version: 66.12
glider: 41
mission: 1
dive: 21
start: 3 9 117 15 24 34
data:
$ID,41
$MISSION,1
$DIVE,21
$N_DIVES,0
$STOP_T,3091717
$D_SURF,2
$D_FLARE,4
$D_TGT,90
$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,30
$T_MISSION,90
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$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,3270
$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,45
$R_STBD_OVSHOOT,46
$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,-15.090761
$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
$GPS1,090317,151726,4743.4414,-12225.2490,2,0.9,20,16.3,0.0,0.0,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-64.8
$GPS2,090317,152333,4743.4849,-12225.2041,5,0.8,24,16.3,0.0,0.0,10,4.8
$SPEED_LIMITS,0.119,0.178
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.024737,-0.176706
$KALMAN_X,2366.825439,-993.064148,359.746826,-3006.042725,153.605560
$KALMAN_Y,-1079.847168,-1195.816528,754.234558,1850.962280,206.328064
$MHEAD_RNG_PITCHd_Wd,171.7,1255,-8.3,-10.000,-29.27,2316
$D_GRID,182
$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,16,-0.79,-195.5,209,2088,1260,1290,0.0,0.0,0,163,0.00,0.00,-144.10,0.146,16386,0.000,0.000,209,2088,2662,2706,2619,0,0,0,0,0,0,26.56,28.83,26.58,8.89,9.75
$GC,165,-0.79,-195.5,209,2088,2706,2620,4.8,-8.2,20,197,11.93,2.65,-12.88,0.181,18948,0.298,0.084,3008,487,2950,3016,2885,0,0,0,0,0,0,25.77,25.96,25.89,9.02,9.67
$GC,402,-0.79,-195.5,3008,487,3016,2885,28.6,-7.6,52,411,0.00,2.45,0.00,0.000,1030,0.000,0.074,3001,2050,2950,3016,2885,0,0,0,0,0,0,26.26,26.22,26.27,9.06,9.63
$GC,531,-0.79,-195.5,3000,2049,3016,2885,38.2,-8.0,65,541,0.00,2.50,0.00,0.000,260,0.000,0.092,2991,3643,2951,3017,2885,0,0,0,0,0,0,26.57,26.26,26.58,9.05,9.40
$GC,652,-0.79,-195.5,2990,3643,3016,2885,48.1,-7.9,76,662,0.00,2.40,0.00,0.000,1030,0.000,0.074,2991,2053,2950,3016,2885,0,0,0,0,0,0,26.41,26.39,26.44,9.06,9.63
$GC,782,-0.79,-195.5,2990,2053,3016,2885,58.2,-7.9,89,792,0.00,2.47,0.00,0.000,260,0.000,0.092,2986,3636,2950,3015,2885,0,0,0,0,0,0,26.68,26.39,26.70,9.06,9.71
$GC,927,-0.79,-195.5,2986,3636,3016,2885,67.8,-6.1,102,935,0.00,2.40,0.00,0.000,1030,0.000,0.072,2987,2061,2950,3016,2885,0,0,0,0,0,0,26.51,26.48,26.53,9.06,9.99
$GC,1055,-0.79,-195.5,2986,2062,3016,2885,75.9,-6.5,115,1066,0.00,2.45,0.00,0.000,260,0.000,0.089,2986,3634,2950,3016,2885,0,0,0,0,0,0,26.77,26.46,26.78,9.06,9.95
$GC,1166,-0.79,-195.5,2985,3634,3016,2885,84.0,-7.7,125,1176,0.00,2.35,0.00,0.000,1030,0.000,0.074,2986,2073,2951,3017,2885,0,0,0,0,0,0,26.57,26.55,26.60,9.06,9.59
$STATE,1255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1256,begin apogee
$GC,1260,-0.33,0.0,2985,1947,3016,2885,90.5,-7.1,134,1416,0.50,0.00,146.48,0.690,10246,0.154,0.000,3161,1947,2274,2301,2248,0,0,0,0,0,0,26.44,25.06,24.56,9.06,10.18
$STATE,1417,end apogee,CONTROL_FINISHED_OK
$STATE,1417,begin climb
$GC,1419,0.79,195.5,3161,1947,2301,2248,94.4,0.0,150,1578,1.00,2.60,147.45,0.673,10756,0.129,0.092,3515,404,1602,1624,1580,0,0,0,0,0,0,25.16,24.77,24.43,9.00,9.63
$GC,1645,0.82,221.1,3514,404,1625,1580,80.1,8.9,172,1676,0.00,2.47,20.23,0.628,9222,0.000,0.074,3515,1956,1514,1535,1494,0,0,0,0,0,0,25.56,25.52,24.79,8.94,9.24
$GC,1795,0.86,246.4,3514,1956,1535,1495,66.7,8.9,187,1826,0.00,2.65,20.73,0.626,8452,0.000,0.094,3515,3534,1426,1445,1408,0,0,0,0,0,0,26.05,25.52,25.01,8.92,9.28
$GC,2099,0.88,266.3,3514,3534,1444,1408,38.1,9.1,215,2120,0.00,2.40,16.05,0.606,9222,0.000,0.074,3523,1979,1357,1374,1341,0,0,0,0,0,0,26.14,26.10,25.34,8.92,9.67
$GC,2239,0.94,312.7,3523,1978,1374,1341,26.5,7.9,229,2281,0.08,2.65,35.30,0.623,10500,0.154,0.092,3576,3551,1197,1203,1192,0,0,0,0,0,0,26.10,25.63,25.14,8.91,9.87
$GC,2428,0.94,312.7,3576,3551,1203,1192,4.7,13.5,259,2436,0.00,2.53,0.00,0.000,1030,0.000,0.077,3584,1948,1197,1203,1192,0,0,0,0,0,0,26.06,26.02,26.07,8.89,9.32
$STATE,2453,end climb,SURFACE_DEPTH_REACHED
$STATE,2453,begin surface coast
$FINISH,0.0,1.013888
$STATE,2470,end surface coast,CONTROL_FINISHED_OK
$STATE,2470,begin surface
$SM_CCo,2546,0.00,0.000,0,0,1197,313.45
$SM_GC,1.53,9.02,0.17,0.00,0.087,0.109,0.000,207,2069,1197,-9.52,-0.93,313.45,0,0,0,0,0,0,26.05,26.07,26.11
$IRIDIUM_FIX,4722.92,-12225.08,090317,151152
$TT8_MAMPS,0.020972,0.277879
$HUMID,9.52
$INTERNAL_PRESSURE,8.8538
$TCM_TEMP,6.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,3.6
$24V_AH,24.43,2.688
$10V_AH,10.39,2.300
$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,22.525,35.300,386.225,0.000,156.975,0.000,0.000,0.000,0.250,0.000,25.357,646.677,647.579,423.306,882.692,30.685,33.432,881.116,0.000,864.511,0.000,2.744,0.000
$DEVICE_MAMPS,297.960,111.735,690.274,0.000,181.259,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.107,348.007,648.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322844
$DATA_FILE_SIZE,17660,266
$CAP_FILE_SIZE,54292,0
$CFSIZE,2047311872,2040332288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090317,160754,4743.421,-12224.946,1,0.8,21,16.3,0.0,0.0,11,4.9