version: 66.12
glider: 41
mission: 1
dive: 18
start: 3 9 117 11 56 11
data:
$ID,41
$MISSION,1
$DIVE,18
$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,38
$R_STBD_OVSHOOT,29
$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,-15.045854
$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
$GPS1,090317,114932,4742.1406,-12225.4121,3,0.9,30,16.3,0.6,63.9,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.9
$GPS2,090317,115450,4742.1230,-12225.4072,4,0.9,15,16.3,0.0,0.0,10,4.7
$SPEED_LIMITS,0.089,0.099
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.055882,0.082180
$KALMAN_X,2531.059326,-958.660522,-525.417969,-2574.454590,293.733765
$KALMAN_Y,-1331.605713,-800.242920,-701.051575,635.740356,-167.162506
$MHEAD_RNG_PITCHd_Wd,309.5,4545,-19.8,-7.500,-37.04,1210
$D_GRID,164
$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,-65.1,212,2049,1266,1285,1.4,-0.1,6,183,0.00,0.00,-124.93,0.149,16390,0.000,0.000,212,2049,2499,2541,2457,0,0,0,0,0,0,26.36,25.94,25.86,8.90,9.71
$GC,185,-1.43,-89.3,213,2049,2542,2457,4.0,-5.5,24,209,10.93,0.00,-5.05,0.236,18438,0.293,0.000,2811,2048,2584,2643,2525,0,0,0,0,0,0,25.67,25.89,25.81,9.01,9.48
$GC,272,-1.43,-89.3,2810,2048,2643,2525,14.8,-11.9,39,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2048,2584,2643,2525,0,0,0,0,0,0,26.29,26.31,26.30,9.03,10.15
$GC,343,-1.43,-89.3,2810,2048,2643,2525,22.5,-11.9,50,353,0.00,2.55,0.00,0.000,260,0.000,0.089,2801,3645,2584,2643,2525,0,0,0,0,0,0,26.38,26.09,26.39,9.03,9.67
$GC,509,-1.43,-89.3,2800,3645,2641,2525,41.0,-10.7,65,518,0.00,2.45,0.00,0.000,1030,0.000,0.074,2801,2062,2584,2643,2525,0,0,0,0,0,0,26.31,26.27,26.32,9.02,9.28
$GC,638,-1.43,-89.3,2800,2062,2643,2525,54.3,-10.7,78,648,0.00,2.45,0.00,0.000,516,0.000,0.084,2800,485,2584,2643,2525,0,0,0,0,0,0,26.59,26.27,26.60,9.03,9.83
$GC,737,-1.43,-89.3,2800,485,2643,2525,67.0,-13.1,87,747,0.00,2.42,0.00,0.000,1030,0.000,0.074,2790,2069,2584,2643,2525,0,0,0,0,0,0,26.40,26.39,26.44,9.03,10.34
$GC,867,-1.43,-89.3,2789,2069,2643,2525,81.8,-11.2,100,877,0.00,2.45,0.00,0.000,260,0.000,0.089,2778,3647,2584,2643,2525,0,0,0,0,0,0,26.69,26.39,26.70,9.03,9.75
$GC,1134,-1.43,-89.3,2778,3647,2643,2525,112.9,-10.5,124,1144,0.10,2.42,0.00,0.000,3078,0.204,0.072,2807,2057,2584,2643,2525,0,0,0,0,0,0,26.34,26.52,26.45,9.03,9.52
$GC,1263,-1.43,-90.3,2807,2057,2643,2525,124.2,-7.4,137,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2057,2584,2643,2525,0,0,0,0,0,0,26.81,26.82,26.82,9.03,9.75
$GC,1383,-1.50,-146.3,2807,2056,2643,2525,132.3,-2.8,149,1395,0.00,2.47,-1.65,0.439,16644,0.000,0.089,2798,3635,2789,2865,2714,0,0,0,0,0,0,26.83,26.51,26.44,9.03,10.30
$STATE,1688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1688,begin apogee
$GC,1695,-0.33,0.0,2798,1947,2864,2714,164.3,-11.8,177,1811,1.10,0.00,111.68,0.740,10246,0.181,0.000,3156,1947,2274,2302,2247,0,0,0,0,0,0,26.45,25.20,24.68,9.05,9.71
$STATE,1812,end apogee,CONTROL_FINISHED_OK
$STATE,1812,begin climb
$GC,1814,1.50,146.3,3156,1946,2302,2247,168.4,0.0,189,1931,1.67,0.00,111.20,0.720,10758,0.124,0.000,3736,1947,1770,1793,1748,0,0,0,0,0,0,25.27,24.89,24.40,9.00,10.38
$GC,2050,1.50,146.3,3736,1947,1793,1748,136.5,17.1,213,2060,0.00,2.58,0.00,0.000,260,0.000,0.089,3736,3535,1770,1793,1748,0,0,0,0,0,0,25.94,25.65,25.95,8.96,9.44
$GC,2269,1.50,146.3,3735,3535,1793,1748,97.7,18.1,233,2279,0.00,2.45,0.00,0.000,1030,0.000,0.074,3748,1970,1770,1793,1748,0,0,0,0,0,0,26.12,26.08,26.11,8.95,9.44
$GC,2399,1.50,146.3,3747,1970,1793,1748,78.4,13.9,246,2409,0.00,2.50,0.00,0.000,260,0.000,0.089,3748,3538,1770,1793,1748,0,0,0,0,0,0,26.45,26.15,26.46,8.96,9.55
$GC,2476,1.50,146.3,3747,3537,1794,1748,66.7,15.9,253,2486,0.00,2.42,0.00,0.000,1030,0.000,0.074,3760,1954,1770,1793,1748,0,0,0,0,0,0,26.29,26.25,26.31,8.96,10.34
$GC,2606,1.50,146.3,3760,1954,1794,1748,47.4,15.9,266,2616,0.00,2.45,0.00,0.000,516,0.000,0.092,3772,392,1770,1793,1748,0,0,0,0,0,0,26.58,26.27,26.60,8.95,10.15
$GC,2739,1.50,146.3,3772,391,1793,1748,25.4,15.8,278,2749,0.00,2.45,0.00,0.000,1030,0.000,0.074,3772,1950,1771,1794,1748,0,0,0,0,0,0,26.42,26.37,26.44,8.95,9.67
$GC,2872,1.50,146.3,3772,1950,1793,1748,4.9,14.5,300,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,3772,1950,1770,1793,1748,0,0,0,0,0,0,26.70,26.72,26.71,8.95,9.67
$STATE,2890,end climb,SURFACE_DEPTH_REACHED
$STATE,2891,begin surface coast
$FINISH,0.1,1.011462
$STATE,2903,end surface coast,CONTROL_FINISHED_OK
$STATE,2903,begin surface
$SM_CCo,2919,105.05,0.631,0,0,1276,290.21
$SM_GC,1.19,9.40,0.17,105.05,0.089,0.107,0.631,211,2089,1276,-9.53,-0.68,290.21,0,0,0,0,0,0,26.41,26.47,24.87
$IRIDIUM_FIX,4716.56,-12400.90,090317,105645
$TT8_MAMPS,0.021721,0.210469
$HUMID,9.91
$INTERNAL_PRESSURE,8.8538
$TCM_TEMP,6.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,3.6
$ALTIM_BOTTOM_PING,100.4,3.2
$24V_AH,24.40,2.423
$10V_AH,10.46,2.107
$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,23.200,34.850,222.875,105.050,131.625,22.450,16.042,200.319,0.750,0.000,16.344,829.649,816.249,432.394,1256.384,51.963,33.437,913.626,0.000,1008.309,0.000,7.565,0.000
$DEVICE_MAMPS,292.994,106.769,739.934,630.682,439.491,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.801,400.184,743.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,24658,305
$CAP_FILE_SIZE,52252,1
$CFSIZE,2047311872,2040627200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,124727,4742.432,-12225.548,2,0.8,16,16.3,0.0,0.0,10,5.0