version: 66.14
glider: 39
mission: 28
dive: 12
start: 4 10 119 5 23 18
data:
$ID,39
$MISSION,28
$DIVE,12
$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,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,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,68
$R_STBD_OVSHOOT,58
$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
$GPS1,100419,051606,4742.7769,-12225.7217,5,0.9,15,16.3,0.0,0.0,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.9
$GPS2,100419,052235,4742.7290,-12225.7471,8,0.9,8,16.3,0.0,0.0,8,0.0
$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,9.0,3629,-12.5,-10.000,-15.84,5865
$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,70,-1.03,-389.3,155,2085,553,690,1.2,-0.1,12,307,0.00,0.00,-230.75,0.151,16386,0.000,0.000,155,2084,2069,2027,2112,0,0,0,0,0,0,26.69,28.83,26.70,8.23,12.39
$GC,310,-1.03,-389.3,155,2084,2027,2112,3.5,-5.5,51,402,8.70,0.00,-77.75,0.154,18438,0.251,0.000,2537,2085,3343,3315,3372,0,0,0,0,0,0,26.00,26.13,26.02,8.37,12.27
$GC,467,-0.89,-389.3,2536,2084,3315,3372,28.1,-19.2,74,468,0.12,0.00,0.00,0.000,2054,0.194,0.000,2577,2084,3343,3315,3372,0,0,0,0,0,0,26.15,26.29,26.27,8.50,12.70
$GC,586,-0.82,-389.3,2576,2084,3315,3372,49.1,-16.7,86,590,0.00,2.38,0.00,0.000,516,0.000,0.072,2577,506,3343,3314,3372,0,0,0,0,0,0,26.63,26.39,26.65,8.49,11.84
$GC,732,-0.75,-389.3,2577,503,3315,3372,72.9,-16.5,100,740,0.17,2.30,0.00,0.000,3078,0.176,0.065,2626,2082,3343,3315,3372,0,0,0,0,0,0,26.41,26.53,26.53,8.49,12.23
$GC,858,-0.75,-389.3,2626,2082,3314,3372,89.5,-12.8,113,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2082,3343,3315,3372,0,0,0,0,0,0,26.83,26.85,26.84,8.49,12.23
$GC,984,-0.75,-389.3,2626,2082,3315,3372,104.2,-12.4,125,1004,0.00,2.30,0.00,0.000,516,0.000,0.070,2626,519,3343,3315,3371,0,0,0,0,0,0,26.89,26.63,26.90,8.49,12.47
$GC,1057,-0.75,-389.3,2626,519,3314,3371,113.7,-13.0,130,1066,0.00,2.28,0.00,0.000,1030,0.000,0.062,2620,2095,3343,3314,3372,0,0,0,0,0,0,26.74,26.69,26.75,8.49,12.74
$GC,1190,-0.75,-389.3,2619,2095,3315,3371,130.3,-12.4,143,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2095,3343,3314,3372,0,0,0,0,0,0,26.96,26.97,26.96,8.49,12.31
$GC,1309,-0.75,-389.3,2619,2095,3314,3372,144.7,-11.7,155,1318,0.00,2.35,0.00,0.000,516,0.000,0.070,2620,507,3343,3315,3371,0,0,0,0,0,0,26.99,26.74,27.00,8.49,12.39
$GC,1371,-0.75,-389.3,2618,507,3314,3371,152.2,-12.4,161,1375,0.00,2.28,0.00,0.000,1030,0.000,0.062,2611,2091,3342,3314,3371,0,0,0,0,0,0,26.84,26.78,26.85,8.49,12.59
$GC,1503,-0.75,-389.3,2609,2091,3314,3371,168.3,-12.4,174,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2091,3343,3314,3372,0,0,0,0,0,0,27.03,27.05,27.05,8.49,12.23
$STATE,1601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1601,begin apogee
$GC,1605,-0.37,0.0,2611,2091,3315,3372,181.3,-13.3,184,1893,0.40,0.00,282.00,1.075,10246,0.144,0.000,2756,2091,1999,1954,2045,0,0,0,0,0,0,26.72,24.76,24.20,8.49,12.35
$STATE,1894,end apogee,CONTROL_FINISHED_OK
$STATE,1895,begin climb
$GC,1896,1.03,389.3,2756,2091,1954,2045,198.3,0.0,213,2214,1.25,2.55,301.95,0.998,10500,0.124,0.079,3180,3643,658,584,733,0,0,0,0,0,0,24.89,24.65,24.07,8.39,12.15
$GC,2347,0.95,389.3,3180,3643,584,733,154.7,14.1,258,2357,0.00,2.35,0.00,0.000,1030,0.000,0.062,3186,2076,658,584,733,0,0,0,0,0,0,25.79,25.75,25.82,8.24,11.96
$GC,2477,0.88,389.3,3186,2076,584,733,137.8,13.0,271,2479,0.10,0.00,0.00,0.000,4102,0.191,0.000,3156,2076,657,583,732,0,0,0,0,0,0,25.94,26.08,26.05,8.25,12.23
$GC,2597,0.88,389.3,3155,2076,584,733,123.6,11.7,283,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2076,658,584,733,0,0,0,0,0,0,26.44,26.46,26.45,8.24,12.47
$GC,2717,0.88,389.3,3155,2076,584,732,111.3,10.0,295,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2076,658,584,733,0,0,0,0,0,0,26.57,26.59,26.58,8.25,12.70
$GC,2837,0.88,389.3,3156,2076,584,733,99.2,10.1,307,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2076,658,584,733,0,0,0,0,0,0,26.67,26.68,26.68,8.24,12.43
$GC,2957,0.88,389.3,3155,2076,584,733,87.1,10.3,319,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2076,658,584,733,0,0,0,0,0,0,26.74,26.76,26.76,8.24,12.27
$GC,3077,0.88,389.3,3155,2076,584,733,75.0,10.7,331,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2076,658,584,733,0,0,0,0,0,0,26.81,26.82,26.82,8.24,12.35
$GC,3197,0.88,389.3,3156,2076,584,733,63.5,9.4,343,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2076,658,584,733,0,0,0,0,0,0,26.86,26.87,26.87,8.24,12.15
$GC,3317,0.88,389.3,3155,2077,584,733,53.6,8.9,355,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2077,658,584,733,0,0,0,0,0,0,26.90,26.92,26.91,8.24,12.07
$GC,3437,0.88,389.3,3155,2076,584,733,41.6,10.4,367,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2076,658,584,732,0,0,0,0,0,0,26.94,26.96,26.96,8.23,12.04
$GC,3557,0.88,389.3,3155,2076,584,733,30.1,9.4,379,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2076,658,584,733,0,0,0,0,0,0,26.97,26.99,26.98,8.24,13.10
$GC,3679,0.88,389.3,3156,2076,584,732,19.2,9.6,391,3687,0.00,2.30,0.00,0.000,516,0.000,0.072,3166,514,658,584,733,0,0,0,0,0,0,26.98,26.75,27.00,8.24,12.70
$GC,3744,0.88,389.3,3165,514,584,732,12.4,10.7,403,3752,0.00,2.28,0.00,0.000,1030,0.000,0.062,3166,2093,658,584,733,0,0,0,0,0,0,26.84,26.79,26.86,8.23,12.59
$GC,3813,0.88,389.3,3165,2093,584,732,5.7,8.8,416,3821,0.00,2.33,0.00,0.000,260,0.000,0.074,3166,3651,658,584,733,0,0,0,0,0,0,27.03,26.77,27.04,8.23,13.02
$STATE,3826,end climb,SURFACE_DEPTH_REACHED
$STATE,3826,begin surface coast
$FINISH,0.2,1.010248
$STATE,3893,end surface coast,CONTROL_FINISHED_OK
$STATE,3893,begin surface
$SM_CCo,3911,9.82,0.919,0,0,623,400.00
$SM_GC,2.25,7.70,2.33,9.82,0.070,0.060,0.919,133,2102,623,-8.46,2.06,400.00,0,0,0,0,0,0,26.79,26.83,25.94
$IRIDIUM_FIX,4742.17,-12225.08,100419,040818
$TT8_MAMPS,0.021721,0.256158
$HUMID,12.35
$INTERNAL_PRESSURE,8.17424
$TCM_TEMP,9.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,18.9
$ALTIM_BOTTOM_PING,116.3,95.9
$24V_AH,24.07,2.859
$10V_AH,10.49,4.474
$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,18.450,28.000,583.950,9.825,308.500,24.967,38.875,238.388,6.000,0.000,14.741,964.944,1413.536,766.425,1102.966,91.408,0.000,1298.739,0.000,745.869,0.000,56.613,0.000
$DEVICE_MAMPS,250.783,79.456,1075.139,918.710,153.946,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,286.028,566.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273648
$DATA_FILE_SIZE,28049,431
$CAP_FILE_SIZE,64009,0
$CFSIZE,2047311872,2038431744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1750.05,0x236b72,2,24
$WARN,PPS timeout
$GPS,100419,062938,4743.397,-12225.557,8,0.9,18,16.3,0.0,0.0,9,4.7