version: 66.12
glider: 41
mission: 1
dive: 19
start: 3 9 117 12 54 38
data:
$ID,41
$MISSION,1
$DIVE,19
$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,38
$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,-15.15875
$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
$GPS1,090317,124727,4742.4316,-12225.5479,2,0.8,16,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.6
$GPS2,090317,125318,4742.4453,-12225.5381,4,0.8,19,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.089,0.099
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.044678,0.088773
$KALMAN_X,2463.364258,-1045.512085,-300.171448,-2805.134033,421.223145
$KALMAN_Y,-1188.402588,-1037.166748,-343.268280,968.628296,184.063477
$MHEAD_RNG_PITCHd_Wd,317.0,4019,-19.8,-7.500,-37.04,1210
$D_GRID,186
$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,-65.1,210,2091,1260,1290,1.3,0.9,6,183,0.00,0.00,-126.22,0.146,16390,0.000,0.000,211,2091,2500,2543,2457,0,0,0,0,0,0,26.34,25.97,25.84,8.89,9.91
$GC,186,-1.43,-90.3,211,2090,2542,2458,3.8,-5.4,24,210,10.95,2.60,-5.20,0.233,18948,0.293,0.084,2810,474,2586,2646,2526,0,0,0,0,0,0,25.67,25.87,25.80,9.01,9.32
$GC,294,-1.43,-90.3,2810,474,2646,2526,17.2,-11.5,43,302,0.00,2.47,0.00,0.000,1030,0.000,0.074,2801,2046,2585,2645,2526,0,0,0,0,0,0,26.09,26.06,26.11,9.03,9.59
$GC,370,-1.43,-90.3,2801,2046,2646,2526,25.2,-10.2,52,381,0.00,2.50,0.00,0.000,260,0.000,0.089,2789,3634,2586,2646,2526,0,0,0,0,0,0,26.39,26.10,26.40,9.02,10.03
$GC,502,-1.43,-90.3,2788,3634,2646,2526,40.3,-12.1,64,513,0.00,2.42,0.00,0.000,1030,0.000,0.072,2789,2041,2585,2646,2525,0,0,0,0,0,0,26.32,26.25,26.33,9.02,9.71
$GC,632,-1.43,-90.3,2789,2040,2646,2526,56.4,-13.2,77,642,0.00,2.42,0.00,0.000,516,0.000,0.087,2789,494,2585,2646,2525,0,0,0,0,0,0,26.58,26.27,26.60,9.02,9.67
$GC,828,-1.43,-90.3,2789,494,2646,2525,82.4,-11.5,95,840,0.12,2.42,0.00,0.000,3078,0.216,0.074,2819,2069,2586,2646,2526,0,0,0,0,0,0,26.24,26.41,26.34,9.03,10.15
$GC,959,-1.43,-90.3,2819,2069,2646,2526,95.9,-9.7,108,969,0.00,2.45,0.00,0.000,260,0.000,0.089,2809,3641,2586,2646,2526,0,0,0,0,0,0,26.72,26.41,26.72,9.03,9.40
$GC,1246,-1.43,-90.3,2809,3640,2645,2526,121.9,-8.7,134,1257,0.00,2.40,0.00,0.000,1030,0.000,0.077,2809,2056,2586,2646,2526,0,0,0,0,0,0,26.61,26.55,26.63,9.03,10.11
$GC,1376,-1.43,-90.3,2809,2055,2646,2526,133.3,-9.3,147,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2055,2586,2646,2526,0,0,0,0,0,0,26.83,26.84,26.84,9.03,9.83
$GC,1496,-1.43,-90.3,2809,2055,2646,2526,143.9,-9.3,159,1506,0.00,2.45,0.00,0.000,260,0.000,0.089,2798,3638,2586,2646,2526,0,0,0,0,0,0,26.85,26.55,26.86,9.03,9.67
$STATE,1886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1886,begin apogee
$GC,1893,-0.33,0.0,2797,1951,2646,2526,180.9,-9.7,195,1968,1.12,0.00,67.82,0.752,10246,0.181,0.000,3162,1949,2274,2305,2244,0,0,0,0,0,0,26.48,25.59,25.06,9.03,9.63
$STATE,1969,end apogee,CONTROL_FINISHED_OK
$STATE,1969,begin climb
$GC,1970,1.43,90.3,3162,1950,2305,2244,183.2,0.0,203,2049,1.55,2.60,68.47,0.737,10756,0.122,0.092,3725,397,1965,1989,1941,0,0,0,0,0,0,25.66,24.93,24.54,9.00,9.55
$GC,2106,1.43,90.3,3725,397,1989,1941,172.2,11.6,216,2117,0.00,2.50,0.00,0.000,1030,0.000,0.074,3725,1960,1965,1989,1941,0,0,0,0,0,0,25.62,25.56,25.64,8.98,10.18
$GC,2236,1.43,90.3,3725,1960,1989,1940,156.5,14.1,229,2247,0.00,2.55,0.00,0.000,260,0.000,0.089,3725,3544,1964,1988,1941,0,0,0,0,0,0,26.15,25.86,26.16,8.97,9.48
$GC,2661,1.43,90.3,3725,3544,1989,1940,99.6,14.7,268,2671,0.00,2.40,0.00,0.000,1030,0.000,0.077,3737,1969,1964,1989,1940,0,0,0,0,0,0,26.34,26.30,26.36,8.97,9.59
$GC,2790,1.43,90.3,3737,1968,1989,1940,82.0,13.0,281,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,3737,1970,1964,1988,1940,0,0,0,0,0,0,26.63,26.65,26.64,8.97,9.79
$GC,2910,1.43,90.3,3736,1969,1989,1940,67.5,11.4,293,2921,0.00,2.47,0.00,0.000,516,0.000,0.089,3750,383,1964,1989,1940,0,0,0,0,0,0,26.68,26.36,26.69,8.97,9.83
$GC,3152,1.43,90.3,3749,383,1989,1940,36.9,12.9,315,3162,0.00,2.45,0.00,0.000,1030,0.000,0.074,3749,1955,1964,1988,1940,0,0,0,0,0,0,26.53,26.49,26.55,8.96,10.26
$GC,3281,1.43,90.3,3749,1956,1989,1940,21.4,11.5,328,3292,0.00,2.45,0.00,0.000,260,0.000,0.089,3750,3540,1964,1989,1940,0,0,0,0,0,0,26.79,26.49,26.80,8.97,9.83
$GC,3362,1.43,90.3,3749,3540,1989,1940,11.8,12.4,341,3370,0.00,2.42,0.00,0.000,1030,0.000,0.077,3761,1959,1964,1989,1940,0,0,0,0,0,0,26.59,26.55,26.61,8.97,9.87
$GC,3433,1.43,90.3,3761,1959,1989,1940,4.4,9.6,354,3441,0.00,2.50,0.00,0.000,516,0.000,0.092,3773,396,1964,1989,1940,0,0,0,0,0,0,26.83,26.51,26.84,8.97,9.91
$GC,3454,1.43,90.3,3773,396,1989,1940,2.2,10.1,357,3462,0.12,2.42,0.00,0.000,5126,0.243,0.077,3740,1957,1964,1988,1940,0,0,0,0,0,0,26.33,26.55,26.48,8.96,9.83
$STATE,3469,end climb,SURFACE_DEPTH_REACHED
$STATE,3469,begin surface coast
$FINISH,-0.0,1.021762
$STATE,3486,end surface coast,CONTROL_FINISHED_OK
$STATE,3486,begin surface
$SM_CCo,3503,145.88,0.633,0,0,1276,290.21
$SM_GC,1.46,9.30,0.15,145.88,0.089,0.112,0.633,197,2078,1276,-9.57,-0.99,290.21,0,0,0,0,0,0,26.53,26.58,24.70
$IRIDIUM_FIX,4726.11,-12224.09,090317,115032
$TT8_MAMPS,0.021721,0.197736
$HUMID,9.71
$INTERNAL_PRESSURE,8.8538
$TCM_TEMP,6.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,3.7
$ALTIM_BOTTOM_PING,100.6,3.3
$24V_AH,24.54,2.499
$10V_AH,10.46,2.175
$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,23.175,49.675,136.300,145.875,131.425,25.973,35.920,204.757,0.750,0.000,20.302,1014.013,1041.248,427.107,1501.405,58.502,33.433,961.338,0.000,1221.695,0.000,7.175,0.000
$DEVICE_MAMPS,292.994,111.735,752.349,633.165,233.402,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.225,475.697,882.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27970,362
$CAP_FILE_SIZE,60832,1
$CFSIZE,2047311872,2040528896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,135626,4742.891,-12225.529,2,0.9,23,16.3,0.0,0.0,10,5.0