version: 66.12
glider: 41
mission: 1
dive: 13
start: 3 9 117 6 18 1
data:
$ID,41
$MISSION,1
$DIVE,13
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,280
$C_ROLL_CLIMB,280
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,42
$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,-15.057246
$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,14
$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
$GPS1,090317,061045,4743.4302,-12224.0088,1,0.9,17,16.3,0.0,0.0,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.7
$GPS2,090317,061636,4743.4102,-12224.0498,4,0.9,15,16.3,0.5,285.0,9,4.8
$SPEED_LIMITS,-0.126,-0.126
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.124436,-0.017227
$KALMAN_X,3496.347900,220.654694,-4.244911,-3547.655029,237.583527
$KALMAN_Y,658.330566,266.364197,312.762421,-1034.356323,-881.735901
$MHEAD_RNG_PITCHd_Wd,81.6,944,6.8,-7.500,-30.84,1731
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,51,0.31,-116.5,212,278,1294,1262,1.3,0.8,6,184,0.00,0.00,-130.43,0.146,16386,0.000,0.000,212,278,2604,2647,2562,0,0,0,0,0,0,26.51,28.83,26.53,8.90,10.11
$GC,186,0.31,-116.5,212,278,2647,2562,4.8,-8.1,24,210,13.52,0.00,-3.35,0.283,18438,0.300,0.000,3354,277,2678,2741,2615,0,0,0,0,0,0,25.76,25.96,25.89,9.02,9.52
$GC,274,0.21,-196.6,3353,276,2741,2615,10.7,-2.8,39,289,0.00,0.00,-11.70,0.181,16390,0.000,0.000,3354,276,2954,3028,2880,0,0,0,0,0,0,26.36,26.08,25.96,9.04,10.03
$GC,353,0.21,-196.6,3353,276,3028,2881,16.3,-9.6,53,360,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,276,2954,3028,2881,0,0,0,0,0,0,26.41,26.43,26.42,9.06,9.24
$GC,423,0.21,-196.6,3353,276,3028,2881,21.8,-8.4,64,424,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,277,2954,3028,2881,0,0,0,0,0,0,26.48,26.49,26.49,9.06,9.36
$GC,544,0.18,-218.2,3353,277,3028,2881,30.0,-6.2,76,553,0.00,0.00,-1.62,0.439,16390,0.000,0.000,3354,276,3032,3105,2960,0,0,0,0,0,0,26.56,26.29,26.17,9.07,9.79
$GC,674,0.17,-229.1,3353,276,3105,2961,38.9,-6.9,89,676,0.00,0.00,-0.65,0.881,16390,0.000,0.000,3353,277,3070,3139,3002,0,0,0,0,0,0,26.63,26.32,26.17,9.08,10.15
$GC,794,0.16,-238.6,3353,277,3139,3002,47.4,-6.9,101,797,0.00,0.00,-0.47,1.003,16390,0.000,0.000,3354,277,3103,3170,3036,0,0,0,0,0,0,26.67,26.21,25.39,9.07,9.63
$GC,915,0.15,-244.4,3353,277,3170,3037,55.9,-6.7,113,917,0.00,0.00,-0.25,0.941,16390,0.000,0.000,3354,277,3123,3188,3059,0,0,0,0,0,0,26.71,26.25,25.41,9.08,9.67
$GC,1036,0.15,-244.4,3353,276,3188,3060,64.3,-7.1,125,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,277,3124,3188,3061,0,0,0,0,0,0,26.74,26.77,26.76,9.08,9.99
$GC,1156,0.15,-244.4,3353,277,3188,3060,72.1,-6.2,137,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,277,3124,3188,3060,0,0,0,0,0,0,26.78,26.80,26.79,9.09,9.87
$GC,1276,0.15,-244.4,3353,276,3188,3060,80.8,-7.2,149,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,277,3124,3188,3060,0,0,0,0,0,0,26.82,26.83,26.83,9.09,9.75
$GC,1396,0.15,-244.4,3353,276,3188,3060,88.8,-7.4,161,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,277,3124,3188,3060,0,0,0,0,0,0,26.84,26.86,26.85,9.08,10.18
$GC,1516,0.15,-244.4,3353,277,3188,3060,96.7,-7.0,173,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,277,3124,3187,3061,0,0,0,0,0,0,26.86,26.88,26.88,9.09,9.63
$GC,1636,0.15,-244.4,3353,276,3188,3060,104.8,-7.2,185,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,277,3124,3188,3060,0,0,0,0,0,0,26.89,26.90,26.90,9.08,9.55
$GC,1756,0.15,-244.4,3353,277,3188,3060,113.0,-6.9,197,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,276,3124,3188,3060,0,0,0,0,0,0,26.91,26.93,26.91,9.09,9.67
$GC,1876,0.15,-244.4,3353,277,3188,3060,121.5,-7.0,209,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,276,3123,3187,3060,0,0,0,0,0,0,26.92,26.94,26.94,9.08,9.55
$GC,1996,0.15,-244.4,3353,276,3187,3060,129.7,-7.0,221,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,277,3124,3188,3060,0,0,0,0,0,0,26.94,26.96,26.95,9.08,9.63
$GC,2115,0.15,-244.4,3353,276,3188,3060,138.9,-7.7,233,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,277,3123,3187,3060,0,0,0,0,0,0,26.96,26.97,26.96,9.08,9.91
$GC,2235,0.15,-244.4,3353,277,3188,3060,147.7,-7.7,245,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,276,3124,3188,3060,0,0,0,0,0,0,26.96,26.98,26.98,9.09,10.46
$GC,2355,0.15,-244.4,3353,276,3187,3060,156.6,-7.7,257,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,277,3123,3187,3060,0,0,0,0,0,0,26.98,27.00,26.99,9.08,9.91
$STATE,2414,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2414,begin apogee
$GC,2418,-0.33,0.0,3353,277,3188,3060,161.0,-7.9,263,2607,0.47,0.00,184.18,0.737,12294,0.166,0.000,3189,277,2274,2298,2251,0,0,0,0,0,0,26.58,24.96,24.45,9.09,9.99
$STATE,2608,end apogee,CONTROL_FINISHED_OK
$STATE,2608,begin climb
$GC,2609,-0.15,244.4,3188,276,2298,2251,171.9,0.0,282,2806,0.10,0.00,187.48,0.715,10246,0.151,0.000,3227,276,1432,1453,1411,0,0,0,0,0,0,25.06,24.84,24.37,9.00,9.75
$GC,2925,-0.15,244.4,3227,276,1455,1412,149.4,10.4,314,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,276,1433,1455,1412,0,0,0,0,0,0,25.93,25.94,25.94,8.92,9.28
$GC,3045,-0.15,244.4,3226,276,1455,1411,137.0,9.5,326,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.18,26.20,26.19,8.92,9.71
$GC,3165,-0.15,244.4,3226,276,1455,1412,126.2,8.6,338,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.34,26.35,26.34,8.93,9.79
$GC,3285,-0.15,244.4,3226,276,1455,1411,115.2,9.5,350,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.45,26.46,26.46,8.92,9.48
$GC,3405,-0.15,244.4,3227,276,1455,1412,102.5,10.5,362,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.53,26.55,26.54,8.92,9.95
$GC,3525,-0.15,244.4,3226,276,1455,1411,90.6,10.8,374,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.60,26.62,26.61,8.92,9.87
$GC,3645,-0.15,244.4,3226,276,1455,1411,80.0,8.4,386,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1412,0,0,0,0,0,0,26.65,26.67,26.67,8.92,9.91
$GC,3765,-0.15,244.4,3227,276,1455,1411,70.1,8.3,398,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.70,26.72,26.72,8.92,9.83
$GC,3885,-0.15,244.4,3227,276,1455,1410,60.3,8.4,410,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1412,0,0,0,0,0,0,26.74,26.76,26.76,8.92,9.71
$GC,4005,-0.15,244.4,3226,276,1455,1411,49.6,9.5,422,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1412,0,0,0,0,0,0,26.78,26.79,26.79,8.92,9.95
$GC,4125,-0.15,244.4,3227,276,1455,1411,38.5,9.1,434,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.81,26.82,26.82,8.91,9.75
$GC,4245,-0.15,244.4,3226,276,1455,1411,27.1,9.2,446,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.84,26.85,26.85,8.91,10.30
$GC,4368,-0.15,244.4,3226,276,1455,1411,15.2,9.6,462,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.86,26.88,26.87,8.92,9.63
$GC,4439,-0.15,244.4,3227,276,1455,1411,9.0,7.6,475,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.88,26.89,26.89,8.91,9.63
$GC,4509,-0.15,244.4,3227,276,1455,1411,3.1,7.6,488,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,276,1433,1455,1411,0,0,0,0,0,0,26.89,26.90,26.90,8.91,9.79
$STATE,4524,end climb,SURFACE_DEPTH_REACHED
$STATE,4524,begin surface coast
$FINISH,0.1,1.022200
$STATE,4551,end surface coast,CONTROL_FINISHED_OK
$STATE,4552,begin surface
$SM_CCo,4566,33.47,0.636,0,0,1277,290.21
$SM_GC,1.71,7.93,0.00,33.47,0.092,0.000,0.636,211,276,1277,-9.52,-0.11,290.21,0,0,0,0,0,0,26.60,26.91,25.62
$IRIDIUM_FIX,4732.49,-12234.67,090317,051201
$TT8_MAMPS,0.021721,0.185752
$HUMID,9.95
$INTERNAL_PRESSURE,8.8538
$TCM_TEMP,6.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,3.6
$ALTIM_BOTTOM_PING,100.6,3.3
$24V_AH,24.37,1.998
$10V_AH,10.46,1.798
$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,22.025,2.900,371.650,33.475,148.475,22.527,36.387,211.568,0.750,0.000,16.364,1282.458,1611.195,462.136,1562.152,69.595,33.454,1004.763,0.000,1297.224,0.000,7.174,0.000
$DEVICE_MAMPS,300.443,81.939,737.451,635.648,1003.132,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.269,650.695,1207.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322804
$DATA_FILE_SIZE,38436,495
$CAP_FILE_SIZE,67058,0
$CFSIZE,2047311872,2041053184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,073522,4742.942,-12224.394,1,0.9,15,16.3,1.1,267.2,9,4.6