version: 66.12
glider: 41
mission: 1
dive: 16
start: 3 9 117 10 9 36
data:
$ID,41
$MISSION,1
$DIVE,16
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,2060
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,30
$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,-15.272767
$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,18
$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
$GPS1,090317,100215,4742.1606,-12225.5059,1,0.8,13,16.3,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.6
$GPS2,090317,100816,4742.1318,-12225.5273,4,0.9,16,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.089,0.099
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.036915,0.092271
$KALMAN_X,1677.903320,-364.412628,-240.105026,-2755.301025,-751.889526
$KALMAN_Y,-966.527710,-289.360229,-746.831909,-175.016495,-705.225464
$MHEAD_RNG_PITCHd_Wd,5.5,4568,-19.8,-7.500,-37.04,1210
$D_GRID,169
$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,-1.40,-65.1,205,2058,1261,1290,1.2,-0.8,6,177,0.00,0.00,-123.22,0.146,16390,0.000,0.000,206,2058,2501,2546,2456,0,0,0,0,0,0,26.32,25.95,25.82,8.89,10.03
$GC,179,-1.45,-103.8,206,2058,2546,2456,3.3,-4.2,23,204,11.05,2.60,-7.88,0.204,18948,0.295,0.087,2805,482,2635,2698,2572,0,0,0,0,0,0,25.64,25.83,25.77,9.01,9.52
$GC,257,-1.45,-103.8,2804,482,2698,2573,14.3,-12.4,36,266,0.00,2.50,0.00,0.000,1030,0.000,0.072,2796,2065,2635,2698,2572,0,0,0,0,0,0,26.02,25.98,26.03,9.03,10.18
$GC,334,-1.45,-103.8,2795,2065,2697,2573,23.4,-10.8,47,345,0.00,2.47,0.00,0.000,260,0.000,0.087,2784,3641,2635,2698,2573,0,0,0,0,0,0,26.34,26.03,26.34,9.03,9.91
$GC,1000,-1.45,-103.8,2783,3640,2697,2573,102.0,-11.0,108,1011,0.00,2.42,0.00,0.000,1030,0.000,0.074,2784,2043,2635,2698,2573,0,0,0,0,0,0,26.53,26.47,26.55,9.03,9.55
$GC,1131,-1.55,-191.0,2783,2043,2697,2573,107.5,-0.1,121,1142,0.00,2.53,-2.78,0.320,16644,0.000,0.087,2772,3646,2943,3019,2867,0,0,0,0,0,0,26.76,26.43,26.36,9.03,10.22
$GC,1318,-1.55,-191.0,2772,3647,3019,2868,126.3,-14.4,138,1328,0.00,2.38,0.00,0.000,1030,0.000,0.072,2772,2058,2943,3019,2868,0,0,0,0,0,0,26.58,26.55,26.60,9.07,9.83
$GC,1448,-1.56,-195.5,2771,2054,3019,2868,134.9,-2.6,151,1459,0.00,2.45,0.00,0.000,516,0.000,0.094,2771,489,2943,3019,2868,0,0,0,0,0,0,26.82,26.50,26.84,9.07,10.15
$STATE,1720,end dive,NO_VERTICAL_VELOCITY
$STATE,1720,begin apogee
$GC,1726,-0.33,0.0,2760,1955,3019,2868,137.6,0.0,176,1882,1.38,0.00,145.15,0.720,10246,0.236,0.000,3155,1956,2274,2300,2249,0,0,0,0,0,0,26.36,24.89,24.51,9.07,9.55
$STATE,1883,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1884,1.56,195.5,3155,1955,2300,2249,137.0,0.0,192,2043,1.77,2.67,147.98,0.700,10500,0.142,0.089,3758,3551,1602,1621,1584,0,0,0,0,0,0,25.14,24.75,24.39,9.00,9.63
$GC,2067,1.56,195.5,3757,3551,1622,1584,118.6,22.4,210,2078,0.00,2.53,0.00,0.000,1030,0.000,0.074,3770,1959,1603,1622,1584,0,0,0,0,0,0,25.34,25.31,25.35,8.94,9.59
$GC,2197,1.56,195.5,3767,1959,1622,1583,88.0,26.5,223,2208,0.00,2.55,0.00,0.000,260,0.000,0.092,3770,3541,1602,1622,1583,0,0,0,0,0,0,26.03,25.75,26.04,8.94,9.99
$GC,2307,1.56,195.5,3769,3542,1622,1583,55.8,25.6,233,2318,0.00,2.47,0.00,0.000,1030,0.000,0.074,3781,1954,1602,1622,1583,0,0,0,0,0,0,26.03,25.98,26.05,8.94,9.48
$GC,2437,1.56,195.5,3781,1954,1622,1583,30.9,17.6,246,2448,0.00,2.53,0.00,0.000,260,0.000,0.089,3781,3543,1602,1622,1583,0,0,0,0,0,0,26.38,26.08,26.39,8.94,9.91
$GC,2540,1.56,195.5,3781,3543,1622,1584,12.6,18.5,259,2548,0.00,2.47,0.00,0.000,1030,0.000,0.074,3793,1952,1602,1622,1583,0,0,0,0,0,0,26.25,26.21,26.27,8.93,9.59
$STATE,2602,end climb,SURFACE_DEPTH_REACHED
$STATE,2602,begin surface coast
$FINISH,0.3,1.022203
$STATE,2615,end surface coast,CONTROL_FINISHED_OK
$STATE,2615,begin surface
$SM_CCo,2632,69.93,0.621,0,0,1276,290.21
$SM_GC,1.34,9.55,0.17,69.93,0.089,0.107,0.621,200,2079,1276,-9.56,-0.74,290.21,0,0,0,0,0,0,26.22,26.26,24.99
$IRIDIUM_FIX,4722.92,-12217.96,090317,085714
$TT8_MAMPS,0.020972,0.196238
$HUMID,9.44
$INTERNAL_PRESSURE,8.86356
$TCM_TEMP,6.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,3.6
$ALTIM_BOTTOM_PING,100.2,3.3
$24V_AH,24.39,2.246
$10V_AH,10.46,1.995
$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,23.750,35.050,293.125,69.925,133.875,23.662,40.978,213.192,0.750,0.000,18.019,729.000,673.924,424.433,1228.835,47.958,33.454,895.474,0.000,939.978,0.000,7.601,0.000
$DEVICE_MAMPS,295.477,106.769,720.070,620.750,320.307,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,182.424,356.486,663.441,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,21158,272
$CAP_FILE_SIZE,47024,1
$CFSIZE,2047311872,2040823808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,105528,4742.053,-12225.402,2,0.9,15,16.3,0.0,0.0,10,4.6