version: 66.12
glider: 41
mission: 1
dive: 15
start: 3 9 117 9 3 25
data:
$ID,41
$MISSION,1
$DIVE,15
$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,80
$T_MISSION,80
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,3275
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$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,51
$R_STBD_OVSHOOT,16
$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,-15.121598
$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,18
$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
$GPS1,090317,085605,4742.3564,-12225.2012,22,0.8,26,16.3,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-67.9
$GPS2,090317,090202,4742.3105,-12225.2354,4,0.8,13,16.3,0.0,0.0,10,4.8
$SPEED_LIMITS,0.089,0.099
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.034810,0.093086
$KALMAN_X,1576.588989,-10.798237,62.967838,-2934.343262,-940.083130
$KALMAN_Y,-648.124390,-68.909790,-513.528381,-604.103271,-900.755798
$MHEAD_RNG_PITCHd_Wd,4.2,4157,-19.8,-7.500,-37.04,1210
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,51,-1.40,-65.1,198,2027,1260,1290,1.5,-1.0,6,177,0.00,0.08,-121.55,0.149,16390,0.000,0.139,199,2082,2501,2545,2457,0,0,0,0,0,0,26.33,25.89,25.82,8.89,10.26
$GC,180,-1.43,-86.3,198,2082,2545,2457,3.9,-5.7,23,204,11.18,2.58,-4.20,0.253,18948,0.295,0.084,2810,487,2574,2632,2517,0,0,0,0,0,0,25.63,25.84,25.78,9.01,9.71
$GC,781,-1.43,-86.3,2810,487,2632,2517,77.2,-10.7,88,792,0.00,2.40,0.00,0.000,1030,0.000,0.074,2801,2064,2574,2632,2517,0,0,0,0,0,0,26.41,26.39,26.44,9.03,10.22
$GC,911,-1.43,-86.3,2800,2064,2632,2517,91.6,-10.5,101,921,0.00,2.45,0.00,0.000,260,0.000,0.089,2789,3639,2574,2632,2517,0,0,0,0,0,0,26.70,26.40,26.71,9.03,9.67
$GC,1361,-1.43,-86.3,2788,3639,2632,2517,137.4,-9.0,142,1372,0.00,2.40,0.00,0.000,1030,0.000,0.074,2789,2049,2574,2631,2517,0,0,0,0,0,0,26.63,26.58,26.65,9.03,10.22
$GC,1491,-1.43,-90.1,2788,2049,2632,2517,148.6,-7.2,155,1493,0.00,0.00,-0.17,0.891,16390,0.000,0.000,2789,2049,2601,2663,2539,0,0,0,0,0,0,26.85,26.38,25.53,9.03,9.67
$GC,1612,-1.43,-90.1,2788,2049,2663,2540,158.8,-9.5,167,1622,0.00,2.47,0.00,0.000,260,0.000,0.089,2778,3641,2601,2663,2540,0,0,0,0,0,0,26.87,26.56,26.89,9.03,9.67
$STATE,1710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1710,begin apogee
$GC,1716,-0.33,0.0,2777,1950,2663,2540,170.3,-11.3,176,1792,1.20,0.00,71.53,0.747,10246,0.189,0.000,3158,1950,2274,2305,2244,0,0,0,0,0,0,26.43,25.52,24.98,9.03,9.71
$STATE,1793,end apogee,CONTROL_FINISHED_OK
$STATE,1793,begin climb
$GC,1795,1.43,90.1,3158,1949,2304,2244,172.8,0.0,184,1872,1.60,0.00,69.32,0.728,10246,0.124,0.000,3719,1949,1963,1986,1940,0,0,0,0,0,0,25.57,25.03,24.51,9.00,10.03
$GC,1991,1.43,90.1,3718,1950,1986,1940,153.1,11.8,204,2001,0.00,2.55,0.00,0.000,260,0.000,0.092,3719,3537,1963,1986,1940,0,0,0,0,0,0,25.99,25.70,26.01,8.97,9.79
$GC,2621,1.43,90.1,3718,3537,1986,1939,70.7,13.2,262,2632,0.00,2.38,0.00,0.000,1030,0.000,0.074,3730,1972,1963,1986,1940,0,0,0,0,0,0,26.42,26.39,26.44,8.97,10.18
$GC,2751,1.43,90.1,3730,1972,1986,1940,55.9,11.0,275,2762,0.00,2.47,0.00,0.000,516,0.000,0.089,3743,383,1962,1985,1940,0,0,0,0,0,0,26.69,26.38,26.70,8.97,9.63
$GC,2809,1.43,90.1,3742,383,1986,1939,49.8,11.1,280,2818,0.00,2.45,0.00,0.000,1030,0.000,0.074,3743,1957,1963,1986,1940,0,0,0,0,0,0,26.48,26.45,26.50,8.97,9.99
$GC,2938,1.43,90.1,3742,1957,1986,1940,37.0,10.0,293,2948,0.00,2.47,0.00,0.000,516,0.000,0.092,3754,378,1963,1986,1940,0,0,0,0,0,0,26.75,26.44,26.76,8.96,9.48
$GC,3004,1.43,90.1,3754,377,1986,1940,29.9,10.5,299,3015,0.00,2.45,0.00,0.000,1030,0.000,0.077,3754,1967,1963,1986,1940,0,0,0,0,0,0,26.57,26.49,26.58,8.97,9.63
$GC,3136,1.43,90.1,3754,1967,1985,1940,16.8,9.4,315,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,3755,1967,1962,1986,1939,0,0,0,0,0,0,26.80,26.82,26.81,8.97,9.75
$GC,3206,1.43,90.1,3754,1967,1986,1940,10.7,8.5,328,3214,0.00,2.55,0.00,0.000,516,0.000,0.094,3766,378,1962,1984,1940,0,0,0,0,0,0,26.82,26.50,26.83,8.97,9.52
$STATE,3298,end climb,SURFACE_DEPTH_REACHED
$STATE,3298,begin surface coast
$FINISH,0.0,1.015903
$STATE,3316,end surface coast,CONTROL_FINISHED_OK
$STATE,3316,begin surface
$SM_CCo,3335,146.00,0.638,0,0,1277,290.21
$SM_GC,1.65,9.32,2.65,146.00,0.089,0.074,0.638,206,2058,1277,-9.54,-1.02,290.21,0,0,0,0,0,0,26.54,26.57,24.69
$IRIDIUM_FIX,4726.11,-12226.80,090317,073631
$TT8_MAMPS,0.021721,0.208222
$HUMID,9.24
$INTERNAL_PRESSURE,8.8538
$TCM_TEMP,6.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,3.6
$ALTIM_BOTTOM_PING,100.7,3.3
$24V_AH,24.51,2.153
$10V_AH,10.46,1.941
$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,23.300,37.650,140.850,146.000,125.925,23.459,17.511,232.805,0.750,0.000,14.808,976.469,971.076,416.924,1459.129,56.389,33.446,918.120,0.000,1179.477,0.000,7.173,0.000
$DEVICE_MAMPS,295.477,139.048,747.383,638.131,891.397,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.169,457.478,848.611,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322796
$DATA_FILE_SIZE,28056,348
$CAP_FILE_SIZE,54494,1
$CFSIZE,2047311872,2040922112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,100215,4742.161,-12225.506,1,0.8,13,16.3,0.0,0.0,11,4.9