version: 66.14
glider: 37
mission: 23
dive: 4
start: 4 30 119 21 34 26
data:
$ID,37
$MISSION,23
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$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,40
$T_MISSION,50
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,78590
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035481339
$HD_B,0.013
$HD_C,2.4999999e-06
$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,570
$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,136
$PITCH_MAX,3906
$C_PITCH,3519
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$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,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,3900
$C_ROLL_CLIMB,390
$HEAD_ERRBAND,1800
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2107
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2.5
$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,-23.743544
$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,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004395098
$SEABIRD_T_H,0.00063361513
$SEABIRD_T_I,2.5651329e-05
$SEABIRD_T_J,3.1717634e-06
$SEABIRD_C_G,-9.9017992
$SEABIRD_C_H,1.1589037
$SEABIRD_C_I,-0.0017859261
$SEABIRD_C_J,0.00021709637
$SEABIRD_C_Z,2927.29
$GPS1,300419,212926,4742.5234,-12225.0391,4,1.1,37,16.3,0.5,190.4,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.4
$GPS2,300419,213323,4742.4766,-12225.0752,6,1.1,31,16.3,0.4,219.2,8,5.0
$SPEED_LIMITS,0.214,0.214
$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,9.5,3815,-32.8,-15.000,-35.00,1077
$D_GRID,178
$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,71,-2.22,-97.8,135,3904,258,27,1.5,-0.2,12,291,0.00,0.00,-214.40,0.107,16386,0.000,0.000,135,3904,1927,2009,1846,0,0,0,0,0,0,26.83,28.83,26.84,8.24,31.29
$GC,294,-2.22,-97.8,136,3904,2009,1846,3.2,-0.6,43,353,11.68,0.00,-42.10,0.109,18438,0.305,0.000,2799,3904,2443,2521,2366,0,0,0,0,0,0,25.77,26.18,26.07,8.43,30.42
$GC,420,-2.22,-97.8,2798,3905,2521,2366,21.0,-9.5,63,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3905,2443,2521,2366,0,0,0,0,0,0,26.58,26.60,26.59,8.48,27.94
$GC,548,-2.22,-97.8,2798,3904,2521,2366,52.9,-22.4,76,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3905,2443,2521,2366,0,0,0,0,0,0,26.70,26.72,26.72,8.47,29.40
$GC,670,-2.22,-97.8,2798,3905,2521,2366,80.2,-23.9,88,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3904,2443,2521,2366,0,0,0,0,0,0,26.77,26.79,26.79,8.47,30.42
$GC,816,-2.22,-97.8,2798,3904,2521,2367,114.8,-23.0,101,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3904,2444,2521,2367,0,0,0,0,0,0,26.82,26.84,26.84,8.47,30.31
$GC,985,-2.22,-97.8,2798,3905,2521,2366,154.2,-23.2,113,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,3905,2443,2521,2366,0,0,0,0,0,0,26.86,26.87,26.87,8.46,31.09
$STATE,1084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1084,begin apogee
$GC,1094,-0.33,0.0,2810,396,2521,2367,178.3,-23.4,123,1176,2.20,0.00,70.35,0.904,10246,0.261,0.000,3403,396,2107,2181,2034,0,0,0,0,0,0,25.98,25.27,24.63,8.46,31.41
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1179,2.22,97.8,3403,397,2181,2034,186.0,0.0,132,1257,1.50,0.00,72.03,0.879,10246,0.171,0.000,3883,397,1769,1844,1695,0,0,0,0,0,0,25.39,25.10,24.44,8.42,31.02
$GC,1377,2.22,97.8,3883,397,1844,1694,172.1,7.4,152,1378,0.00,0.00,0.00,0.000,2054,0.000,0.000,3883,396,1769,1844,1694,0,0,0,0,0,0,26.21,26.22,26.21,8.39,30.66
$GC,1496,2.23,160.6,3883,397,1845,1694,160.1,9.0,164,1547,0.00,0.00,45.80,0.852,10246,0.000,0.000,3884,397,1554,1632,1476,0,0,0,0,0,0,26.45,25.30,24.71,8.39,31.13
$GC,1667,2.25,214.4,3883,396,1632,1475,142.4,9.9,181,1710,0.00,0.00,39.50,0.827,10246,0.000,0.000,3883,396,1368,1450,1286,0,0,0,0,0,0,26.29,25.30,24.72,8.37,30.70
$GC,1828,2.25,236.9,3883,396,1450,1286,120.1,12.9,197,1848,0.00,0.00,17.83,0.780,10246,0.000,0.000,3883,396,1290,1374,1207,0,0,0,0,0,0,26.27,25.58,24.98,8.33,31.21
$GC,1968,2.25,236.9,3883,396,1374,1206,100.5,13.6,211,1969,0.00,0.00,0.00,0.000,2054,0.000,0.000,3883,396,1290,1374,1206,0,0,0,0,0,0,26.36,26.37,26.36,8.34,31.21
$GC,2087,2.25,236.9,3883,396,1374,1206,82.8,14.3,223,2088,0.00,0.00,0.00,0.000,2054,0.000,0.000,3883,396,1290,1374,1206,0,0,0,0,0,0,26.54,26.55,26.55,8.33,31.05
$GC,2207,2.25,236.9,3883,397,1374,1206,66.1,14.5,235,2208,0.00,0.00,0.00,0.000,2054,0.000,0.000,3883,396,1290,1374,1206,0,0,0,0,0,0,26.65,26.66,26.65,8.33,31.02
$GC,2328,2.25,236.9,3882,397,1374,1206,51.6,13.3,247,2329,0.00,0.00,0.00,0.000,2054,0.000,0.000,3884,397,1289,1373,1205,0,0,0,0,0,0,26.73,26.74,26.74,8.33,31.61
$GC,2448,2.26,264.7,3882,397,1374,1205,36.4,12.4,259,2470,0.00,0.00,20.70,0.757,10246,0.000,0.000,3884,396,1195,1280,1111,0,0,0,0,0,0,26.79,25.96,25.37,8.32,31.21
$GC,2590,2.27,290.1,3883,396,1279,1109,18.9,12.6,273,2613,0.00,0.00,19.25,0.740,10246,0.000,0.000,3883,397,1107,1195,1020,0,0,0,0,0,0,26.56,25.82,25.22,8.31,31.76
$GC,2677,2.28,320.5,3883,396,1196,1019,9.0,12.1,288,2706,0.00,0.00,23.52,0.737,10246,0.000,0.000,3883,396,1002,1092,913,0,0,0,0,0,0,26.41,25.63,25.05,8.31,31.57
$STATE,2727,end climb,SURFACE_DEPTH_REACHED
$STATE,2727,begin surface coast
$FINISH,0.8,1.020297
$STATE,2753,end surface coast,CONTROL_FINISHED_OK
$STATE,2753,begin surface
$SM_CCo,2778,202.43,0.745,0,0,144,570.23
$SM_GC,1.27,10.62,5.70,202.43,0.122,0.079,0.745,149,3922,144,-10.50,-0.14,570.23,0,0,0,0,0,0,25.82,25.93,24.51
$IRIDIUM_FIX,4743.02,-12222.38,300419,212520
$TT8_MAMPS,0.023219,0.204477
$HUMID,30.19
$INTERNAL_PRESSURE,8.19246
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.9,19.2
$ALTIM_BOTTOM_PING,156.4,42.3
$24V_AH,24.44,89.998
$10V_AH,10.39,48.285
$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,26.000,11.250,308.975,202.425,256.500,0.000,0.000,0.000,17.500,0.000,32.645,805.460,880.143,718.014,568.197,142.008,0.000,1033.874,0.000,491.238,0.000,169.164,0.000
$DEVICE_MAMPS,305.409,79.456,903.812,744.900,109.252,0.000,0.000,0.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,200.311,420.996,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312904
$DATA_FILE_SIZE,21055,301
$CAP_FILE_SIZE,66871,0
$CFSIZE,2047311872,2042593280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,210.92,1
$GPS,300419,222509,4742.381,-12225.229,5,0.9,20,16.3,0.3,208.7,9,5.0