version: 66.12
glider: 41
mission: 1
dive: 14
start: 3 9 117 7 42 47
data:
$ID,41
$MISSION,1
$DIVE,14
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,3750
$C_ROLL_CLIMB,3750
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,16
$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,-15.031924
$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
$GPS1,090317,073522,4742.9424,-12224.3936,1,0.9,15,16.3,1.1,267.2,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.3
$GPS2,090317,074141,4742.9194,-12224.4512,4,0.9,18,16.3,0.7,288.9,9,4.6
$SPEED_LIMITS,0.063,0.114
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.014019,0.112768
$KALMAN_X,2267.199219,230.035370,170.352844,-2986.833008,-552.631165
$KALMAN_Y,394.621216,121.689514,-120.615341,-1113.417847,-897.467163
$MHEAD_RNG_PITCHd_Wd,350.8,2928,-13.0,-7.500,-33.42,1527
$D_GRID,176
$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,-0.98,-88.0,183,3741,1269,1284,1.5,-0.2,6,191,0.00,0.00,-132.68,0.146,16390,0.000,0.000,184,3741,2574,2613,2536,0,0,0,0,0,0,26.47,26.01,25.93,8.89,9.83
$GC,193,-0.98,-88.0,184,3742,2613,2536,4.3,-6.4,25,209,12.27,0.00,0.00,0.000,2054,0.310,0.000,2954,3742,2574,2613,2536,0,0,0,0,0,0,25.72,26.00,25.95,9.02,9.40
$GC,273,-0.98,-88.0,2954,3742,2613,2536,13.9,-6.9,39,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2575,2614,2536,0,0,0,0,0,0,26.36,26.37,26.36,9.03,9.55
$GC,344,-0.98,-88.0,2954,3742,2613,2536,18.9,-6.4,52,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3743,2575,2614,2536,0,0,0,0,0,0,26.44,26.45,26.44,9.02,9.52
$GC,414,-0.98,-88.0,2954,3742,2614,2536,23.6,-6.3,60,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2574,2613,2536,0,0,0,0,0,0,26.50,26.51,26.51,9.03,9.55
$GC,534,-0.98,-88.0,2954,3742,2614,2536,30.7,-5.5,72,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,3742,2575,2614,2536,0,0,0,0,0,0,26.58,26.60,26.59,9.02,9.59
$GC,654,-0.98,-88.0,2954,3742,2613,2536,38.0,-6.6,84,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,3742,2575,2614,2536,0,0,0,0,0,0,26.65,26.66,26.65,9.02,10.26
$GC,774,-0.98,-88.0,2953,3743,2614,2536,44.4,-5.0,96,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2574,2613,2536,0,0,0,0,0,0,26.70,26.71,26.71,9.03,9.87
$GC,894,-0.98,-88.0,2954,3742,2614,2536,51.0,-5.5,108,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2574,2613,2536,0,0,0,0,0,0,26.73,26.75,26.75,9.03,9.83
$GC,1014,-0.98,-88.0,2954,3742,2614,2536,57.6,-5.8,120,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3743,2575,2614,2536,0,0,0,0,0,0,26.78,26.79,26.79,9.02,9.71
$GC,1134,-0.98,-88.0,2953,3742,2613,2536,64.3,-5.4,132,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2575,2614,2536,0,0,0,0,0,0,26.81,26.82,26.82,9.02,10.38
$GC,1254,-0.98,-88.0,2954,3742,2613,2536,69.8,-4.5,144,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2575,2614,2536,0,0,0,0,0,0,26.84,26.86,26.85,9.03,9.55
$GC,1374,-0.98,-88.0,2954,3742,2614,2536,75.3,-4.4,156,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2574,2613,2536,0,0,0,0,0,0,26.86,26.88,26.87,9.03,9.95
$GC,1494,-0.98,-88.0,2953,3742,2613,2536,80.5,-4.4,168,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2574,2613,2536,0,0,0,0,0,0,26.89,26.91,26.90,9.02,10.15
$GC,1614,-0.98,-88.0,2953,3743,2614,2536,85.5,-4.0,180,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2574,2614,2535,0,0,0,0,0,0,26.91,26.92,26.92,9.02,9.79
$GC,1734,-0.98,-88.0,2953,3743,2614,2536,90.7,-4.7,192,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2574,2613,2536,0,0,0,0,0,0,26.92,26.94,26.94,9.02,10.07
$GC,1854,-0.98,-88.0,2954,3743,2613,2536,96.4,-5.1,204,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3743,2574,2613,2536,0,0,0,0,0,0,26.94,26.96,26.96,9.03,9.87
$GC,1974,-0.98,-88.0,2954,3743,2613,2536,105.4,-8.5,216,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3743,2574,2613,2535,0,0,0,0,0,0,26.96,26.97,26.96,9.02,9.79
$GC,2094,-0.98,-88.0,2954,3742,2613,2536,116.8,-10.6,228,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2575,2614,2536,0,0,0,0,0,0,26.97,26.98,26.98,9.03,9.75
$GC,2214,-0.98,-88.0,2954,3742,2613,2536,127.6,-9.1,240,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2574,2613,2536,0,0,0,0,0,0,26.98,27.00,26.99,9.03,10.15
$GC,2334,-0.98,-88.0,2954,3742,2614,2536,136.7,-8.5,252,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,3742,2574,2613,2536,0,0,0,0,0,0,26.99,27.01,27.01,9.02,10.58
$STATE,2413,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2413,begin apogee
$GC,2416,-0.33,0.0,2954,3742,2613,2536,143.4,-7.5,260,2486,0.62,0.00,66.35,0.732,10246,0.184,0.000,3163,3742,2275,2300,2251,0,0,0,0,0,0,26.57,25.70,25.16,9.03,9.87
$STATE,2487,end apogee,CONTROL_FINISHED_OK
$STATE,2487,begin climb
$GC,2488,0.98,88.0,3163,3742,2299,2250,146.1,0.0,267,2565,1.20,0.00,66.70,0.718,10246,0.149,0.000,3568,3742,1973,1995,1951,0,0,0,0,0,0,25.71,25.01,24.64,9.00,9.99
$GC,2684,0.98,88.0,3567,3742,1995,1951,131.1,11.5,287,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3743,1973,1995,1951,0,0,0,0,0,0,26.06,26.07,26.07,8.97,9.44
$GC,2804,0.98,88.0,3567,3742,1995,1951,123.6,9.1,299,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3742,1973,1995,1951,0,0,0,0,0,0,26.27,26.29,26.28,8.98,9.75
$GC,2924,1.00,105.4,3567,3742,1995,1950,114.9,6.3,311,2945,0.00,0.00,13.55,0.656,8198,0.000,0.000,3568,3742,1916,1938,1894,0,0,0,0,0,0,26.41,25.70,25.33,8.97,9.48
$GC,3064,1.00,105.4,3567,3743,1940,1894,102.1,8.0,325,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3742,1917,1940,1894,0,0,0,0,0,0,26.39,26.41,26.40,8.96,9.71
$GC,3184,1.00,105.4,3567,3742,1940,1894,89.2,10.7,337,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3742,1916,1939,1894,0,0,0,0,0,0,26.49,26.51,26.51,8.97,9.67
$GC,3304,1.00,105.4,3568,3742,1940,1894,78.0,8.9,349,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3742,1917,1940,1894,0,0,0,0,0,0,26.57,26.58,26.58,8.96,9.83
$GC,3424,1.00,105.4,3567,3742,1940,1894,68.1,7.9,361,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3743,1917,1940,1894,0,0,0,0,0,0,26.63,26.65,26.65,8.96,10.30
$GC,3544,1.00,105.4,3567,3742,1940,1894,57.2,10.4,373,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3742,1917,1940,1894,0,0,0,0,0,0,26.69,26.70,26.70,8.96,10.30
$GC,3664,1.00,105.4,3567,3742,1939,1894,45.8,9.3,385,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3742,1916,1939,1894,0,0,0,0,0,0,26.73,26.74,26.74,8.97,9.87
$GC,3784,1.00,105.4,3567,3743,1940,1894,34.7,9.5,397,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3742,1916,1939,1894,0,0,0,0,0,0,26.77,26.79,26.78,8.97,10.07
$GC,3904,1.00,105.4,3566,3742,1940,1894,23.5,9.6,409,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3743,1917,1940,1894,0,0,0,0,0,0,26.80,26.82,26.81,8.97,9.55
$GC,4026,1.00,105.4,3567,3742,1940,1894,13.5,8.2,428,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3743,1916,1939,1894,0,0,0,0,0,0,26.83,26.84,26.84,8.96,9.95
$GC,4096,1.00,105.4,3567,3742,1940,1894,7.9,7.9,441,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,3742,1916,1939,1894,0,0,0,0,0,0,26.84,26.86,26.86,8.96,9.75
$STATE,4166,end climb,SURFACE_DEPTH_REACHED
$STATE,4166,begin surface coast
$FINISH,0.2,1.000589
$STATE,4193,end surface coast,CONTROL_FINISHED_OK
$STATE,4193,begin surface
$SM_CCo,4208,136.30,0.641,0,0,1276,290.21
$SM_GC,1.72,8.95,0.00,136.30,0.094,0.000,0.641,196,3742,1276,-9.57,-0.20,290.21,0,0,0,0,0,0,26.56,26.88,24.72
$IRIDIUM_FIX,4722.92,-12222.38,090317,061146
$TT8_MAMPS,0.021721,0.184254
$HUMID,9.52
$INTERNAL_PRESSURE,8.8538
$TCM_TEMP,6.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,3.6
$ALTIM_BOTTOM_PING,100.2,3.3
$24V_AH,24.64,2.075
$10V_AH,10.46,1.876
$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,23.050,5.550,146.600,136.300,132.675,24.745,15.251,242.990,0.750,0.000,19.498,1224.495,1566.100,389.449,1489.793,69.144,33.439,855.902,0.000,1204.397,0.000,7.178,0.000
$DEVICE_MAMPS,310.375,74.490,732.485,640.614,146.497,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.217,604.396,1119.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322816
$DATA_FILE_SIZE,34909,459
$CAP_FILE_SIZE,65202,0
$CFSIZE,2047311872,2040987648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4196.21,0x213c52,7,24
$GPS,090317,085605,4742.356,-12225.201,22,0.8,26,16.3,0.0,0.0,10,4.7