,0
$STOP_T,3091715
$D_SURF,2
$D_FLARE,4
$D_TGT,180
$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,30
$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,0.00117757
$HD_B,0.021182699
$HD_C,9.0851299e-06
$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,290
$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,2060
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,44
$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,-15.097817
$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,1
$ALTIM_SENSITIVITY,5
$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
$GPS1,090317,051058,4744.0972,-12223.7822,2,1.2,31,16.3,0.0,0.0,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.4
$GPS2,090317,051702,4744.0830,-12223.8057,5,1.2,41,16.3,0.0,0.0,8,4.2
$SPEED_LIMITS,0.208,0.218
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.156027,-0.152028
$KALMAN_X,3366.200195,271.235565,-70.150635,-3101.621094,189.899139
$KALMAN_Y,1372.404541,203.052887,423.905273,-549.933228,-159.424927
$MHEAD_RNG_PITCHd_Wd,209.4,2185,-10.2,-12.000,-28.85,2674
$D_GRID,170
$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,-0.82,-146.6,191,2089,1249,1207,1.3,-0.8,6,183,0.00,0.00,-130.45,0.146,16386,0.000,0.000,191,2089,2556,2599,2514,0,0,0,0,0,0,26.49,28.83,26.51,8.89,9.91
$GC,186,-0.82,-146.6,191,2090,2599,2514,4.4,-7.0,24,217,11.80,2.60,-10.70,0.186,18948,0.293,0.087,2999,484,2781,2848,2714,0,0,0,0,0,0,25.75,25.94,25.86,9.02,9.55
$GC,332,-0.82,-146.6,2998,484,2848,2714,19.2,-8.0,50,340,0.00,2.47,0.00,0.000,1030,0.000,0.074,2992,2056,2781,2848,2714,0,0,0,0,0,0,26.18,26.15,26.20,9.05,9.75
$GC,409,-0.82,-146.6,2991,2057,2848,2715,24.9,-7.7,58,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2057,2781,2848,2715,0,0,0,0,0,0,26.48,26.49,26.48,9.04,9.55
$GC,529,-0.82,-146.6,2991,2056,2848,2715,34.3,-8.3,70,539,0.00,2.50,0.00,0.000,260,0.000,0.092,2984,3645,2781,2848,2714,0,0,0,0,0,0,26.56,26.25,26.58,9.05,10.11
$GC,576,-0.82,-146.6,2983,3645,2848,2714,37.9,-8.0,74,585,0.00,2.45,0.00,0.000,1030,0.000,0.072,2984,2048,2781,2848,2715,0,0,0,0,0,0,26.36,26.34,26.39,9.05,9.63
$GC,705,-0.82,-146.6,2983,2048,2847,2714,48.2,-7.6,87,715,0.00,2.50,0.00,0.000,260,0.000,0.089,2974,3640,2781,2848,2715,0,0,0,0,0,0,26.65,26.33,26.66,9.05,9.52
$GC,795,-0.82,-146.6,2974,3640,2848,2714,55.6,-8.4,95,805,0.08,2.42,0.00,0.000,3078,0.181,0.074,2999,2064,2781,2848,2714,0,0,0,0,0,0,26.29,26.44,26.38,9.05,9.67
$GC,924,-0.82,-146.6,2998,2064,2847,2714,65.2,-7.3,108,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2064,2781,2848,2715,0,0,0,0,0,0,26.73,26.74,26.74,9.05,10.54
$GC,1044,-0.82,-146.6,2998,2064,2848,2714,73.7,-7.4,120,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2064,2781,2848,2714,0,0,0,0,0,0,26.77,26.79,26.78,9.05,9.99
$GC,1164,-0.82,-146.6,2998,2064,2848,2715,82.5,-7.1,132,1175,0.00,2.45,0.00,0.000,260,0.000,0.092,2998,3635,2781,2848,2715,0,0,0,0,0,0,26.80,26.49,26.82,9.05,9.63
$GC,1242,-0.82,-146.6,2997,3635,2848,2714,87.6,-6.1,139,1252,0.00,2.35,0.00,0.000,1030,0.000,0.074,2997,2060,2781,2848,2715,0,0,0,0,0,0,26.60,26.57,26.62,9.05,9.71
$GC,1372,-0.82,-146.6,2997,2060,2848,2714,96.1,-6.3,152,1383,0.00,2.45,0.00,0.000,260,0.000,0.092,2987,3637,2781,2848,2714,0,0,0,0,0,0,26.84,26.53,26.86,9.05,9.79
$GC,1443,-0.82,-146.6,2987,3637,2848,2715,100.5,-6.4,158,1453,0.00,2.35,0.00,0.000,1030,0.000,0.072,2988,2058,2781,2848,2715,0,0,0,0,0,0,26.64,26.61,26.65,9.05,9.67
$GC,1572,-0.82,-146.6,2987,2058,2848,2714,109.0,-6.7,171,1582,0.00,2.45,0.00,0.000,260,0.000,0.092,2986,3635,2781,2848,2715,0,0,0,0,0,0,26.88,26.58,26.89,9.05,9.83
$GC,1726,-0.82,-146.6,2986,3635,2848,2714,120.1,-7.3,185,1736,0.00,2.35,0.00,0.000,1030,0.000,0.072,2986,2057,2781,2848,2715,0,0,0,0,0,0,26.67,26.66,26.70,9.05,9.87
$STATE,1814,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1814,begin apogee
$GC,1818,-0.31,0.0,2986,1955,2848,2714,126.6,-6.7,194,1936,0.50,0.00,109.60,0.718,10246,0.159,0.000,3163,1955,2275,2300,2251,0,0,0,0,0,0,26.53,25.11,24.73,9.04,9.55
$STATE,1937,end apogee,CONTROL_FINISHED_OK
$STATE,1938,begin climb
$GC,1939,0.82,146.6,3163,1955,2300,2251,130.1,0.0,206,2057,1.00,0.00,111.40,0.698,10758,0.127,0.000,3513,1955,1769,1795,1744,0,0,0,0,0,0,25.34,24.91,24.44,9.01,9.71
$GC,2175,0.99,287.6,3512,1955,1795,1744,118.1,6.6,230,2290,0.17,2.72,106.90,0.683,10500,0.112,0.094,3596,3538,1284,1304,1265,0,0,0,0,0,0,25.71,24.98,24.49,8.96,9.48
$GC,2473,0.99,287.6,3596,3539,1304,1266,82.2,14.1,258,2482,0.00,2.47,0.00,0.000,1030,0.000,0.074,3607,1969,1285,1304,1266,0,0,0,0,0,0,25.89,25.86,25.91,8.91,9.52
$GC,2602,0.99,287.6,3606,1969,1304,1265,62.3,15.3,271,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1969,1285,1304,1266,0,0,0,0,0,0,26.30,26.32,26.31,8.91,9.52
$GC,2722,0.99,287.6,3606,1969,1304,1265,46.2,12.5,283,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1969,1284,1304,1265,0,0,0,0,0,0,26.42,26.44,26.44,8.91,9.83
$GC,2842,0.99,287.6,3605,1969,1304,1266,30.3,12.9,295,2852,0.00,2.47,0.00,0.000,260,0.000,0.092,3607,3537,1284,1304,1265,0,0,0,0,0,0,26.51,26.20,26.53,8.90,9.87
$GC,2925,0.99,287.6,3606,3537,1304,1265,18.8,14.2,303,2933,0.00,2.45,0.00,0.000,1030,0.000,0.074,3616,1953,1284,1304,1265,0,0,0,0,0,0,26.34,26.30,26.36,8.91,9.63
$GC,2997,0.99,287.6,3616,1954,1304,1265,9.5,13.2,316,3005,0.00,2.55,0.00,0.000,260,0.000,0.094,3616,3533,1284,1304,1265,0,0,0,0,0,0,26.60,26.30,26.61,8.90,10.34
$GC,3038,0.99,287.6,3616,3532,1304,1266,3.7,13.1,323,3047,0.10,2.42,0.00,0.000,5126,0.209,0.077,3598,1964,1284,1304,1265,0,0,0,0,0,0,26.19,26.35,26.29,8.91,9.75
$STATE,3053,end climb,SURFACE_DEPTH_REACHED
$STATE,3053,begin surface coast
$FINISH,0.2,1.003462
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3070,begin surface
$SM_CCo,3086,3.05,0.345,0,0,1276,290.21
$SM_GC,2.53,8.95,0.15,3.05,0.089,0.117,0.345,211,2074,1276,-9.50,-0.93,290.21,0,0,0,0,0,0,26.34,26.36,25.70
$IRIDIUM_FIX,4726.11,-12226.80,090317,041152
$TT8_MAMPS,0.021721,0.195489
$HUMID,9.71
$INTERNAL_PRESSURE,8.8538
$TCM_TEMP,6.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,3.6
$ALTIM_BOTTOM_PING,100.5,3.3
$24V_AH,24.44,1.893
$10V_AH,10.46,1.715
$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,22.600,44.725,327.900,3.050,141.150,24.708,21.441,208.891,0.750,0.000,42.437,859.848,880.353,403.195,1297.552,54.983,33.471,930.684,0.000,1005.898,0.000,7.176,0.000
$DEVICE_MAMPS,292.994,119.184,717.587,345.137,186.225,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.260,429.990,799.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,24524,328
$CAP_FILE_SIZE,57766,1
$CFSIZE,2047311872,2041217024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,061045,4743.430,-12224.009,1,0.9,17,16.3,0.0,0.0,9,4.6