version: 66.14
glider: 39
mission: 28
dive: 14
start: 4 10 119 8 8 55
data:
$ID,39
$MISSION,28
$DIVE,14
$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,80
$T_MISSION,90
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,245
$C_ROLL_CLIMB,245
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,63
$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
$GPS1,100419,080003,4744.2334,-12225.1328,5,0.9,17,16.3,0.0,0.0,10,4.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-61.9
$GPS2,100419,080815,4744.3008,-12225.1123,5,0.9,18,16.3,0.0,0.0,10,4.9
$SPEED_LIMITS,0.089,0.259
$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,47.9,847,-20.0,-7.500,-23.02,2036
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,71,-1.51,-100.3,140,265,548,696,1.0,0.3,12,314,0.00,0.00,-236.75,0.151,16386,0.000,0.000,141,265,2090,2053,2127,0,0,0,0,0,0,26.82,28.83,26.84,8.23,12.98
$GC,317,-1.52,-166.6,140,265,2053,2127,3.1,-4.2,52,367,8.35,0.00,-36.22,0.161,18438,0.263,0.000,2373,266,2574,2545,2604,0,0,0,0,0,0,26.03,26.20,26.08,8.38,12.11
$GC,431,-1.28,-166.6,2373,265,2545,2605,25.2,-22.5,70,433,0.28,0.00,0.00,0.000,2054,0.206,0.000,2457,266,2575,2545,2605,0,0,0,0,0,0,26.15,26.33,26.29,8.42,12.23
$GC,551,-1.13,-166.6,2456,265,2545,2605,47.4,-17.0,82,553,0.15,0.00,0.00,0.000,2054,0.216,0.000,2501,266,2575,2545,2605,0,0,0,0,0,0,26.29,26.46,26.43,8.41,12.23
$GC,671,-1.02,-166.6,2500,265,2545,2605,66.4,-15.9,94,673,0.12,0.00,0.00,0.000,2054,0.214,0.000,2538,266,2575,2545,2605,0,0,0,0,0,0,26.39,26.56,26.53,8.42,12.27
$GC,791,-0.97,-166.6,2538,265,2545,2605,86.5,-16.8,106,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,265,2575,2545,2605,0,0,0,0,0,0,26.83,26.84,26.84,8.41,12.63
$GC,927,-0.91,-166.6,2538,265,2545,2605,105.6,-14.8,118,934,0.10,0.00,0.00,0.000,2054,0.216,0.000,2573,265,2575,2545,2605,0,0,0,0,0,0,26.54,26.66,26.61,8.42,11.92
$GC,1072,-0.91,-166.6,2573,266,2545,2604,127.5,-14.5,131,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,266,2575,2545,2605,0,0,0,0,0,0,26.93,26.94,26.94,8.42,12.78
$GC,1203,-0.91,-166.6,2573,265,2545,2605,145.7,-12.7,143,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,265,2575,2545,2605,0,0,0,0,0,0,26.97,26.98,26.98,8.42,12.74
$GC,1323,-0.91,-166.6,2573,265,2545,2605,159.9,-12.1,155,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,266,2575,2545,2605,0,0,0,0,0,0,27.00,27.02,27.01,8.42,12.47
$GC,1443,-0.91,-166.6,2573,265,2545,2605,174.4,-11.6,167,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,266,2575,2545,2605,0,0,0,0,0,0,27.03,27.05,27.04,8.42,12.23
$STATE,1491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1491,begin apogee
$GC,1496,-0.37,0.0,2573,266,2545,2605,180.2,-11.7,172,1624,0.50,0.00,120.60,1.115,10246,0.166,0.000,2747,265,1999,1955,2044,0,0,0,0,0,0,26.69,24.92,24.33,8.41,12.19
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1626,1.52,166.6,2747,266,1955,2045,188.6,0.0,185,1762,1.77,0.00,125.00,1.030,10246,0.139,0.000,3336,266,1426,1398,1454,0,0,0,0,0,0,25.06,24.73,24.18,8.38,11.96
$GC,1883,1.39,166.6,3335,266,1398,1451,159.4,15.8,211,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,266,1424,1398,1451,0,0,0,0,0,0,25.99,26.01,26.01,8.30,12.51
$GC,2003,1.25,166.6,3335,265,1399,1451,142.5,14.1,223,2005,0.20,0.00,0.00,0.000,4102,0.204,0.000,3279,266,1424,1398,1451,0,0,0,0,0,0,25.93,26.10,26.06,8.31,12.15
$GC,2123,1.19,166.6,3279,266,1398,1450,127.8,11.9,235,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,266,1424,1398,1450,0,0,0,0,0,0,26.48,26.50,26.49,8.31,12.11
$GC,2243,1.13,166.6,3278,266,1398,1451,114.7,10.9,247,2245,0.15,0.00,0.00,0.000,4102,0.206,0.000,3235,266,1424,1398,1451,0,0,0,0,0,0,26.24,26.41,26.37,8.31,13.02
$GC,2363,1.13,166.6,3234,266,1398,1451,103.9,9.2,259,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,266,1424,1398,1451,0,0,0,0,0,0,26.70,26.72,26.71,8.30,12.23
$GC,2483,1.13,166.6,3234,266,1398,1451,92.4,8.6,271,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,265,1424,1398,1450,0,0,0,0,0,0,26.77,26.79,26.79,8.31,12.15
$GC,2603,1.13,166.6,3234,266,1398,1451,82.9,8.0,283,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,266,1424,1398,1451,0,0,0,0,0,0,26.83,26.85,26.84,8.30,13.02
$GC,2723,1.13,166.6,3234,266,1398,1451,71.9,10.2,295,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,266,1424,1399,1450,0,0,0,0,0,0,26.88,26.90,26.89,8.31,12.47
$GC,2843,1.13,166.6,3234,266,1398,1451,59.3,10.8,307,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,266,1425,1399,1451,0,0,0,0,0,0,26.92,26.94,26.94,8.31,12.98
$GC,2963,1.13,166.6,3234,266,1398,1451,46.8,9.7,319,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,266,1424,1398,1450,0,0,0,0,0,0,26.96,26.97,26.97,8.31,12.55
$GC,3083,1.13,166.6,3234,266,1398,1451,34.9,10.2,331,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,266,1424,1398,1451,0,0,0,0,0,0,26.98,27.01,27.00,8.31,12.19
$GC,3203,1.13,166.6,3234,266,1398,1450,23.3,9.7,343,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,265,1424,1398,1450,0,0,0,0,0,0,27.01,27.03,27.03,8.31,12.11
$GC,3324,1.13,166.6,3234,266,1398,1450,13.9,6.9,363,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,266,1424,1398,1450,0,0,0,0,0,0,27.04,27.05,27.05,8.30,12.51
$GC,3392,1.13,166.6,3234,266,1398,1450,8.2,8.4,376,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,266,1424,1398,1450,0,0,0,0,0,0,27.05,27.07,27.06,8.31,12.63
$STATE,3434,end climb,SURFACE_DEPTH_REACHED
$STATE,3434,begin surface coast
$FINISH,0.1,1.022770
$STATE,3496,end surface coast,CONTROL_FINISHED_OK
$STATE,3496,begin surface
$SM_CCo,3511,178.43,0.944,0,0,623,400.00
$SM_GC,1.56,7.93,0.00,178.43,0.077,0.000,0.944,170,266,623,-8.42,0.59,400.00,0,0,0,0,0,0,26.64,27.08,24.39
$IRIDIUM_FIX,4744.97,-12226.80,100419,080300
$TT8_MAMPS,0.021721,0.200732
$HUMID,12.70
$INTERNAL_PRESSURE,8.184
$TCM_TEMP,9.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,140.7,105.4
$24V_AH,24.18,3.230
$10V_AH,10.55,4.540
$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,19.550,0.000,245.600,178.425,272.975,0.000,0.000,0.000,13.500,0.000,25.428,962.322,1425.506,643.006,686.495,58.234,0.000,1014.466,0.000,589.661,0.000,124.265,0.000
$DEVICE_MAMPS,263.198,0.000,1114.867,943.540,161.395,0.000,0.000,0.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.984,521.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273676
$DATA_FILE_SIZE,28069,396
$CAP_FILE_SIZE,69248,0
$CFSIZE,2047311872,2038202368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,100419,091119,4744.602,-12225.043,5,1.0,22,16.3,0.2,0.0,9,4.9