version: 66.12
glider: 39
mission: 14
dive: 4
start: 2 7 117 23 25 59
data:
$ID,39
$MISSION,14
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,90
$T_ABORT,120
$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,0.0099999998
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,78467
$MASS_COMP,9200.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$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,600
$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,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$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,2048
$C_ROLL_CLIMB,2048
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2345
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$UNCOM_BLEED,60
$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,-20.786182
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,0.0044020778
$SEABIRD_T_H,0.00064109167
$SEABIRD_T_I,2.6113514e-05
$SEABIRD_T_J,3.207555e-06
$SEABIRD_C_G,-9.7950287
$SEABIRD_C_H,1.1392668
$SEABIRD_C_I,-0.0017858738
$SEABIRD_C_J,0.00021101594
$SEABIRD_C_Z,2936.5898
$GPS1,070217,232012,4742.8833,-12225.5352,3,0.9,12,16.3,0.0,0.0,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-25.4
$GPS2,070217,232525,4742.8945,-12225.5449,6,0.9,14,16.3,0.0,0.0,9,9.0
$SPEED_LIMITS,0.050,0.190
$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,7.3,3246,-10.1,-5.000,-14.71,4399
$D_GRID,90
$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,79,-0.64,-146.0,126,2028,187,368,1.5,0.2,12,430,0.00,0.00,-346.27,0.149,16386,0.000,0.000,126,2029,2188,2147,2229,0,0,0,0,0,0,26.21,28.83,26.22,8.64,9.36
$GC,433,-0.64,-146.0,127,2029,2148,2230,3.0,-0.5,70,555,12.43,0.00,-101.57,0.151,18950,0.236,0.000,2271,2027,2847,2810,2884,0,0,0,0,0,0,25.46,25.63,25.53,8.84,9.20
$GC,616,-0.64,-146.0,2270,2027,2810,2884,11.0,-6.3,102,623,0.00,2.30,0.00,0.000,516,0.000,0.065,2271,478,2847,2810,2884,0,0,0,0,0,0,26.17,25.88,26.19,8.91,9.52
$GC,646,-0.58,-146.0,2270,478,2810,2884,12.9,-6.5,107,653,0.00,2.25,0.00,0.000,1030,0.000,0.052,2262,2059,2847,2810,2884,0,0,0,0,0,0,26.05,26.01,26.06,8.91,9.44
$GC,716,-0.58,-146.0,2262,2059,2811,2884,18.4,-8.1,120,723,0.08,2.33,0.00,0.000,2308,0.196,0.065,2281,3612,2847,2810,2884,0,0,0,0,0,0,25.94,26.01,25.99,8.91,9.32
$GC,803,-0.58,-146.0,2280,3612,2810,2884,25.2,-8.2,130,811,0.00,2.28,0.00,0.000,1030,0.000,0.052,2282,2027,2847,2810,2884,0,0,0,0,0,0,26.20,26.18,26.22,8.91,9.32
$GC,931,-0.58,-146.0,2281,2027,2810,2884,35.5,-7.5,143,940,0.00,2.25,0.00,0.000,516,0.000,0.067,2281,486,2847,2810,2884,0,0,0,0,0,0,26.51,26.20,26.53,8.91,9.08
$GC,1015,-0.58,-146.0,2281,486,2810,2884,41.7,-7.3,151,1022,0.00,2.20,0.00,0.000,1030,0.000,0.052,2271,2056,2847,2810,2884,0,0,0,0,0,0,26.37,26.33,26.39,8.91,9.55
$GC,1142,-0.58,-146.0,2271,2056,2810,2884,50.7,-7.1,164,1151,0.00,2.30,0.00,0.000,516,0.000,0.065,2271,485,2847,2810,2885,0,0,0,0,0,0,26.63,26.31,26.64,8.91,9.44
$GC,1216,-0.58,-146.0,2271,485,2810,2884,55.7,-7.0,171,1224,0.10,2.22,0.00,0.000,3078,0.144,0.052,2292,2059,2847,2810,2884,0,0,0,0,0,0,26.19,26.44,26.26,8.91,9.59
$GC,1344,-0.58,-146.0,2291,2059,2810,2884,64.1,-7.3,184,1353,0.00,2.28,0.00,0.000,260,0.000,0.067,2282,3609,2847,2810,2884,0,0,0,0,0,0,26.71,26.38,26.72,8.91,9.87
$GC,1375,-0.58,-146.0,2282,3609,2810,2884,66.5,-7.6,187,1384,0.00,2.20,0.00,0.000,1030,0.000,0.055,2282,2041,2847,2810,2884,0,0,0,0,0,0,26.52,26.48,26.53,8.91,9.79
$GC,1505,-0.58,-146.0,2282,2041,2810,2884,76.8,-8.0,200,1514,0.00,2.25,0.00,0.000,516,0.000,0.067,2282,487,2846,2810,2883,0,0,0,0,0,0,26.76,26.42,26.77,8.91,10.22
$GC,1597,-0.58,-146.0,2282,487,2810,2883,85.1,-9.3,209,1606,0.00,2.20,0.00,0.000,1030,0.000,0.055,2272,2066,2847,2810,2884,0,0,0,0,0,0,26.59,26.54,26.60,8.91,9.55
$STATE,1655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1655,begin apogee
$GC,1660,-0.29,0.0,2272,2066,2810,2883,90.4,-8.8,215,1777,0.35,0.00,109.70,0.849,10246,0.132,0.000,2389,2066,2345,2296,2394,0,0,0,0,0,0,26.32,24.92,24.37,8.90,9.67
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1779,begin climb
$GC,1780,0.64,146.0,2389,2066,2296,2394,97.0,0.0,227,1899,0.82,2.45,111.07,0.827,10500,0.112,0.070,2670,3605,1841,1809,1874,0,0,0,0,0,0,25.20,24.80,24.18,8.87,9.67
$GC,1932,0.66,237.0,2671,3605,1807,1875,95.0,2.9,242,2012,0.00,2.25,70.95,0.807,9222,0.000,0.055,2679,2064,1529,1499,1560,0,0,0,0,0,0,25.39,25.37,24.17,8.83,9.91
$GC,2131,0.66,237.0,2678,2064,1498,1557,87.6,4.2,262,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2064,1528,1498,1558,0,0,0,0,0,0,25.87,25.89,25.89,8.79,9.91
$GC,2251,0.66,237.0,2678,2064,1498,1557,82.7,4.1,274,2261,0.00,2.42,0.00,0.000,516,0.000,0.067,2689,439,1527,1498,1556,0,0,0,0,0,0,26.14,25.86,26.15,8.78,10.03
$GC,2293,0.66,237.0,2688,440,1498,1555,81.1,4.1,278,2302,0.00,2.30,0.00,0.000,1030,0.000,0.052,2689,2053,1526,1498,1555,0,0,0,0,0,0,26.04,26.00,26.05,8.79,9.55
$GC,2423,0.66,237.0,2688,2053,1498,1555,75.2,5.1,291,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2053,1527,1498,1556,0,0,0,0,0,0,26.36,26.38,26.37,8.78,9.24
$GC,2543,0.66,237.0,2688,2053,1498,1555,68.9,5.2,303,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2053,1526,1498,1555,0,0,0,0,0,0,26.46,26.48,26.48,8.79,10.22
$GC,2663,0.66,237.0,2688,2053,1498,1556,62.4,6.0,315,2672,0.00,2.38,0.00,0.000,516,0.000,0.067,2696,441,1527,1499,1555,0,0,0,0,0,0,26.55,26.23,26.56,8.79,10.26
$GC,2715,0.66,237.0,2695,440,1498,1554,59.1,6.1,320,2724,0.00,2.28,0.00,0.000,1030,0.000,0.052,2696,2063,1526,1498,1554,0,0,0,0,0,0,26.39,26.35,26.41,8.78,9.63
$GC,2845,0.66,237.0,2695,2063,1498,1555,50.5,7.3,333,2854,0.00,2.28,0.00,0.000,260,0.000,0.067,2696,3611,1526,1498,1554,0,0,0,0,0,0,26.64,26.33,26.65,8.79,9.52
$GC,2886,0.66,237.0,2695,3611,1498,1555,47.8,6.8,337,2895,0.00,2.30,0.00,0.000,1030,0.000,0.055,2701,1985,1526,1498,1554,0,0,0,0,0,0,26.46,26.42,26.48,8.78,9.71
$GC,3016,0.66,237.0,2700,1985,1498,1554,39.6,6.2,350,3025,0.00,2.25,0.00,0.000,516,0.000,0.067,2701,440,1526,1498,1554,0,0,0,0,0,0,26.71,26.39,26.72,8.79,9.20
$GC,3079,0.66,237.0,2700,440,1498,1554,36.2,5.4,356,3088,0.00,2.22,0.00,0.000,1030,0.000,0.055,2701,2048,1526,1498,1554,0,0,0,0,0,0,26.52,26.50,26.54,8.77,9.08
$GC,3208,0.66,237.0,2700,2048,1498,1554,28.8,6.0,369,3217,0.00,2.30,0.00,0.000,260,0.000,0.067,2701,3609,1526,1499,1554,0,0,0,0,0,0,26.77,26.45,26.78,8.78,9.83
$GC,3252,0.66,237.0,2701,3610,1498,1554,26.0,6.6,373,3259,0.00,2.28,0.00,0.000,1030,0.000,0.052,2701,1986,1526,1499,1554,0,0,0,0,0,0,26.58,26.53,26.60,8.78,9.59
$GC,3381,0.66,237.0,2701,1985,1498,1554,18.2,5.5,389,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1985,1526,1498,1554,0,0,0,0,0,0,26.81,26.82,26.82,8.78,9.55
$GC,3450,0.66,237.0,2700,1985,1498,1554,14.5,5.3,402,3457,0.00,2.38,0.00,0.000,260,0.000,0.067,2701,3605,1526,1498,1554,0,0,0,0,0,0,26.82,26.50,26.84,8.78,9.67
$GC,3504,0.66,237.0,2700,3605,1498,1554,10.9,6.5,412,3511,0.00,2.28,0.00,0.000,1030,0.000,0.052,2701,1985,1526,1498,1554,0,0,0,0,0,0,26.63,26.59,26.65,8.78,9.59
$GC,3575,0.66,237.0,2700,1985,1499,1554,6.7,5.5,425,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1985,1526,1498,1554,0,0,0,0,0,0,26.85,26.86,26.86,8.78,9.55
$STATE,3637,end climb,SURFACE_DEPTH_REACHED
$STATE,3637,begin surface coast
$FINISH,1.2,1.015251
$STATE,3693,end surface coast,CONTROL_FINISHED_OK
$STATE,3694,begin surface
$SM_CCo,3708,296.55,0.772,0,0,280,600.15
$SM_GC,1.84,6.55,0.00,296.55,0.065,0.000,0.772,131,1983,280,-7.21,-1.84,600.15,0,0,0,0,0,0,26.60,26.89,24.22
$IRIDIUM_FIX,4722.92,-12225.08,070217,222943
$TT8_MAMPS,0.023219,0.19474
$HUMID,9.48
$INTERNAL_PRESSURE,8.57464
$TCM_TEMP,8.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,19.5
$24V_AH,24.17,7.848
$10V_AH,10.29,10.101
$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,20.325,59.400,291.725,296.550,447.850,22.637,16.664,179.310,0.500,0.000,21.574,995.123,1215.039,1021.966,1014.139,92.418,0.000,1556.094,0.000,776.472,0.000,2.761,0.000
$DEVICE_MAMPS,235.885,69.524,849.186,772.213,151.463,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.133,588.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323140
$DATA_FILE_SIZE,27849,448
$CAP_FILE_SIZE,69526,0
$CFSIZE,2047311872,2040758272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080217,003419,4743.573,-12225.210,5,0.9,59,16.3,0.0,0.0,9,12.8