version: 66.12
glider: 41
mission: 1
dive: 10
start: 3 9 117 3 15 18
data:
$ID,41
$MISSION,1
$DIVE,10
$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,50
$T_MISSION,60
$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,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,35
$R_STBD_OVSHOOT,48
$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,-14.849795
$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
$GPS1,090317,030556,4744.8047,-12223.9531,2,1.2,39,16.3,0.0,0.0,8,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.6
$GPS2,090317,031357,4744.8945,-12223.9717,4,1.2,16,16.3,0.0,0.0,8,4.7
$SPEED_LIMITS,0.208,0.218
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.061499,-0.208985
$KALMAN_X,2656.369873,420.181030,-111.590714,-2706.613281,146.929260
$KALMAN_Y,1987.685791,-58.528141,314.938354,693.703491,441.832336
$MHEAD_RNG_PITCHd_Wd,180.1,3570,-10.2,-12.000,-28.85,2674
$D_GRID,172
$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,50,-0.82,-146.6,193,2080,1090,1052,1.5,0.0,6,183,0.00,0.00,-130.48,0.146,16386,0.000,0.000,193,2081,2426,2471,2381,0,0,0,0,0,0,26.50,28.83,26.51,8.88,10.03
$GC,186,-0.82,-146.6,193,2081,2471,2381,4.1,-5.6,24,224,11.68,2.53,-17.88,0.169,18692,0.291,0.092,2989,3634,2782,2850,2714,0,0,0,0,0,0,25.77,25.95,25.88,9.01,9.83
$GC,357,-0.82,-146.6,2988,3634,2850,2715,21.3,-8.9,53,366,0.00,2.45,0.00,0.000,1030,0.000,0.074,2988,2053,2782,2850,2715,0,0,0,0,0,0,26.21,26.17,26.25,9.05,9.71
$GC,486,-0.82,-146.6,2988,2052,2850,2714,32.6,-9.0,66,497,0.00,2.42,0.00,0.000,516,0.000,0.089,2988,498,2782,2850,2715,0,0,0,0,0,0,26.54,26.23,26.55,9.05,9.75
$GC,564,-0.82,-146.6,2987,498,2849,2714,40.3,-10.2,73,574,0.00,2.38,0.00,0.000,1030,0.000,0.074,2984,2045,2782,2850,2714,0,0,0,0,0,0,26.34,26.31,26.38,9.04,9.67
$GC,694,-0.82,-146.6,2983,2045,2849,2715,53.8,-10.0,86,704,0.00,2.50,0.00,0.000,260,0.000,0.092,2974,3645,2782,2850,2714,0,0,0,0,0,0,26.65,26.35,26.67,9.05,9.67
$GC,914,-0.82,-146.6,2973,3645,2850,2714,75.4,-9.6,106,924,0.08,2.40,0.00,0.000,3078,0.184,0.072,2999,2064,2782,2850,2715,0,0,0,0,0,0,26.34,26.48,26.43,9.05,10.30
$GC,1043,-0.82,-146.6,2998,2064,2849,2714,86.4,-9.1,119,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2064,2782,2849,2715,0,0,0,0,0,0,26.78,26.79,26.79,9.05,9.75
$GC,1163,-0.82,-146.6,2998,2064,2850,2714,95.7,-7.2,131,1174,0.00,2.45,0.00,0.000,260,0.000,0.092,2993,3636,2782,2850,2715,0,0,0,0,0,0,26.82,26.49,26.82,9.05,9.95
$GC,1220,-0.82,-146.6,2992,3636,2850,2714,99.2,-6.6,136,1235,0.00,2.38,0.00,0.000,1030,0.000,0.077,2993,2051,2782,2850,2715,0,0,0,0,0,0,26.60,26.57,26.63,9.04,9.71
$GC,1353,-0.82,-146.6,2992,2051,2850,2715,108.4,-7.2,149,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2051,2782,2850,2715,0,0,0,0,0,0,26.85,26.86,26.86,9.05,10.26
$GC,1473,-0.82,-146.6,2992,2051,2850,2714,116.4,-6.9,161,1483,0.00,2.45,0.00,0.000,260,0.000,0.089,2988,3634,2782,2850,2714,0,0,0,0,0,0,26.87,26.56,26.89,9.04,9.95
$GC,1563,-0.82,-146.6,2986,3633,2850,2715,123.5,-8.3,169,1573,0.00,2.40,0.00,0.000,1030,0.000,0.072,2987,2058,2782,2850,2715,0,0,0,0,0,0,26.70,26.63,26.69,9.05,9.75
$GC,1692,-0.82,-146.6,2986,2058,2850,2714,133.1,-6.8,182,1703,0.00,2.45,0.00,0.000,260,0.000,0.092,2986,3639,2782,2850,2714,0,0,0,0,0,0,26.91,26.59,26.92,9.05,10.11
$GC,1761,-0.82,-146.6,2986,3639,2850,2714,137.6,-7.0,188,1770,0.00,2.40,0.00,0.000,1030,0.000,0.074,2987,2054,2782,2850,2714,0,0,0,0,0,0,26.69,26.65,26.70,9.05,10.34
$STATE,1809,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1809,begin apogee
$GC,1813,-0.31,0.0,2986,1948,2849,2714,141.1,-6.9,193,1931,0.50,0.00,109.30,0.732,10246,0.159,0.000,3162,1948,2275,2299,2252,0,0,0,0,0,0,26.53,25.10,24.73,9.05,9.91
$STATE,1932,end apogee,CONTROL_FINISHED_OK
$STATE,1932,begin climb
$GC,1933,0.82,146.6,3162,1948,2299,2252,144.5,0.0,205,2051,1.00,0.00,111.60,0.710,10758,0.127,0.000,3513,1948,1769,1794,1744,0,0,0,0,0,0,25.34,24.91,24.43,9.00,9.87
$GC,2170,1.00,293.8,3512,1948,1794,1745,132.8,6.4,229,2291,0.15,2.67,111.43,0.695,10500,0.122,0.092,3595,3542,1262,1284,1240,0,0,0,0,0,0,25.72,24.82,24.46,8.96,9.55
$GC,2424,1.00,293.8,3594,3541,1284,1240,102.7,13.3,253,2434,0.00,2.45,0.00,0.000,1030,0.000,0.074,3605,1967,1262,1284,1240,0,0,0,0,0,0,25.79,25.76,25.81,8.91,9.48
$GC,2554,1.00,293.8,3604,1966,1284,1240,85.4,13.4,266,2565,0.00,2.50,0.00,0.000,260,0.000,0.092,3605,3534,1262,1285,1240,0,0,0,0,0,0,26.24,25.95,26.25,8.92,9.83
$GC,2623,1.00,293.8,3604,3534,1284,1240,75.7,14.4,272,2632,0.00,2.47,0.00,0.000,1030,0.000,0.074,3614,1956,1262,1284,1240,0,0,0,0,0,0,26.11,26.08,26.12,8.91,9.83
$GC,2751,1.00,293.8,3613,1956,1284,1240,58.2,13.2,285,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1956,1262,1284,1240,0,0,0,0,0,0,26.45,26.46,26.46,8.91,10.18
$GC,2872,1.00,297.8,3613,1956,1284,1240,44.0,11.8,297,2883,0.00,2.58,4.68,0.479,8452,0.000,0.089,3614,3550,1247,1274,1221,0,0,0,0,0,0,26.53,25.98,25.62,8.91,10.22
$GC,2974,1.00,297.8,3612,3550,1275,1222,30.2,14.9,306,2983,0.00,2.47,0.00,0.000,1030,0.000,0.074,3624,1958,1248,1275,1222,0,0,0,0,0,0,26.33,26.29,26.35,8.92,10.11
$GC,3105,1.03,317.6,3624,1958,1275,1222,13.0,11.2,324,3128,0.00,2.55,15.85,0.606,8452,0.000,0.092,3624,3545,1180,1203,1158,0,0,0,0,0,0,26.63,25.94,25.59,8.90,10.30
$STATE,3187,end climb,SURFACE_DEPTH_REACHED
$STATE,3187,begin surface coast
$FINISH,0.1,1.021820
$STATE,3204,end surface coast,CONTROL_FINISHED_OK
$STATE,3204,begin surface
$SM_CCo,3282,0.00,0.000,0,0,1180,318.10
$SM_GC,1.47,9.10,2.33,0.00,0.087,0.072,0.000,193,2050,1180,-9.57,1.24,318.10,0,0,0,0,0,0,26.22,26.27,26.29
$IRIDIUM_FIX,4729.30,-12221.39,090317,030701
$TT8_MAMPS,0.020223,0.183505
$HUMID,9.67
$INTERNAL_PRESSURE,8.8538
$TCM_TEMP,6.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,3.6
$ALTIM_BOTTOM_PING,100.0,3.3
$24V_AH,24.43,1.718
$10V_AH,10.45,1.594
$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,22.500,49.350,352.850,0.000,148.350,47.532,56.505,232.797,0.750,0.000,17.454,882.467,1024.494,433.387,1405.421,56.906,33.457,994.384,0.000,1056.681,0.000,7.167,0.000
$DEVICE_MAMPS,290.511,124.150,732.485,0.000,168.844,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,228.701,446.940,831.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322808
$DATA_FILE_SIZE,24603,341
$CAP_FILE_SIZE,59045,1
$CFSIZE,2047311872,2041413632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,041047,4744.619,-12223.850,2,1.0,14,16.3,0.0,0.0,9,4.7