version: 66.14
glider: 39
mission: 28
dive: 10
start: 4 10 119 3 22 24
data:
$ID,39
$MISSION,28
$DIVE,10
$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,-2
$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,71
$R_STBD_OVSHOOT,59
$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
$GPS1,100419,031546,4742.1533,-12225.6357,8,1.0,15,16.3,0.0,0.0,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-58.9
$GPS2,100419,032135,4742.1289,-12225.6445,6,1.0,17,16.3,0.4,220.4,8,4.6
$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,1.7,4617,-12.5,-10.000,-15.84,5865
$D_GRID,100
$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,-1.03,-389.3,139,2084,545,696,1.0,0.4,12,327,0.00,0.00,-251.18,0.151,16386,0.000,0.000,140,2084,2206,2166,2246,0,0,0,0,0,0,26.56,28.83,26.58,8.23,12.43
$GC,331,-1.03,-389.3,139,2084,2167,2246,3.8,-6.2,54,413,8.90,2.40,-65.38,0.156,18692,0.258,0.074,2515,3646,3342,3317,3368,0,0,0,0,0,0,25.91,26.06,25.96,8.39,12.19
$GC,463,-0.89,-389.3,2514,3645,3317,3369,25.8,-18.7,74,472,0.17,2.33,0.00,0.000,3078,0.174,0.062,2570,2059,3343,3317,3369,0,0,0,0,0,0,26.08,26.21,26.20,8.50,12.47
$GC,591,-0.81,-389.3,2570,2058,3317,3368,45.5,-14.6,87,600,0.00,2.30,0.00,0.000,516,0.000,0.070,2570,514,3342,3317,3368,0,0,0,0,0,0,26.59,26.35,26.60,8.49,12.47
$GC,716,-0.73,-389.3,2570,514,3317,3368,64.4,-16.8,99,724,0.20,2.30,0.00,0.000,3078,0.171,0.065,2628,2091,3342,3316,3368,0,0,0,0,0,0,26.36,26.48,26.48,8.49,12.82
$GC,843,-0.73,-389.3,2627,2091,3317,3368,82.5,-13.4,112,852,0.00,2.35,0.00,0.000,516,0.000,0.070,2628,517,3342,3317,3368,0,0,0,0,0,0,26.79,26.53,26.79,8.49,12.90
$GC,894,-0.73,-389.3,2627,517,3316,3368,88.8,-12.1,117,904,0.00,2.28,0.00,0.000,1030,0.000,0.062,2622,2090,3342,3317,3368,0,0,0,0,0,0,26.65,26.59,26.66,8.50,12.04
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,1000,-0.37,0.0,2622,2090,3317,3368,100.2,-11.6,127,1287,0.35,0.00,279.73,0.993,10246,0.149,0.000,2743,2089,2000,1952,2048,0,0,0,0,0,0,26.53,24.82,24.29,8.50,12.00
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1289,1.03,389.3,2743,2090,1951,2047,117.0,0.0,156,1600,1.27,2.50,298.60,0.931,10500,0.129,0.082,3173,3638,658,578,738,0,0,0,0,0,0,24.94,24.76,24.24,8.39,11.80
$GC,1693,1.03,389.3,3172,3637,578,738,84.9,11.5,196,1702,0.00,2.35,0.00,0.000,1030,0.000,0.062,3177,2078,658,578,738,0,0,0,0,0,0,25.70,25.64,25.71,8.25,12.23
$GC,1823,1.03,389.3,3176,2078,577,738,70.1,10.9,209,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2078,657,577,738,0,0,0,0,0,0,26.22,26.25,26.24,8.25,12.47
$GC,1943,1.03,389.3,3177,2078,577,738,57.9,9.8,221,1952,0.00,2.35,0.00,0.000,516,0.000,0.072,3176,519,657,577,738,0,0,0,0,0,0,26.43,26.18,26.44,8.24,12.27
$GC,1984,1.03,389.3,3176,519,577,738,54.1,9.1,225,1994,0.00,2.30,0.00,0.000,1030,0.000,0.062,3177,2087,657,577,738,0,0,0,0,0,0,26.32,26.26,26.33,8.24,12.27
$GC,2114,1.03,389.3,3176,2087,577,738,42.4,9.3,238,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2088,657,577,738,0,0,0,0,0,0,26.61,26.63,26.63,8.25,11.96
$GC,2235,1.08,578.7,3176,2088,577,738,33.4,6.7,250,2366,0.00,2.50,124.40,0.931,8708,0.000,0.074,3177,520,139,110,169,0,0,0,0,0,0,26.70,24.98,24.44,8.24,12.39
$GC,2449,1.14,578.7,3176,519,110,165,13.2,10.5,277,2457,0.10,2.35,0.00,0.000,3078,0.129,0.062,3228,2086,137,110,165,0,0,0,0,0,0,25.68,25.72,25.75,8.19,11.88
$STATE,2513,end climb,SURFACE_DEPTH_REACHED
$STATE,2513,begin surface coast
$FINISH,0.4,1.022817
$STATE,2545,end surface coast,CONTROL_FINISHED_OK
$STATE,2545,begin surface
$SM_CCo,2621,0.00,0.000,0,0,137,541.18
$SM_GC,1.27,8.10,0.00,0.00,0.070,0.000,0.000,150,2086,137,-8.40,0.20,541.18,0,0,0,0,0,0,26.00,26.25,26.06
$IRIDIUM_FIX,4744.48,-12222.38,100419,023253
$TT8_MAMPS,0.020223,0.201481
$HUMID,12.11
$INTERNAL_PRESSURE,8.13517
$TCM_TEMP,9.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.4
$ALTIM_BOTTOM_PING,100.2,89.4
$24V_AH,24.24,2.457
$10V_AH,10.53,4.415
$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,19.100,28.300,702.725,0.000,316.550,26.237,44.267,185.906,1.000,0.000,23.724,558.889,686.983,841.923,849.593,69.809,0.000,1293.680,0.000,559.367,0.000,7.054,0.000
$DEVICE_MAMPS,258.232,81.939,993.200,0.000,156.429,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,189.372,385.253,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273684
$DATA_FILE_SIZE,20917,295
$CAP_FILE_SIZE,45138,0
$CFSIZE,2047311872,2038628352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,104.37,0x236b74,0,24
$WARN,PPS timeout
$GPS,100419,040659,4742.312,-12225.711,8,0.9,16,16.3,0.4,212.4,8,4.9