version: 66.14
glider: 39
mission: 28
dive: 18
start: 4 10 119 12 31 8
data:
$ID,39
$MISSION,28
$DIVE,18
$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,200
$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,2870
$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,72
$R_STBD_OVSHOOT,64
$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,100
$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
$GPS1,100419,122357,4744.0078,-12224.6221,3,0.9,15,16.3,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-58.6
$GPS2,100419,123027,4744.0225,-12224.5713,14,1.1,20,16.3,0.0,0.0,10,5.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,161.0,1896,-18.1,-10.000,-20.89,2961
$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,5,begin dive
$GC,70,-1.39,-194.6,152,2081,544,701,1.1,0.3,12,302,0.00,0.00,-225.27,0.151,16386,0.000,0.000,153,2081,2063,2022,2105,0,0,0,0,0,0,26.45,28.83,26.47,8.22,12.11
$GC,304,-1.39,-194.6,152,2081,2022,2104,3.3,-4.4,50,368,8.38,2.42,-46.15,0.159,18692,0.253,0.072,2409,3652,2671,2631,2711,0,0,0,0,0,0,25.85,25.99,25.90,8.37,12.00
$GC,523,-1.19,-194.6,2409,3652,2632,2711,44.8,-21.7,79,532,0.25,2.30,0.00,0.000,3078,0.191,0.060,2486,2069,2671,2631,2711,0,0,0,0,0,0,26.14,26.30,26.27,8.43,11.84
$GC,651,-1.07,-194.6,2485,2069,2631,2711,69.1,-17.7,92,661,0.10,2.30,0.00,0.000,2564,0.216,0.067,2520,520,2671,2631,2712,0,0,0,0,0,0,26.28,26.39,26.36,8.43,11.76
$GC,826,-0.98,-194.6,2519,520,2631,2711,98.7,-18.0,109,845,0.12,2.28,0.00,0.000,3078,0.204,0.062,2549,2086,2671,2631,2711,0,0,0,0,0,0,26.40,26.53,26.52,8.42,12.78
$GC,966,-0.98,-194.6,2549,2085,2631,2711,120.1,-15.1,122,975,0.00,2.33,0.00,0.000,516,0.000,0.070,2549,526,2671,2632,2711,0,0,0,0,0,0,26.82,26.58,26.83,8.43,12.63
$GC,1020,-0.93,-194.6,2549,525,2631,2711,128.2,-16.1,127,1028,0.00,2.25,0.00,0.000,1030,0.000,0.062,2540,2087,2671,2631,2711,0,0,0,0,0,0,26.67,26.62,26.69,8.42,12.59
$GC,1148,-0.93,-194.6,2539,2087,2631,2710,147.9,-14.7,140,1158,0.10,2.33,0.00,0.000,2564,0.204,0.067,2574,522,2671,2631,2711,0,0,0,0,0,0,26.55,26.65,26.63,8.43,12.27
$GC,1243,-0.93,-194.6,2573,521,2631,2711,160.9,-14.8,149,1250,0.00,2.25,0.00,0.000,1030,0.000,0.062,2565,2084,2671,2631,2711,0,0,0,0,0,0,26.75,26.70,26.77,8.42,12.27
$STATE,1339,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1339,begin apogee
$GC,1343,-0.37,0.0,2564,2084,2631,2711,173.8,-12.4,159,1491,0.52,0.00,140.82,1.095,10246,0.159,0.000,2749,2083,2001,1944,2058,0,0,0,0,0,0,26.60,24.80,24.22,8.42,12.19
$STATE,1492,end apogee,CONTROL_FINISHED_OK
$STATE,1492,begin climb
$GC,1494,1.39,194.6,2749,2082,1943,2058,182.1,0.0,174,1653,1.62,2.50,145.55,0.993,10756,0.124,0.074,3310,528,1328,1285,1371,0,0,0,0,0,0,24.97,24.72,24.15,8.38,12.04
$GC,1686,1.27,194.6,3309,528,1286,1370,164.4,14.7,193,1696,0.10,2.38,0.00,0.000,5126,0.201,0.062,3281,2089,1328,1286,1370,0,0,0,0,0,0,25.18,25.31,25.30,8.31,11.92
$GC,1816,1.17,194.6,3280,2089,1286,1370,145.9,14.6,206,1818,0.10,0.00,0.00,0.000,4102,0.216,0.000,3252,2089,1328,1286,1370,0,0,0,0,0,0,25.72,25.88,25.84,8.30,11.96
$GC,1936,1.11,194.6,3251,2088,1286,1370,130.2,12.9,218,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2088,1328,1286,1370,0,0,0,0,0,0,26.32,26.34,26.34,8.31,12.51
$GC,2056,1.05,194.6,3252,2089,1284,1370,115.2,12.1,230,2058,0.15,0.00,0.00,0.000,4102,0.189,0.000,3205,2088,1328,1286,1370,0,0,0,0,0,0,26.14,26.29,26.26,8.30,11.96
$GC,2176,1.05,194.6,3205,2089,1286,1370,102.1,10.9,242,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2089,1328,1286,1370,0,0,0,0,0,0,26.60,26.62,26.61,8.30,12.43
$GC,2295,1.05,194.6,3205,2089,1285,1370,88.3,12.0,254,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2089,1327,1285,1370,0,0,0,0,0,0,26.69,26.71,26.70,8.30,12.90
$GC,2415,1.05,194.6,3205,2089,1286,1370,73.8,12.7,266,2424,0.00,2.35,0.00,0.000,516,0.000,0.070,3215,527,1327,1285,1370,0,0,0,0,0,0,26.76,26.51,26.77,8.30,12.27
$GC,2447,1.05,194.6,3214,526,1285,1369,69.7,12.4,269,2456,0.00,2.25,0.00,0.000,1030,0.000,0.062,3215,2077,1327,1286,1369,0,0,0,0,0,0,26.60,26.55,26.63,8.30,12.35
$GC,2577,1.05,194.6,3214,2077,1286,1369,54.6,11.5,282,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2077,1327,1286,1369,0,0,0,0,0,0,26.84,26.85,26.84,8.30,12.27
$GC,2697,1.05,194.6,3214,2077,1286,1369,42.6,9.5,294,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2077,1327,1286,1369,0,0,0,0,0,0,26.88,26.89,26.89,8.30,12.94
$GC,2817,1.05,194.6,3214,2077,1286,1369,30.7,10.2,306,2821,0.00,2.33,0.00,0.000,516,0.000,0.070,3226,514,1327,1286,1369,0,0,0,0,0,0,26.92,26.67,26.94,8.30,12.31
$GC,2841,1.05,194.6,3225,514,1285,1370,28.6,10.1,308,2848,0.00,2.28,0.00,0.000,1030,0.000,0.060,3226,2080,1327,1286,1369,0,0,0,0,0,0,26.73,26.71,26.75,8.30,12.11
$GC,2969,1.05,194.6,3225,2080,1286,1369,15.8,9.1,325,2976,0.00,2.35,0.00,0.000,260,0.000,0.074,3226,3649,1327,1286,1369,0,0,0,0,0,0,26.96,26.70,26.97,8.30,12.35
$STATE,3077,end climb,SURFACE_DEPTH_REACHED
$STATE,3077,begin surface coast
$FINISH,0.1,0.999877
$STATE,3133,end surface coast,CONTROL_FINISHED_OK
$STATE,3133,begin surface
$SM_CCo,3151,158.73,0.939,0,0,623,400.00
$SM_GC,1.26,7.88,2.33,158.73,0.072,0.060,0.939,150,2099,623,-8.42,2.09,400.00,0,0,0,0,0,0,26.74,26.77,24.43
$IRIDIUM_FIX,4744.97,-12226.80,100419,111832
$TT8_MAMPS,0.021721,0.196987
$HUMID,11.96
$INTERNAL_PRESSURE,8.184
$TCM_TEMP,9.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,106.3,81.9
$24V_AH,24.15,3.832
$10V_AH,10.54,4.643
$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,19.325,37.200,286.375,158.725,271.425,25.368,14.322,246.039,3.000,0.000,27.299,862.056,1134.944,676.807,971.691,82.673,0.000,1111.992,0.000,637.696,0.000,27.630,0.000
$DEVICE_MAMPS,253.266,74.490,1095.003,938.574,158.912,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.191,469.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273676
$DATA_FILE_SIZE,24451,357
$CAP_FILE_SIZE,59130,0
$CFSIZE,2047311872,2037841920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$WARN,PPS timeout
$GPS,100419,132719,4743.478,-12224.507,2,0.9,19,16.3,0.3,82.2,9,5.0