version: 66.12
glider: 41
mission: 1
dive: 17
start: 3 9 117 11 2 17
data:
$ID,41
$MISSION,1
$DIVE,17
$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,39
$R_STBD_OVSHOOT,41
$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,-15.140162
$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
$GPS1,090317,105528,4742.0532,-12225.4023,2,0.9,15,16.3,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.2
$GPS2,090317,110057,4742.0264,-12225.4033,4,0.9,17,16.3,0.6,245.4,10,4.6
$SPEED_LIMITS,0.089,0.099
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.000907,0.099377
$KALMAN_X,2312.125488,-750.873413,-523.609619,-2568.820312,-51.009155
$KALMAN_Y,-1322.768555,-517.559021,-775.541687,243.406006,-626.364990
$MHEAD_RNG_PITCHd_Wd,343.2,4717,-19.8,-7.500,-37.04,1210
$D_GRID,153
$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,-65.1,200,2078,1265,1286,1.4,-0.4,6,183,0.00,0.00,-123.32,0.146,16390,0.000,0.000,200,2080,2498,2541,2456,0,0,0,0,0,0,26.36,25.94,25.86,8.90,9.59
$GC,185,-1.41,-69.9,200,2079,2542,2456,4.3,-7.1,24,210,11.15,2.65,-1.00,0.608,18948,0.298,0.087,2818,476,2517,2568,2467,0,0,0,0,0,0,25.68,25.88,25.82,9.01,9.44
$GC,333,-1.41,-69.9,2817,477,2567,2468,22.6,-11.8,48,342,0.00,2.50,0.00,0.000,1030,0.000,0.074,2808,2062,2518,2568,2468,0,0,0,0,0,0,26.15,26.12,26.17,9.02,9.52
$GC,462,-1.41,-69.9,2807,2062,2568,2468,39.2,-12.4,61,472,0.00,2.45,0.00,0.000,516,0.000,0.084,2809,490,2518,2568,2468,0,0,0,0,0,0,26.48,26.19,26.50,9.02,9.48
$GC,562,-1.41,-69.9,2808,489,2568,2467,53.2,-14.5,70,572,0.00,2.45,0.00,0.000,1030,0.000,0.072,2797,2055,2518,2568,2468,0,0,0,0,0,0,26.32,26.29,26.34,9.02,10.07
$GC,691,-1.41,-69.9,2796,2055,2568,2468,68.3,-11.5,83,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2055,2518,2568,2468,0,0,0,0,0,0,26.62,26.64,26.63,9.02,10.15
$GC,811,-1.41,-69.9,2796,2055,2568,2468,82.9,-15.6,95,822,0.00,2.45,0.00,0.000,516,0.000,0.084,2797,477,2518,2568,2468,0,0,0,0,0,0,26.67,26.39,26.69,9.02,9.83
$GC,965,-1.41,-73.5,2796,476,2568,2468,99.8,-7.2,109,980,0.10,2.42,-0.12,0.956,19462,0.221,0.072,2813,2068,2536,2593,2480,0,0,0,0,0,0,26.27,26.46,25.45,9.02,9.55
$GC,1100,-1.41,-73.5,2813,2068,2593,2480,108.5,-7.8,122,1110,0.00,2.45,0.00,0.000,260,0.000,0.089,2803,3643,2536,2593,2480,0,0,0,0,0,0,26.77,26.46,26.78,9.02,9.48
$GC,1210,-1.41,-73.5,2803,3642,2593,2480,118.8,-9.4,132,1220,0.00,2.40,0.00,0.000,1030,0.000,0.074,2803,2048,2537,2593,2481,0,0,0,0,0,0,26.60,26.54,26.62,9.03,9.71
$GC,1340,-1.52,-160.8,2803,2048,2593,2480,121.2,-0.1,145,1351,0.00,2.53,-2.50,0.338,16644,0.000,0.089,2795,3641,2836,2914,2759,0,0,0,0,0,0,26.82,26.50,26.44,9.02,9.71
$GC,1602,-1.52,-160.8,2794,3641,2914,2760,121.0,0.0,169,1612,0.00,2.38,0.00,0.000,1030,0.000,0.072,2795,2061,2837,2914,2760,0,0,0,0,0,0,26.67,26.61,26.69,9.05,10.07
$GC,1732,-1.56,-195.5,2794,2061,2914,2760,121.2,0.0,182,1744,0.00,2.42,-1.02,0.618,16900,0.000,0.084,2795,495,2960,3037,2883,0,0,0,0,0,0,26.88,26.56,26.48,9.05,9.99
$STATE,1767,end dive,NO_VERTICAL_VELOCITY
$STATE,1767,begin apogee
$GC,1773,-0.33,0.0,2794,1961,3037,2883,121.0,0.0,185,1928,1.02,0.00,147.90,0.710,10246,0.139,0.000,3161,1961,2277,2303,2251,0,0,0,0,0,0,26.51,24.93,24.56,9.06,9.59
$STATE,1929,end apogee,CONTROL_FINISHED_OK
$STATE,1929,begin climb
$GC,1931,1.56,195.5,3161,1961,2302,2251,120.9,0.0,201,2090,1.73,2.67,148.40,0.688,10500,0.124,0.089,3756,3545,1601,1621,1582,0,0,0,0,0,0,25.18,24.77,24.41,9.00,9.52
$GC,2407,1.56,195.5,3756,3546,1621,1583,47.5,16.9,246,2418,0.00,2.45,0.00,0.000,1030,0.000,0.074,3769,1967,1602,1621,1583,0,0,0,0,0,0,26.10,26.05,26.13,8.94,9.63
$GC,2537,1.56,195.5,3768,1967,1621,1584,25.1,16.8,259,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,1967,1601,1620,1583,0,0,0,0,0,0,26.43,26.44,26.44,8.94,10.18
$GC,2660,1.56,195.5,3768,1966,1621,1582,4.4,16.0,279,2669,0.00,2.55,0.00,0.000,260,0.000,0.092,3768,3543,1602,1621,1583,0,0,0,0,0,0,26.52,26.22,26.53,8.93,9.75
$STATE,2675,end climb,SURFACE_DEPTH_REACHED
$STATE,2675,begin surface coast
$FINISH,0.4,1.021789
$STATE,2682,end surface coast,CONTROL_FINISHED_OK
$STATE,2682,begin surface
$SM_CCo,2700,69.65,0.618,0,0,1275,290.21
$SM_GC,1.43,9.45,2.33,69.65,0.089,0.072,0.618,213,2058,1275,-9.52,1.22,290.21,0,0,0,0,0,0,26.24,26.29,25.01
$IRIDIUM_FIX,4722.92,-12227.78,090317,100322
$TT8_MAMPS,0.021721,0.202979
$HUMID,9.36
$INTERNAL_PRESSURE,8.8538
$TCM_TEMP,6.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.5,3.6
$ALTIM_BOTTOM_PING,100.5,3.3
$24V_AH,24.41,2.337
$10V_AH,10.45,2.049
$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,23.450,39.400,296.300,69.650,127.975,26.222,29.253,188.069,0.750,0.000,19.028,747.038,727.500,437.223,1181.740,48.807,33.442,907.652,0.000,922.058,0.000,7.159,0.000
$DEVICE_MAMPS,297.960,91.871,710.138,618.267,955.955,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,189.169,369.591,687.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322832
$DATA_FILE_SIZE,21125,282
$CAP_FILE_SIZE,48903,1
$CFSIZE,2047311872,2040725504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,114932,4742.141,-12225.412,3,0.9,30,16.3,0.6,63.9,10,4.3