version: 66.12
glider: 41
mission: 1
dive: 9
start: 3 9 117 2 10 40
data:
$ID,41
$MISSION,1
$DIVE,9
$N_DIVES,0
$STOP_T,3101715
$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,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,0.00117757
$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,40
$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,-15.010332
$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
$GPS1,090317,020252,4744.7725,-12224.0869,2,0.8,17,16.3,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-61.7
$GPS2,090317,020919,4744.8799,-12224.1123,4,0.8,25,16.3,0.0,0.0,10,5.0
$SPEED_LIMITS,0.208,0.218
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.041962,-0.213766
$KALMAN_X,2264.683105,485.977600,-63.422394,-2603.778809,104.516785
$KALMAN_Y,1552.684937,-93.365616,150.483932,1295.682129,497.103943
$MHEAD_RNG_PITCHd_Wd,174.8,3515,-10.2,-12.000,-28.85,2674
$D_GRID,173
$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,14,begin dive
$GC,15,-0.82,-146.6,211,2059,729,721,0.0,0.0,0,183,0.00,0.00,-165.18,0.146,16386,0.000,0.000,211,2059,2437,2482,2393,0,0,0,0,0,0,26.36,28.83,26.38,8.85,10.46
$GC,186,-0.82,-146.6,211,2059,2482,2393,4.1,-6.5,23,223,11.75,0.00,-17.17,0.171,18950,0.291,0.000,3002,2059,2782,2850,2715,0,0,0,0,0,0,25.64,25.90,25.77,9.01,10.15
$GC,287,-0.82,-146.6,3001,2059,2850,2715,15.1,-8.5,40,295,0.00,2.58,0.00,0.000,260,0.000,0.094,2993,3633,2782,2850,2715,0,0,0,0,0,0,26.27,25.96,26.27,9.05,10.11
$GC,328,-0.82,-146.6,2992,3633,2850,2715,18.1,-7.7,47,336,0.00,2.45,0.00,0.000,1030,0.000,0.072,2992,2057,2782,2850,2715,0,0,0,0,0,0,26.10,26.08,26.12,9.06,9.79
$GC,400,-0.82,-146.6,2992,2057,2850,2714,23.1,-7.1,56,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2057,2782,2850,2715,0,0,0,0,0,0,26.39,26.41,26.40,9.05,9.87
$GC,520,-0.82,-146.6,2992,2057,2851,2715,33.1,-8.6,68,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2057,2782,2850,2715,0,0,0,0,0,0,26.49,26.51,26.51,9.06,10.26
$GC,640,-0.82,-146.6,2991,2057,2851,2715,42.7,-7.9,80,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2057,2782,2850,2715,0,0,0,0,0,0,26.57,26.59,26.58,9.05,9.55
$GC,760,-0.82,-146.6,2992,2057,2850,2715,53.6,-9.9,92,771,0.00,2.50,0.00,0.000,260,0.000,0.094,2986,3635,2782,2850,2715,0,0,0,0,0,0,26.63,26.32,26.65,9.06,9.91
$GC,870,-0.82,-146.6,2985,3636,2850,2715,64.1,-9.1,102,881,0.00,2.38,0.00,0.000,1030,0.000,0.074,2985,2057,2782,2850,2714,0,0,0,0,0,0,26.45,26.42,26.48,9.05,10.50
$GC,1000,-0.82,-146.6,2985,2057,2849,2715,76.6,-9.4,115,1011,0.00,2.47,0.00,0.000,260,0.000,0.094,2978,3629,2782,2849,2715,0,0,0,0,0,0,26.72,26.40,26.74,9.05,9.87
$GC,1197,-0.82,-146.6,2978,3630,2850,2715,93.6,-7.4,133,1208,0.00,2.35,0.00,0.000,1030,0.000,0.074,2978,2057,2782,2850,2715,0,0,0,0,0,0,26.55,26.53,26.58,9.05,10.34
$GC,1327,-0.82,-146.6,2978,2057,2850,2715,103.3,-7.1,146,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2057,2782,2850,2715,0,0,0,0,0,0,26.81,26.83,26.82,9.06,9.75
$GC,1447,-0.82,-146.6,2977,2057,2850,2715,112.4,-6.7,158,1458,0.00,2.47,0.00,0.000,260,0.000,0.089,2974,3644,2782,2850,2715,0,0,0,0,0,0,26.84,26.52,26.85,9.05,9.71
$GC,1536,-0.82,-146.6,2973,3644,2850,2714,119.6,-8.2,166,1547,0.10,2.38,0.00,0.000,3078,0.176,0.072,3006,2051,2782,2850,2715,0,0,0,0,0,0,26.44,26.60,26.53,9.05,10.46
$GC,1666,-0.82,-146.6,3005,2051,2850,2715,129.7,-7.8,179,1677,0.00,2.45,0.00,0.000,260,0.000,0.089,3000,3633,2782,2850,2715,0,0,0,0,0,0,26.88,26.55,26.89,9.06,9.67
$GC,1724,-0.82,-146.6,2999,3633,2850,2714,134.3,-8.3,184,1733,0.00,2.38,0.00,0.000,1030,0.000,0.074,3000,2062,2782,2850,2715,0,0,0,0,0,0,26.67,26.64,26.67,9.05,9.79
$STATE,1811,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1811,begin apogee
$GC,1816,-0.31,0.0,3000,1957,2850,2715,141.6,-8.0,193,1934,0.47,0.00,109.25,0.732,10246,0.161,0.000,3166,1957,2275,2298,2252,0,0,0,0,0,0,26.49,25.08,24.71,9.05,9.87
$STATE,1935,end apogee,CONTROL_FINISHED_OK
$STATE,1935,begin climb
$GC,1936,0.82,146.6,3167,1957,2298,2251,146.5,0.0,205,2058,1.00,2.70,111.35,0.710,10756,0.127,0.092,3525,398,1769,1793,1746,0,0,0,0,0,0,25.32,24.94,24.42,9.00,9.75
$GC,2098,1.03,316.3,3524,398,1793,1746,141.4,5.5,221,2240,0.15,2.47,128.32,0.698,11270,0.104,0.077,3597,1945,1186,1209,1163,0,0,0,0,0,0,25.42,25.41,24.41,8.96,9.08
$GC,2358,1.03,316.3,3597,1944,1211,1163,112.2,13.6,247,2369,0.00,2.58,0.00,0.000,260,0.000,0.092,3597,3541,1187,1211,1164,0,0,0,0,0,0,25.95,25.66,25.96,8.90,10.03
$GC,2512,1.03,316.3,3597,3541,1212,1164,89.4,15.6,261,2522,0.00,2.42,0.00,0.000,1030,0.000,0.074,3607,1971,1187,1212,1163,0,0,0,0,0,0,26.02,25.98,26.05,8.91,9.63
$GC,2641,1.03,316.3,3607,1972,1211,1163,71.3,12.7,274,2652,0.00,2.50,0.00,0.000,260,0.000,0.092,3607,3544,1188,1212,1164,0,0,0,0,0,0,26.40,26.09,26.41,8.90,9.79
$GC,2742,1.03,316.3,3607,3544,1211,1163,56.1,16.1,283,2752,0.00,2.47,0.00,0.000,1030,0.000,0.074,3616,1952,1186,1210,1163,0,0,0,0,0,0,26.27,26.22,26.28,8.90,9.99
$GC,2871,1.03,316.3,3616,1952,1211,1163,38.7,12.0,296,2882,0.00,2.53,0.00,0.000,260,0.000,0.092,3616,3550,1187,1212,1163,0,0,0,0,0,0,26.56,26.26,26.58,8.90,9.71
$GC,2949,1.03,316.3,3616,3550,1211,1163,27.8,14.8,303,2960,0.08,2.42,0.00,0.000,5126,0.223,0.074,3604,1955,1187,1211,1163,0,0,0,0,0,0,26.17,26.35,26.29,8.90,10.30
$GC,3082,1.07,349.3,3604,1955,1212,1163,9.9,10.7,323,3114,0.00,2.60,25.62,0.616,8708,0.000,0.092,3613,385,1071,1091,1052,0,0,0,0,0,0,26.67,26.02,25.53,8.90,9.48
$GC,3136,1.07,349.3,3612,384,1092,1051,3.6,12.4,331,3144,0.00,2.50,0.00,0.000,1030,0.000,0.077,3613,1958,1072,1092,1052,0,0,0,0,0,0,26.16,26.13,26.18,8.89,9.55
$STATE,3151,end climb,SURFACE_DEPTH_REACHED
$STATE,3151,begin surface coast
$FINISH,-0.1,1.001610
$STATE,3168,end surface coast,CONTROL_FINISHED_OK
$STATE,3168,begin surface
$SM_CCo,3244,0.00,0.000,0,0,1071,350.05
$SM_GC,1.33,9.10,0.15,0.00,0.087,0.114,0.000,194,2080,1071,-9.57,-0.96,350.05,0,0,0,0,0,0,26.15,26.18,26.21
$IRIDIUM_FIX,4722.92,-12217.96,090317,010110
$TT8_MAMPS,0.020972,0.216461
$HUMID,9.71
$INTERNAL_PRESSURE,8.84403
$TCM_TEMP,6.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,3.6
$ALTIM_BOTTOM_PING,100.4,3.3
$24V_AH,24.41,1.622
$10V_AH,10.42,1.530
$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,22.650,49.875,374.550,0.000,182.350,23.232,41.060,229.735,0.750,0.000,26.995,852.485,930.718,465.991,1365.070,56.453,33.465,1033.423,0.000,1048.569,0.000,7.178,0.000
$DEVICE_MAMPS,290.511,114.218,732.485,0.000,171.327,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.123,439.928,819.308,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322888
$DATA_FILE_SIZE,24551,336
$CAP_FILE_SIZE,59634,1
$CFSIZE,2047311872,2041511936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,030556,4744.805,-12223.953,2,1.2,39,16.3,0.0,0.0,8,4.6