version: 66.14
glider: 39
mission: 28
dive: 15
start: 4 10 119 9 26 12
data:
$ID,39
$MISSION,28
$DIVE,15
$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,40
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,3845
$C_ROLL_CLIMB,3845
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,34
$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
$GPS1,100419,092147,4744.6914,-12225.0430,5,0.9,25,16.3,0.2,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-62.0
$GPS2,100419,092532,4744.7197,-12225.0420,5,1.0,35,16.3,0.3,342.1,10,4.1
$SPEED_LIMITS,0.150,0.203
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,151.7,3255,-34.9,-15.000,-36.42,997
$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,5,begin dive
$GC,70,-2.61,-97.3,144,3834,552,692,1.1,0.4,12,313,0.00,0.00,-236.62,0.151,16386,0.000,0.000,143,3834,2117,2075,2160,0,0,0,0,0,0,26.75,28.83,26.77,8.22,12.23
$GC,316,-2.61,-97.3,144,3834,2075,2160,3.4,-5.1,52,345,6.95,0.00,-17.35,0.174,18438,0.258,0.000,2023,3834,2336,2294,2379,0,0,0,0,0,0,25.98,26.16,26.05,8.37,11.92
$GC,408,-2.37,-97.3,2022,3834,2294,2380,26.6,-30.4,66,411,0.30,0.00,0.00,0.000,2054,0.251,0.000,2104,3834,2337,2294,2380,0,0,0,0,0,0,26.08,26.29,26.25,8.40,11.60
$GC,528,-2.19,-97.3,2103,3834,2294,2380,60.5,-29.4,78,531,0.22,0.00,0.00,0.000,2054,0.241,0.000,2165,3834,2337,2295,2380,0,0,0,0,0,0,26.22,26.42,26.39,8.39,12.15
$GC,648,-2.05,-97.3,2165,3834,2294,2380,91.6,-25.9,90,650,0.15,0.00,0.00,0.000,2054,0.246,0.000,2206,3834,2337,2294,2380,0,0,0,0,0,0,26.32,26.51,26.48,8.39,12.00
$GC,790,-1.96,-97.3,2205,3835,2294,2379,123.7,-23.6,102,792,0.10,0.00,0.00,0.000,2054,0.258,0.000,2233,3835,2337,2294,2380,0,0,0,0,0,0,26.40,26.59,26.55,8.39,12.15
$GC,910,-1.89,-97.3,2233,3835,2294,2380,147.9,-18.0,114,912,0.10,0.00,0.00,0.000,2054,0.251,0.000,2260,3834,2337,2294,2380,0,0,0,0,0,0,26.46,26.65,26.61,8.39,12.82
$GC,1030,-1.89,-97.3,2260,3835,2294,2381,168.9,-17.9,126,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,3835,2337,2294,2380,0,0,0,0,0,0,26.90,26.92,26.91,8.39,12.11
$STATE,1088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1088,begin apogee
$GC,1092,-0.37,0.0,2260,3835,2294,2380,180.3,-19.2,132,1170,1.55,0.00,71.35,1.115,10246,0.206,0.000,2741,3834,2000,1943,2058,0,0,0,0,0,0,26.53,25.24,24.62,8.40,12.47
$STATE,1171,end apogee,CONTROL_FINISHED_OK
$STATE,1172,begin climb
$GC,1173,2.61,97.3,2741,3835,1942,2058,186.1,0.0,140,1253,2.85,0.00,72.72,1.038,10246,0.142,0.000,3693,3835,1664,1611,1717,0,0,0,0,0,0,25.32,24.82,24.25,8.37,12.19
$GC,1372,2.37,97.3,3693,3835,1611,1715,154.1,22.6,160,1374,0.22,0.00,0.00,0.000,4102,0.251,0.000,3638,3835,1663,1611,1715,0,0,0,0,0,0,25.58,25.81,25.77,8.34,12.55
$GC,1492,2.17,97.3,3637,3835,1612,1715,127.5,22.6,172,1494,0.25,0.00,0.00,0.000,4102,0.251,0.000,3572,3835,1663,1611,1715,0,0,0,0,0,0,25.89,26.10,26.06,8.34,11.88
$GC,1612,2.02,97.3,3571,3835,1611,1715,104.1,17.5,184,1614,0.20,0.00,0.00,0.000,4102,0.251,0.000,3520,3835,1662,1610,1715,0,0,0,0,0,0,26.07,26.28,26.25,8.34,12.51
$GC,1732,1.93,97.3,3519,3835,1611,1715,83.9,16.0,196,1734,0.10,0.00,0.00,0.000,4102,0.261,0.000,3494,3835,1663,1611,1715,0,0,0,0,0,0,26.22,26.41,26.37,8.33,12.51
$GC,1852,1.85,97.3,3492,3835,1611,1715,65.4,15.4,208,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,3835,1663,1612,1715,0,0,0,0,0,0,26.70,26.72,26.72,8.33,12.31
$GC,1972,1.78,97.3,3493,3835,1611,1715,45.7,16.2,220,1974,0.17,0.00,0.00,0.000,4102,0.236,0.000,3446,3835,1663,1611,1715,0,0,0,0,0,0,26.37,26.57,26.53,8.33,12.70
$GC,2092,1.79,134.5,3445,3835,1611,1715,32.0,11.2,232,2122,0.00,0.00,27.65,0.998,8198,0.000,0.000,3446,3835,1536,1486,1587,0,0,0,0,0,0,26.84,25.96,25.39,8.33,12.11
$GC,2244,1.79,134.5,3445,3835,1485,1586,11.1,14.2,253,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,3835,1534,1483,1586,0,0,0,0,0,0,26.51,26.52,26.51,8.32,12.11
$STATE,2286,end climb,SURFACE_DEPTH_REACHED
$STATE,2286,begin surface coast
$FINISH,-0.0,0.999817
$STATE,2322,end surface coast,CONTROL_FINISHED_OK
$STATE,2322,begin surface
$SM_CCo,2338,204.10,0.926,0,0,623,400.00
$SM_GC,1.38,8.62,0.00,204.10,0.077,0.000,0.926,153,3835,623,-8.41,-0.28,400.00,0,0,0,0,0,0,26.35,26.61,24.32
$IRIDIUM_FIX,4744.11,-12229.50,100419,091829
$TT8_MAMPS,0.021721,0.196987
$HUMID,11.84
$INTERNAL_PRESSURE,8.19377
$TCM_TEMP,9.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.4
$ALTIM_BOTTOM_PING,121.4,102.2
$24V_AH,24.25,3.366
$10V_AH,10.55,4.564
$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,21.800,0.000,171.725,204.100,253.975,0.000,0.000,0.000,7.750,0.000,42.547,652.384,887.769,577.855,482.776,44.488,0.000,847.386,0.000,404.541,0.000,69.608,0.000
$DEVICE_MAMPS,260.715,0.000,1114.867,926.159,173.810,0.000,0.000,0.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.307,352.577,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273724
$DATA_FILE_SIZE,17595,268
$CAP_FILE_SIZE,56836,0
$CFSIZE,2047311872,2038136832
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,326.87,0x236b74,0,24
$INTR,1,343.09,0x2139f2,0,24
$WARN,PPS timeout
$GPS,100419,100921,4744.847,-12225.020,6,0.9,15,16.3,0.0,0.0,10,4.9