version: 66.14
glider: 39
mission: 28
dive: 21
start: 4 10 119 15 40 2
data:
$ID,39
$MISSION,28
$DIVE,21
$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,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,76
$R_STBD_OVSHOOT,44
$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
$GPS1,100419,153238,4743.2861,-12224.4854,2,1.0,17,16.3,0.3,110.3,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-58.6
$GPS2,100419,153920,4743.2759,-12224.3955,9,0.9,19,16.3,0.3,78.8,9,5.0
$SPEED_LIMITS,0.130,0.259
$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,340.4,2271,-12.2,-7.500,-16.14,4871
$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,-0.97,-243.3,137,2093,541,703,1.2,-0.0,12,303,0.00,0.00,-225.32,0.151,16386,0.000,0.000,138,2093,2070,2029,2112,0,0,0,0,0,0,26.46,28.83,26.47,8.23,12.94
$GC,305,-0.97,-243.3,137,2093,2030,2112,3.4,-5.8,50,380,8.95,2.42,-55.22,0.156,18948,0.253,0.070,2552,523,2839,2804,2874,0,0,0,0,0,0,25.84,26.00,25.89,8.37,12.47
$GC,514,-0.80,-243.3,2551,523,2805,2874,34.1,-17.1,80,524,0.22,2.33,0.00,0.000,3078,0.179,0.062,2614,2104,2839,2804,2874,0,0,0,0,0,0,26.13,26.26,26.25,8.45,12.31
$GC,644,-0.72,-243.3,2613,2103,2804,2874,51.6,-12.7,93,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2103,2839,2804,2874,0,0,0,0,0,0,26.61,26.63,26.63,8.44,12.70
$GC,764,-0.64,-243.3,2611,2103,2804,2874,66.2,-12.2,105,774,0.12,2.38,0.00,0.000,2564,0.186,0.067,2659,521,2839,2804,2874,0,0,0,0,0,0,26.37,26.46,26.44,8.44,11.72
$GC,880,-0.64,-243.3,2659,521,2804,2874,78.9,-11.5,116,887,0.00,2.28,0.00,0.000,1030,0.000,0.062,2651,2084,2839,2804,2874,0,0,0,0,0,0,26.60,26.55,26.62,8.44,12.70
$GC,1007,-0.64,-243.3,2650,2084,2805,2874,93.4,-11.3,129,1016,0.00,2.35,0.00,0.000,516,0.000,0.070,2651,508,2839,2804,2874,0,0,0,0,0,0,26.83,26.58,26.84,8.44,12.35
$GC,1061,-0.64,-243.3,2650,508,2804,2873,99.8,-12.4,134,1073,0.00,2.30,0.00,0.000,1030,0.000,0.062,2642,2077,2839,2804,2874,0,0,0,0,0,0,26.65,26.63,26.67,8.44,12.63
$GC,1192,-0.64,-243.3,2641,2077,2805,2874,117.9,-14.3,147,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2076,2839,2805,2873,0,0,0,0,0,0,26.89,26.91,26.91,8.44,12.59
$GC,1311,-0.64,-243.3,2641,2076,2804,2874,131.0,-10.2,159,1320,0.00,2.33,0.00,0.000,516,0.000,0.070,2642,512,2839,2804,2874,0,0,0,0,0,0,26.94,26.69,26.94,8.45,12.82
$GC,1376,-0.59,-243.3,2642,511,2805,2873,137.8,-10.9,165,1384,0.15,2.28,0.00,0.000,3078,0.171,0.062,2684,2087,2839,2805,2874,0,0,0,0,0,0,26.62,26.72,26.72,8.44,12.47
$GC,1503,-0.59,-243.3,2683,2087,2804,2874,149.9,-8.7,178,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2087,2839,2805,2874,0,0,0,0,0,0,26.98,27.00,26.99,8.45,12.11
$GC,1623,-0.59,-243.3,2684,2087,2805,2874,160.3,-7.8,190,1627,0.00,2.33,0.00,0.000,516,0.000,0.070,2684,514,2839,2805,2874,0,0,0,0,0,0,27.01,26.76,27.02,8.44,12.47
$GC,1677,-0.59,-243.3,2683,514,2805,2874,165.0,-9.2,195,1684,0.00,2.28,0.00,0.000,1030,0.000,0.062,2679,2080,2839,2804,2874,0,0,0,0,0,0,26.84,26.79,26.86,8.44,12.51
$STATE,1793,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1793,begin apogee
$GC,1797,-0.37,0.0,2679,2079,2804,2873,175.9,-9.0,207,1978,0.17,0.00,176.18,1.073,10246,0.164,0.000,2748,2079,1999,1949,2050,0,0,0,0,0,0,26.72,24.77,24.19,8.44,12.59
$STATE,1979,end apogee,CONTROL_FINISHED_OK
$STATE,1979,begin climb
$GC,1981,0.97,243.3,2747,2079,1949,2050,185.9,0.0,225,2177,1.23,2.55,183.73,0.991,10500,0.124,0.079,3164,3644,1161,1110,1212,0,0,0,0,0,0,24.87,24.52,24.10,8.37,12.39
$GC,2300,0.88,243.3,3164,3644,1107,1212,159.4,12.5,257,2309,0.00,2.35,0.00,0.000,1030,0.000,0.060,3172,2079,1159,1107,1212,0,0,0,0,0,0,25.76,25.71,25.77,8.29,11.88
$GC,2430,0.81,243.3,3171,2080,1107,1212,145.1,10.4,270,2432,0.12,0.00,0.00,0.000,4102,0.179,0.000,3134,2079,1159,1107,1212,0,0,0,0,0,0,25.90,26.04,26.01,8.29,12.67
$GC,2549,0.81,243.3,3133,2079,1106,1212,134.8,8.4,282,2559,0.00,2.35,0.00,0.000,516,0.000,0.072,3144,514,1159,1107,1211,0,0,0,0,0,0,26.41,26.17,26.43,8.29,12.23
$GC,2611,0.81,243.3,3142,513,1107,1210,130.0,8.1,288,2615,0.00,2.30,0.00,0.000,1030,0.000,0.062,3143,2085,1159,1109,1210,0,0,0,0,0,0,26.32,26.27,26.34,8.29,12.15
$GC,2743,0.81,243.3,3143,2085,1107,1210,119.7,8.2,301,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2086,1158,1107,1210,0,0,0,0,0,0,26.60,26.62,26.62,8.29,12.47
$GC,2863,0.81,243.3,3143,2085,1107,1210,110.1,7.7,313,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2085,1158,1107,1210,0,0,0,0,0,0,26.70,26.70,26.70,8.28,12.43
$GC,2982,0.81,243.3,3143,2085,1107,1210,99.7,8.2,325,2987,0.00,2.35,0.00,0.000,260,0.000,0.074,3143,3643,1158,1107,1210,0,0,0,0,0,0,26.76,26.51,26.77,8.29,12.35
$GC,3067,0.75,243.3,3143,3645,1107,1210,92.2,9.0,333,3075,0.12,2.28,0.00,0.000,5126,0.184,0.060,3110,2070,1158,1107,1210,0,0,0,0,0,0,26.46,26.59,26.58,8.29,12.51
$GC,3195,0.77,338.6,3109,2070,1107,1210,84.6,5.5,346,3275,0.00,0.00,75.68,0.993,8710,0.000,0.000,3110,2070,834,765,904,0,0,0,0,0,0,26.85,25.27,24.72,8.29,12.15
$GC,3394,0.77,338.6,3110,2069,764,901,70.9,8.0,366,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2070,833,764,902,0,0,0,0,0,0,26.14,26.16,26.15,8.26,12.86
$GC,3514,0.77,338.6,3109,2070,764,901,60.8,8.0,378,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2070,832,764,901,0,0,0,0,0,0,26.39,26.41,26.39,8.25,11.88
$GC,3634,0.77,338.6,3109,2070,764,901,51.1,7.5,390,3644,0.00,2.33,0.00,0.000,516,0.000,0.070,3118,522,831,763,900,0,0,0,0,0,0,26.54,26.29,26.55,8.25,12.94
$GC,3697,0.83,338.6,3117,521,764,899,46.0,8.5,396,3706,0.00,2.28,0.00,0.000,1030,0.000,0.062,3118,2078,831,764,899,0,0,0,0,0,0,26.44,26.39,26.45,8.25,12.31
$GC,3826,0.83,338.6,3117,2078,764,899,36.3,7.3,409,3835,0.00,2.35,0.00,0.000,260,0.000,0.074,3118,3640,831,764,899,0,0,0,0,0,0,26.70,26.45,26.71,8.25,13.02
$GC,3889,0.83,338.6,3117,3640,764,899,31.2,8.5,415,3898,0.00,2.25,0.00,0.000,1030,0.000,0.062,3118,2078,831,764,899,0,0,0,0,0,0,26.55,26.53,26.57,8.25,12.47
$GC,4018,0.83,338.6,3117,2078,764,899,21.3,7.8,428,4027,0.00,2.33,0.00,0.000,516,0.000,0.072,3119,511,831,764,899,0,0,0,0,0,0,26.81,26.56,26.82,8.25,12.23
$GC,4112,0.91,338.6,3118,511,763,899,14.9,6.8,444,4120,0.08,2.28,0.00,0.000,3078,0.154,0.062,3169,2088,831,764,899,0,0,0,0,0,0,26.57,26.63,26.65,8.25,12.35
$GC,4183,0.91,338.6,3168,2087,765,899,9.0,8.6,457,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2087,832,765,899,0,0,0,0,0,0,26.87,26.89,26.88,8.24,12.11
$STATE,4229,end climb,SURFACE_DEPTH_REACHED
$STATE,4230,begin surface coast
$FINISH,0.2,1.000716
$STATE,4291,end surface coast,CONTROL_FINISHED_OK
$STATE,4292,begin surface
$SM_CCo,4307,48.30,0.929,0,0,623,400.00
$SM_GC,1.11,7.75,0.00,48.30,0.072,0.000,0.929,155,2088,623,-8.41,0.25,400.00,0,0,0,0,0,0,26.65,26.93,25.22
$IRIDIUM_FIX,4744.97,-12226.80,100419,142912
$TT8_MAMPS,0.02247,0.196238
$HUMID,12.31
$INTERNAL_PRESSURE,8.184
$TCM_TEMP,9.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,101.0,89.1
$24V_AH,24.10,4.307
$10V_AH,10.53,4.725
$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,18.925,51.225,435.575,48.300,280.550,25.490,18.266,251.960,1.250,0.000,26.613,1151.257,1614.518,733.248,1186.750,101.084,0.000,1291.540,0.000,846.544,0.000,9.589,0.000
$DEVICE_MAMPS,253.266,79.456,1072.656,928.642,156.429,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.942,628.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273776
$DATA_FILE_SIZE,31426,478
$CAP_FILE_SIZE,72881,0
$CFSIZE,2047311872,2037514240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$WARN,PPS timeout
$GPS,100419,165359,4743.938,-12224.583,36,1.0,40,16.3,0.0,84.8,9,4.8