version: 66.12
glider: 41
mission: 1
dive: 8
start: 3 9 117 1 7 0
data:
$ID,41
$MISSION,1
$DIVE,8
$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,0.00121753
$HD_B,0.021713501
$HD_C,9.8541004e-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,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,2060
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,46
$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,-14.965529
$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
$GPS1,090317,010003,4744.6060,-12224.2607,3,1.0,13,16.3,0.5,16.6,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-61.8
$GPS2,090317,010539,4744.7241,-12224.2432,4,0.9,16,16.3,0.9,22.7,10,4.5
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.036196,-0.179594
$KALMAN_X,1887.295044,510.101013,33.409328,-2510.952148,93.997421
$KALMAN_Y,926.529541,-110.881645,4.810864,1795.891357,391.848694
$MHEAD_RNG_PITCHd_Wd,175.1,3209,-6.0,-10.000,-28.63,2284
$D_GRID,180
$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,-0.55,-146.6,192,2079,888,875,0.0,0.0,0,169,0.00,0.00,-151.12,0.146,16386,0.000,0.000,192,2079,2522,2566,2478,0,0,0,0,0,0,26.40,28.83,26.41,8.86,10.15
$GC,171,-0.55,-146.6,192,2079,2566,2479,5.9,-11.0,21,203,12.10,2.53,-11.23,0.186,18692,0.288,0.094,3078,3631,2781,2849,2714,0,0,0,0,0,0,25.67,25.86,25.79,9.02,9.79
$GC,267,-0.55,-146.6,3078,3631,2848,2714,15.3,-4.8,37,275,0.00,2.45,0.00,0.000,1030,0.000,0.074,3078,2054,2781,2849,2714,0,0,0,0,0,0,26.08,26.04,26.09,9.04,9.52
$GC,338,-0.55,-146.6,3077,2054,2849,2714,18.8,-4.7,50,346,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2054,2781,2849,2714,0,0,0,0,0,0,26.38,26.39,26.39,9.05,9.44
$GC,414,-0.55,-146.6,3078,2054,2849,2714,22.4,-4.6,59,415,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2054,2781,2849,2714,0,0,0,0,0,0,26.45,26.46,26.46,9.05,9.67
$GC,534,-0.55,-146.6,3078,2053,2849,2714,28.3,-5.6,71,545,0.00,2.47,0.00,0.000,260,0.000,0.092,3069,3620,2781,2849,2714,0,0,0,0,0,0,26.54,26.23,26.55,9.05,9.83
$GC,601,-0.55,-146.6,3069,3620,2849,2714,31.5,-4.8,77,612,0.00,2.35,0.00,0.000,1030,0.000,0.074,3069,2060,2781,2848,2714,0,0,0,0,0,0,26.36,26.33,26.38,9.05,9.48
$GC,731,-0.55,-146.6,3068,2060,2849,2714,38.2,-4.2,90,742,0.00,2.50,0.00,0.000,260,0.000,0.094,3069,3627,2781,2849,2714,0,0,0,0,0,0,26.65,26.34,26.65,9.05,9.71
$GC,930,-0.55,-146.6,3068,3626,2849,2714,46.1,-4.1,108,939,0.00,2.40,0.00,0.000,1030,0.000,0.074,3068,2057,2781,2849,2714,0,0,0,0,0,0,26.50,26.46,26.52,9.05,9.87
$GC,1059,-0.55,-146.6,3068,2056,2849,2714,52.5,-4.7,121,1069,0.00,2.45,0.00,0.000,260,0.000,0.092,3069,3623,2781,2849,2714,0,0,0,0,0,0,26.76,26.44,26.77,9.05,9.59
$GC,1245,-0.55,-146.6,3068,3623,2849,2714,61.8,-5.3,138,1255,0.00,2.35,0.00,0.000,1030,0.000,0.074,3069,2049,2781,2849,2714,0,0,0,0,0,0,26.59,26.57,26.60,9.05,9.71
$GC,1375,-0.55,-146.6,3068,2049,2849,2714,69.0,-6.1,151,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2049,2781,2849,2714,0,0,0,0,0,0,26.84,26.86,26.85,9.05,10.30
$GC,1495,-0.55,-146.6,3068,2049,2848,2714,75.9,-6.0,163,1505,0.00,2.45,0.00,0.000,260,0.000,0.089,3068,3623,2781,2849,2714,0,0,0,0,0,0,26.86,26.55,26.88,9.05,9.87
$GC,1605,-0.55,-146.6,3068,3623,2848,2714,82.6,-6.7,173,1616,0.00,2.33,0.00,0.000,1030,0.000,0.074,3068,2062,2781,2849,2714,0,0,0,0,0,0,26.65,26.63,26.68,9.05,9.79
$GC,1735,-0.55,-146.6,3068,2062,2849,2714,90.8,-6.4,186,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2063,2781,2849,2714,0,0,0,0,0,0,26.90,26.91,26.91,9.05,9.79
$STATE,1814,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1814,begin apogee
$GC,1818,-0.31,0.0,3068,1957,2849,2714,95.4,-5.2,194,1936,0.28,0.00,108.55,0.705,10246,0.156,0.000,3170,1957,2274,2298,2251,0,0,0,0,0,0,26.53,25.15,24.78,9.05,9.71
$STATE,1937,end apogee,CONTROL_FINISHED_OK
$STATE,1937,begin climb
$GC,1938,0.55,146.6,3169,1957,2297,2251,98.6,0.0,206,2056,0.75,0.00,110.25,0.685,10758,0.129,0.000,3432,1957,1769,1794,1745,0,0,0,0,0,0,25.38,24.94,24.47,9.00,9.75
$GC,2175,0.66,230.5,3432,1957,1796,1744,88.1,6.2,230,2247,0.08,2.62,63.30,0.668,10500,0.154,0.092,3481,3527,1482,1504,1460,0,0,0,0,0,0,25.74,25.00,24.66,8.95,9.20
$GC,2446,0.70,266.4,3480,3527,1504,1460,67.6,8.4,255,2486,0.00,2.45,28.15,0.646,9222,0.000,0.074,3485,1966,1357,1379,1336,0,0,0,0,0,0,25.97,25.94,25.05,8.93,9.59
$GC,2605,0.75,303.9,3485,1966,1379,1336,53.7,8.3,271,2646,0.00,2.55,29.27,0.636,8452,0.000,0.092,3485,3529,1226,1247,1206,0,0,0,0,0,0,26.20,25.40,25.06,8.92,9.63
$GC,2821,0.80,342.2,3485,3529,1247,1207,35.9,8.3,291,2863,0.05,2.42,29.25,0.628,11270,0.137,0.074,3519,1949,1095,1111,1079,0,0,0,0,0,0,25.97,26.04,25.14,8.91,9.91
$GC,2982,0.84,376.6,3518,1949,1112,1080,22.4,8.5,307,3016,0.00,2.55,26.45,0.613,8452,0.000,0.097,3519,3523,977,989,966,0,0,0,0,0,0,26.24,25.63,25.13,8.90,9.79
$GC,3095,0.93,447.8,3518,3523,990,966,12.6,6.8,325,3162,0.05,2.45,55.30,0.618,11270,0.132,0.074,3556,1961,732,734,730,0,0,0,0,0,0,25.89,25.91,24.86,8.88,9.55
$STATE,3209,end climb,SURFACE_DEPTH_REACHED
$STATE,3209,begin surface coast
$FINISH,0.5,1.021543
$STATE,3226,end surface coast,CONTROL_FINISHED_OK
$STATE,3226,begin surface
$SM_CCo,3302,0.00,0.000,0,0,728,449.69
$SM_GC,1.74,9.05,0.12,0.00,0.087,0.119,0.000,211,2058,728,-9.52,-1.47,449.69,0,0,0,0,0,0,25.70,25.72,25.77
$IRIDIUM_FIX,4726.11,-12222.38,080317,235725
$TT8_MAMPS,0.020972,0.212716
$HUMID,9.83
$INTERNAL_PRESSURE,8.81473
$TCM_TEMP,6.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,3.6
$24V_AH,24.47,1.522
$10V_AH,10.43,1.467
$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,22.350,39.575,450.525,0.000,162.350,22.939,18.210,210.842,0.250,0.000,17.671,862.842,915.200,486.076,1355.735,57.261,33.451,1068.103,0.000,1096.323,0.000,2.739,0.000
$DEVICE_MAMPS,288.028,119.184,705.172,0.000,186.225,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.725,453.036,843.735,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322768
$DATA_FILE_SIZE,24536,346
$CAP_FILE_SIZE,57871,1
$CFSIZE,2047311872,2041610240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,020252,4744.772,-12224.087,2,0.8,17,16.3,0.0,0.0,10,4.9