version: 66.14
glider: 39
mission: 28
dive: 11
start: 4 10 119 4 13 54
data:
$ID,39
$MISSION,28
$DIVE,11
$N_DIVES,0
$STOP_T,0
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$D_ABORT,6000
$D_NO_BLEED,50
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,78557
$MASS_COMP,9201.2998
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.48057
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.5
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$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,0.0044170879
$SEABIRD_T_H,0.00064670271
$SEABIRD_T_I,2.5769914e-05
$SEABIRD_T_J,3.1384129e-06
$SEABIRD_C_G,-10.057268
$SEABIRD_C_H,1.1616307
$SEABIRD_C_I,-0.0015180854
$SEABIRD_C_J,0.00020613552
$SEABIRD_C_Z,2945.8
$GPS1,100419,040659,4742.3115,-12225.7109,8,0.9,16,16.3,0.4,212.4,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-51.6
$GPS2,100419,041314,4742.2563,-12225.7393,6,1.1,46,16.3,0.3,195.9,7,3.0
$SPEED_LIMITS,0.173,0.353
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,4.1,4432,-12.5,-10.000,-15.84,5865
$D_GRID,180
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,70,-1.03,-389.3,149,2092,107,166,0.9,-0.3,12,397,0.00,0.00,-320.23,0.151,16386,0.000,0.000,149,2092,2154,2110,2198,0,0,0,0,0,0,26.61,28.83,26.63,8.18,12.31
$GC,400,-1.03,-389.3,148,2092,2111,2198,3.4,-5.3,66,481,8.80,0.00,-67.60,0.156,18438,0.256,0.000,2523,2092,3343,3314,3372,0,0,0,0,0,0,25.89,26.06,25.94,8.38,11.96
$GC,544,-0.90,-389.3,2522,2092,3314,3372,29.6,-17.6,86,546,0.15,0.00,0.00,0.000,2054,0.189,0.000,2571,2092,3343,3314,3372,0,0,0,0,0,0,26.08,26.22,26.20,8.50,11.44
$GC,664,-0.81,-389.3,2570,2092,3314,3372,46.9,-14.0,98,674,0.00,2.38,0.00,0.000,516,0.000,0.070,2571,514,3343,3314,3372,0,0,0,0,0,0,26.58,26.34,26.60,8.49,12.51
$GC,781,-0.74,-389.3,2570,514,3314,3372,65.4,-16.4,109,788,0.17,2.30,0.00,0.000,3078,0.174,0.065,2620,2087,3342,3313,3372,0,0,0,0,0,0,26.35,26.46,26.46,8.50,11.88
$GC,916,-0.74,-389.3,2619,2087,3314,3372,84.1,-12.7,122,936,0.00,2.35,0.00,0.000,516,0.000,0.070,2620,512,3343,3314,3372,0,0,0,0,0,0,26.77,26.53,26.79,8.48,12.11
$GC,981,-0.74,-389.3,2619,512,3314,3372,90.1,-11.4,126,989,0.00,2.30,0.00,0.000,1030,0.000,0.062,2612,2085,3342,3313,3372,0,0,0,0,0,0,26.61,26.58,26.63,8.49,12.39
$GC,1124,-0.74,-389.3,2612,2085,3314,3372,106.4,-10.3,139,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2084,3342,3313,3372,0,0,0,0,0,0,26.86,26.87,26.87,8.49,12.19
$GC,1247,-0.74,-389.3,2611,2084,3314,3372,121.0,-12.7,151,1256,0.00,2.35,0.00,0.000,516,0.000,0.070,2612,500,3342,3313,3372,0,0,0,0,0,0,26.91,26.66,26.92,8.49,12.19
$GC,1318,-0.74,-389.3,2612,501,3314,3372,131.0,-14.3,158,1328,0.00,2.28,0.00,0.000,1030,0.000,0.062,2605,2079,3342,3313,3372,0,0,0,0,0,0,26.77,26.71,26.77,8.50,12.51
$GC,1449,-0.74,-389.3,2604,2079,3314,3372,148.0,-13.2,171,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2079,3343,3314,3372,0,0,0,0,0,0,26.97,26.98,26.98,8.48,12.11
$GC,1569,-0.74,-389.3,2604,2079,3314,3372,162.8,-12.3,183,1578,0.00,2.33,0.00,0.000,516,0.000,0.070,2605,502,3343,3314,3372,0,0,0,0,0,0,27.00,26.75,27.01,8.49,12.11
$GC,1610,-0.74,-389.3,2605,501,3314,3372,168.1,-12.4,187,1620,0.00,2.28,0.00,0.000,1030,0.000,0.062,2597,2077,3343,3314,3372,0,0,0,0,0,0,26.84,26.79,26.85,8.50,12.35
$STATE,1709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1709,begin apogee
$GC,1713,-0.37,0.0,2597,2077,3314,3372,181.0,-13.1,197,2002,0.43,0.00,281.75,1.060,10246,0.144,0.000,2746,2077,2000,1955,2045,0,0,0,0,0,0,26.70,24.76,24.20,8.49,12.51
$STATE,2003,end apogee,CONTROL_FINISHED_OK
$STATE,2003,begin climb
$GC,2005,1.03,389.3,2744,2077,1955,2045,197.2,0.0,226,2322,1.25,2.58,301.70,0.978,10500,0.127,0.079,3169,3645,658,588,729,0,0,0,0,0,0,24.89,24.70,24.15,8.37,12.27
$GC,2407,0.98,389.3,3169,3645,587,730,158.7,14.5,266,2415,0.00,2.38,0.00,0.000,1030,0.000,0.062,3176,2078,658,587,729,0,0,0,0,0,0,25.65,25.60,25.66,8.25,12.43
$GC,2535,0.98,389.3,3176,2078,588,729,140.9,13.7,279,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2078,658,587,729,0,0,0,0,0,0,26.18,26.20,26.20,8.25,12.35
$GC,2655,0.93,389.3,3176,2078,587,729,123.9,14.3,291,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2078,658,588,729,0,0,0,0,0,0,26.40,26.41,26.41,8.24,12.31
$GC,2775,0.93,389.3,3175,2078,587,729,106.7,14.0,303,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2078,658,588,729,0,0,0,0,0,0,26.53,26.55,26.55,8.24,12.07
$GC,2895,0.93,389.3,3176,2078,587,730,90.1,13.4,315,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2078,658,587,729,0,0,0,0,0,0,26.65,26.66,26.66,8.24,12.04
$GC,3015,0.93,389.3,3176,2078,587,729,73.9,13.6,327,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2078,658,588,729,0,0,0,0,0,0,26.73,26.74,26.74,8.24,12.94
$GC,3135,0.93,389.3,3176,2078,587,729,58.3,12.7,339,3144,0.00,2.33,0.00,0.000,516,0.000,0.072,3182,513,658,587,729,0,0,0,0,0,0,26.79,26.55,26.81,8.24,13.06
$GC,3179,0.93,389.3,3181,513,588,729,53.2,12.3,343,3186,0.00,2.30,0.00,0.000,1030,0.000,0.062,3182,2083,658,588,729,0,0,0,0,0,0,26.65,26.60,26.67,8.24,12.27
$GC,3306,0.93,389.3,3181,2083,587,729,38.0,11.2,356,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2083,658,588,728,0,0,0,0,0,0,26.87,26.89,26.87,8.23,12.39
$GC,3426,0.93,389.3,3181,2082,588,730,25.7,10.1,368,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2083,658,587,730,0,0,0,0,0,0,26.91,26.93,26.93,8.24,12.27
$GC,3547,0.93,389.3,3181,2083,587,729,11.5,12.5,386,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2083,658,587,729,0,0,0,0,0,0,26.95,26.96,26.96,8.23,12.63
$STATE,3604,end climb,SURFACE_DEPTH_REACHED
$STATE,3604,begin surface coast
$FINISH,0.4,1.022506
$STATE,3650,end surface coast,CONTROL_FINISHED_OK
$STATE,3650,begin surface
$SM_CCo,3666,9.73,0.906,0,0,622,400.00
$SM_GC,2.20,7.70,0.00,9.73,0.067,0.000,0.906,156,2083,622,-8.38,0.14,400.00,0,0,0,0,0,0,26.72,26.99,25.89
$IRIDIUM_FIX,4744.97,-12226.80,100419,031705
$TT8_MAMPS,0.021721,0.227696
$HUMID,12.55
$INTERNAL_PRESSURE,8.17424
$TCM_TEMP,9.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,18.8
$ALTIM_BOTTOM_PING,110.8,95.3
$24V_AH,24.15,2.657
$10V_AH,10.53,4.445
$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,18.500,28.125,583.450,9.725,387.825,26.656,14.117,207.871,12.000,0.000,52.785,858.986,1204.964,855.821,1073.706,86.870,0.000,1369.448,0.000,693.924,0.000,114.878,0.000
$DEVICE_MAMPS,255.749,79.456,1060.241,906.295,156.429,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.485,532.279,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273656
$DATA_FILE_SIZE,28051,406
$CAP_FILE_SIZE,62495,0
$CFSIZE,2047311872,2038530048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1577.24,0x2139fa,0,24
$WARN,PPS timeout
$GPS,100419,051606,4742.777,-12225.722,5,0.9,15,16.3,0.0,0.0,8,4.8