version: 66.14
glider: 39
mission: 28
dive: 19
start: 4 10 119 13 34 43
data:
$ID,39
$MISSION,28
$DIVE,19
$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,200
$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,49
$R_STBD_OVSHOOT,62
$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
$GPS1,100419,132719,4743.4775,-12224.5068,2,0.9,19,16.3,0.3,82.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.4
$GPS2,100419,133401,4743.4746,-12224.4365,10,0.9,18,16.3,0.2,42.9,9,5.0
$SPEED_LIMITS,0.173,0.262
$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,168.9,882,-19.5,-10.000,-22.20,2558
$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,-1.49,-167.9,149,2072,541,702,1.3,-0.9,12,301,0.00,0.00,-225.05,0.151,16386,0.000,0.000,150,2072,2068,2027,2109,0,0,0,0,0,0,26.46,28.83,26.47,8.23,12.19
$GC,304,-1.50,-194.6,150,2072,2027,2109,3.3,-3.9,50,367,8.27,2.45,-43.67,0.159,18692,0.256,0.072,2370,3641,2673,2634,2712,0,0,0,0,0,0,25.84,26.01,25.90,8.37,11.88
$GC,541,-1.29,-194.6,2369,3641,2634,2712,53.6,-24.7,81,551,0.28,2.33,0.00,0.000,3078,0.196,0.060,2454,2041,2673,2634,2712,0,0,0,0,0,0,26.16,26.32,26.29,8.42,12.11
$GC,671,-1.18,-194.6,2453,2041,2634,2712,79.9,-19.0,94,681,0.10,2.25,0.00,0.000,2564,0.223,0.070,2488,526,2673,2634,2712,0,0,0,0,0,0,26.29,26.41,26.38,8.43,12.55
$GC,777,-1.08,-194.6,2486,526,2634,2712,97.3,-16.5,104,785,0.12,2.28,0.00,0.000,3078,0.209,0.062,2514,2088,2673,2635,2712,0,0,0,0,0,0,26.36,26.51,26.49,8.43,12.67
$GC,905,-1.08,-194.6,2514,2089,2634,2711,118.6,-15.9,117,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2089,2673,2634,2712,0,0,0,0,0,0,26.79,26.80,26.80,8.42,12.74
$GC,1025,-1.08,-194.6,2514,2089,2634,2712,136.3,-14.8,129,1035,0.00,2.33,0.00,0.000,516,0.000,0.070,2515,527,2673,2634,2712,0,0,0,0,0,0,26.84,26.60,26.86,8.43,12.07
$GC,1130,-1.03,-194.6,2514,527,2634,2712,153.5,-16.6,139,1138,0.10,2.25,0.00,0.000,3078,0.214,0.062,2536,2083,2673,2634,2712,0,0,0,0,0,0,26.53,26.66,26.65,8.43,12.59
$GC,1257,-1.03,-194.6,2535,2083,2634,2712,173.2,-14.9,152,1266,0.00,2.33,0.00,0.000,516,0.000,0.070,2536,516,2673,2634,2712,0,0,0,0,0,0,26.92,26.68,26.94,8.42,12.27
$STATE,1278,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1278,begin apogee
$GC,1284,-0.37,0.0,2527,2087,2634,2712,176.2,-14.1,154,1430,0.65,0.00,141.35,1.058,10246,0.164,0.000,2748,2087,2000,1944,2057,0,0,0,0,0,0,26.58,24.83,24.26,8.42,12.07
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1433,1.50,194.6,2748,2087,1943,2057,184.8,0.0,169,1591,1.67,2.53,145.68,0.991,10500,0.112,0.077,3332,3652,1327,1284,1371,0,0,0,0,0,0,24.94,24.57,24.13,8.37,12.00
$GC,1647,1.33,194.6,3331,3651,1281,1372,164.0,17.6,190,1655,0.15,2.38,0.00,0.000,5126,0.204,0.060,3301,2088,1326,1281,1371,0,0,0,0,0,0,25.30,25.46,25.44,8.31,11.80
$GC,1774,1.24,194.6,3301,2088,1281,1371,143.7,15.5,203,1776,0.10,0.00,0.00,0.000,4102,0.211,0.000,3272,2088,1326,1281,1371,0,0,0,0,0,0,25.77,25.93,25.89,8.30,11.96
$GC,1894,1.18,194.6,3271,2088,1281,1371,127.7,13.2,215,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2088,1326,1281,1371,0,0,0,0,0,0,26.35,26.36,26.36,8.30,12.86
$GC,2014,1.13,194.6,3272,2088,1281,1371,110.5,14.1,227,2016,0.12,0.00,0.00,0.000,4102,0.206,0.000,3235,2088,1326,1281,1371,0,0,0,0,0,0,26.15,26.31,26.27,8.30,11.88
$GC,2134,1.13,194.6,3234,2088,1281,1371,96.0,11.7,239,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2088,1326,1281,1371,0,0,0,0,0,0,26.61,26.63,26.63,8.30,12.82
$GC,2254,1.13,194.6,3234,2088,1281,1371,82.4,11.6,251,2263,0.00,2.35,0.00,0.000,516,0.000,0.072,3245,513,1326,1281,1371,0,0,0,0,0,0,26.70,26.45,26.71,8.30,12.55
$GC,2286,1.13,194.6,3244,513,1281,1371,78.5,12.4,254,2295,0.00,2.30,0.00,0.000,1030,0.000,0.062,3245,2093,1326,1281,1371,0,0,0,0,0,0,26.55,26.50,26.56,8.30,12.23
$GC,2416,1.13,194.6,3244,2093,1281,1371,61.8,12.7,267,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2093,1326,1281,1371,0,0,0,0,0,0,26.79,26.80,26.80,8.30,12.27
$GC,2536,1.13,194.6,3244,2093,1281,1371,46.1,13.9,279,2545,0.00,2.33,0.00,0.000,260,0.000,0.074,3245,3644,1326,1281,1371,0,0,0,0,0,0,26.84,26.58,26.85,8.30,12.51
$GC,2570,1.13,194.6,3244,3644,1281,1371,42.1,12.3,282,2578,0.00,2.30,0.00,0.000,1030,0.000,0.060,3256,2069,1326,1281,1371,0,0,0,0,0,0,26.70,26.65,26.70,8.30,12.35
$GC,2697,1.13,194.6,3255,2069,1281,1371,26.9,10.2,295,2707,0.00,2.30,0.00,0.000,516,0.000,0.070,3268,507,1326,1281,1371,0,0,0,0,0,0,26.89,26.65,26.91,8.30,12.35
$GC,2732,1.13,194.6,3267,507,1281,1371,23.7,10.0,298,2740,0.10,2.28,0.00,0.000,5126,0.204,0.060,3237,2092,1326,1281,1371,0,0,0,0,0,0,26.55,26.69,26.67,8.29,12.00
$GC,2860,1.15,282.9,3236,2093,1281,1371,12.2,6.5,320,2934,0.00,2.45,67.12,0.976,8452,0.000,0.077,3237,3634,1025,968,1082,0,0,0,0,0,0,26.94,25.47,24.90,8.30,12.78
$STATE,2945,end climb,SURFACE_DEPTH_REACHED
$STATE,2945,begin surface coast
$FINISH,0.4,1.022582
$STATE,3001,end surface coast,CONTROL_FINISHED_OK
$STATE,3001,begin surface
$SM_CCo,3019,92.93,0.949,0,0,623,400.00
$SM_GC,1.46,8.18,2.38,92.93,0.070,0.060,0.949,131,2115,623,-8.47,2.12,400.00,0,0,0,0,0,0,25.89,25.90,24.39
$IRIDIUM_FIX,4744.97,-12226.80,100419,122519
$TT8_MAMPS,0.021721,0.25466
$HUMID,11.80
$INTERNAL_PRESSURE,8.184
$TCM_TEMP,9.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.3
$ALTIM_BOTTOM_PING,101.0,88.9
$24V_AH,24.13,3.986
$10V_AH,10.50,4.668
$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,19.850,42.100,354.150,92.925,268.725,22.970,21.701,254.925,1.500,0.000,26.146,802.616,1034.811,665.823,959.923,80.841,0.000,1097.491,0.000,619.297,0.000,12.144,0.000
$DEVICE_MAMPS,255.749,76.973,1057.758,948.506,158.912,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,228.189,452.971,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273680
$DATA_FILE_SIZE,24465,345
$CAP_FILE_SIZE,57856,0
$CFSIZE,2047311872,2037743616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$WARN,PPS timeout
$GPS,100419,142756,4742.985,-12224.396,2,1.1,39,16.3,0.3,97.2,8,4.4