version: 66.13
glider: 40
mission: 10
dive: 4
start: 7 7 117 19 49 24
data:
$ID,40
$MISSION,10
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$D_ABORT,6020
$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,60
$T_MISSION,90
$T_ABORT,720
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80322
$MASS_COMP,11448
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,780
$N_FILEKB,8
$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,40
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3845
$C_PITCH,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,1984
$C_ROLL_CLIMB,1984
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2527
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$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,17
$MINV_10V,8
$MAXI_24V,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.629006
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,2927.6299
$GPS1,070717,194614,4743.6006,-12224.1055,8,1.2,8,16.3,0.0,0.0,7,65.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-42.1
$GPS2,070717,194856,4743.6108,-12224.0977,6,1.7,6,16.3,0.0,0.0,5,83.1
$SPEED_LIMITS,0.173,0.262
$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,306.7,1721,-18.8,-10.000,-20.92,2236
$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,6,-1.29,-146.6,202,2021,339,364,0.0,0.0,0,16,0.00,0.00,-7.65,0.216,16386,0.000,0.000,201,2020,448,436,461,0,0,0,0,0,0,26.67,28.83,26.69,8.72,23.22
$GC,18,-1.29,-146.6,202,2020,435,460,3.1,0.0,1,291,6.85,2.35,-256.00,0.156,18948,0.221,0.084,2202,431,3032,3019,3045,0,0,0,0,0,0,26.06,25.88,25.69,8.72,23.93
$GC,901,-1.29,-146.6,2201,431,3019,3046,75.8,-15.1,111,912,0.00,2.30,0.00,0.000,1030,0.000,0.072,2193,2010,3032,3019,3045,0,0,0,0,0,0,26.51,26.45,26.54,8.94,22.63
$GC,1032,-1.29,-146.6,2193,2010,3019,3046,93.0,-12.0,124,1044,0.00,2.30,0.00,0.000,260,0.000,0.089,2182,3547,3032,3019,3045,0,0,0,0,0,0,26.75,26.39,26.76,8.94,22.51
$GC,1128,-1.29,-146.6,2181,3547,3019,3045,105.0,-12.8,131,1143,0.00,2.22,0.00,0.000,1030,0.000,0.070,2182,1980,3032,3019,3045,0,0,0,0,0,0,26.58,26.52,26.60,8.93,21.92
$GC,1264,-1.29,-146.6,2181,1980,3019,3046,122.7,-13.5,144,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1981,3032,3018,3046,0,0,0,0,0,0,26.79,26.81,26.81,8.93,22.27
$GC,1395,-1.29,-146.6,2181,1981,3019,3045,140.0,-13.7,157,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1980,3032,3019,3046,0,0,0,0,0,0,26.79,26.81,26.81,8.92,22.43
$STATE,1504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1504,begin apogee
$GC,1508,-0.29,0.0,2182,1980,3018,3045,155.2,-13.6,168,1622,1.02,0.00,107.85,0.728,10246,0.179,0.000,2515,1979,2527,2516,2538,0,0,0,0,0,0,26.13,25.04,24.50,8.92,22.16
$STATE,1623,end apogee,CONTROL_FINISHED_OK
$STATE,1623,begin climb
$GC,1625,1.29,146.6,2515,1979,2516,2538,160.7,0.0,180,1745,1.45,2.50,109.10,0.710,10756,0.124,0.087,3032,428,2021,2017,2026,0,0,0,0,0,0,25.21,24.94,24.41,8.87,21.84
$GC,1800,1.31,163.8,3031,428,2018,2026,151.5,9.2,197,1821,0.00,2.38,14.32,0.651,9222,0.000,0.072,3032,1979,1961,1958,1965,0,0,0,0,0,0,25.70,25.67,24.78,8.82,21.41
$GC,1949,1.31,163.8,3031,1980,1958,1966,136.2,10.5,212,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1980,1961,1958,1965,0,0,0,0,0,0,26.25,26.26,26.25,8.81,21.80
$GC,2069,1.31,165.6,3031,1980,1958,1965,124.3,9.9,224,2079,0.00,2.42,0.00,0.000,260,0.000,0.089,3032,3561,1961,1958,1965,0,0,0,0,0,0,26.45,26.12,26.46,8.81,22.35
$GC,2222,1.31,165.6,3031,3560,1958,1965,106.4,10.8,239,2227,0.00,2.28,0.00,0.000,1030,0.000,0.070,3045,1985,1961,1958,1965,0,0,0,0,0,0,26.39,26.34,26.41,8.81,22.47
$GC,2348,1.31,165.6,3043,1985,1958,1965,92.0,10.5,251,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1985,1961,1958,1965,0,0,0,0,0,0,26.68,26.70,26.70,8.81,22.59
$GC,2468,1.36,205.0,3043,1985,1958,1965,80.4,8.2,263,2501,0.00,0.00,30.55,0.668,8198,0.000,0.000,3044,1985,1820,1816,1825,0,0,0,0,0,0,26.74,25.72,25.18,8.80,23.14
$GC,2618,1.36,205.0,3043,1985,1816,1826,65.8,11.6,278,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1985,1821,1816,1826,0,0,0,0,0,0,26.43,26.44,26.44,8.79,22.71
$GC,2738,1.36,205.0,3043,1985,1814,1826,51.4,13.0,290,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1985,1821,1816,1826,0,0,0,0,0,0,26.57,26.58,26.58,8.78,22.98
$GC,2861,1.36,205.0,3043,1985,1816,1826,37.3,11.6,302,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1985,1821,1816,1826,0,0,0,0,0,0,26.62,26.64,26.63,8.78,23.26
$GC,2991,1.37,216.2,3043,1985,1816,1826,25.7,9.5,315,3008,0.00,2.40,9.68,0.588,8708,0.000,0.084,3054,414,1781,1776,1786,0,0,0,0,0,0,26.67,25.91,25.50,8.78,23.02
$GC,3101,1.37,216.2,3054,414,1776,1786,14.1,10.6,326,3113,0.00,2.33,0.00,0.000,1030,0.000,0.070,3054,1996,1781,1776,1786,0,0,0,0,0,0,26.40,26.33,26.41,8.78,22.98
$GC,3185,1.52,333.9,3054,1996,1776,1786,8.2,4.6,339,3239,0.08,0.00,50.53,0.633,10498,0.151,0.000,3114,1996,1541,1535,1547,0,0,0,0,0,0,26.41,28.83,26.44,8.78,23.45
$STATE,3240,end climb,SURFACE_DEPTH_REACHED
$STATE,3240,begin surface coast
$FINISH,3.2,1.020386
$STATE,3323,end surface coast,CONTROL_FINISHED_OK
$STATE,3323,begin surface
$SM_CCo,3337,265.60,0.613,0,0,349,632.40
$SM_CCo,3605,-0.08,0.598,0,0,351,632.40
$SM_CCo,3609,0.22,0.134,0,0,349,632.40
$SM_GC,3.70,7.60,0.00,0.22,0.074,0.000,0.134,194,1999,349,-7.49,0.42,632.40,0,0,0,0,0,0,25.97,26.23,25.15
$IRIDIUM_FIX,4744.48,-12222.38,070717,194140
$TT8_MAMPS,0.02247,0.220955
$HUMID,22.47
$INTERNAL_PRESSURE,8.62725
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,999.0
$ALTIM_BOTTOM_PING,155.2,4.3
$24V_AH,24.41,5.327
$10V_AH,10.49,4.348
$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,17.000,23.475,322.025,265.825,263.725,0.000,0.000,0.000,67.500,0.000,7.509,911.787,836.613,788.374,1099.495,42.766,0.000,1237.716,0.000,665.240,0.000,679.677,0.000
$DEVICE_MAMPS,220.987,89.388,727.519,613.301,598.403,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,239.220,479.561,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343528
$DATA_FILE_SIZE,24490,363
$CAP_FILE_SIZE,111920,0
$CFSIZE,2047311872,2042068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138,169.32,1
$GPS,070717,205035,4743.604,-12224.431,25,1.2,25,16.3,0.0,0.0,7,63.2