version: 66.14
glider: 40
mission: 17
dive: 4
start: 5 30 118 19 37 44
data:
$ID,40
$MISSION,17
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,6020
$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,50
$T_MISSION,60
$T_ABORT,120
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,1.023
$MASS,80219
$MASS_COMP,11448
$NAV_MODE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$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,205
$PITCH_MAX,3845
$C_PITCH,3400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,2266
$C_ROLL_CLIMB,2266
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,85
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2424
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$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,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.10658
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,2927.6299
$GPS1,300518,192652,4744.3252,-12223.8740,4,0.8,14,16.3,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-58.4
$GPS2,300518,193706,4744.2817,-12223.8145,7,0.7,15,16.3,0.0,0.0,12,4.9
$SPEED_LIMITS,0.173,0.289
$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,270.1,945,-16.1,-10.000,-19.07,3691
$D_GRID,169
$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,7,-1.25,-244.4,189,2299,306,390,0.0,0.0,0,202,0.00,0.00,-191.88,0.156,16386,0.000,0.000,189,2299,2596,2548,2644,0,0,0,0,0,0,26.29,28.83,26.31,8.78,19.95
$GC,205,-1.25,-244.4,190,2299,2549,2644,4.1,-1.3,30,263,11.65,0.00,-39.08,0.164,18950,0.276,0.000,2992,2299,3266,3248,3284,0,0,0,0,0,0,25.19,25.44,25.35,9.00,20.15
$GC,326,-1.25,-244.4,2992,2299,3248,3284,14.0,-9.7,51,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2299,3266,3249,3284,0,0,0,0,0,0,26.06,26.07,26.07,9.07,19.16
$GC,399,-1.25,-244.4,2992,2299,3248,3284,21.2,-9.7,64,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2299,3266,3248,3284,0,0,0,0,0,0,26.19,26.20,26.20,9.07,19.28
$GC,519,-1.25,-244.4,2991,2299,3248,3284,32.3,-9.0,76,529,0.00,2.22,0.00,0.000,260,0.000,0.087,2984,3751,3266,3248,3284,0,0,0,0,0,0,26.33,25.94,26.34,9.06,19.71
$GC,682,-1.25,-244.4,2984,3751,3248,3284,49.7,-11.4,92,686,0.00,2.12,0.00,0.000,1030,0.000,0.067,2984,2210,3266,3248,3284,0,0,0,0,0,0,26.27,26.24,26.28,9.06,19.56
$GC,807,-1.25,-244.4,2983,2207,3248,3284,62.5,-10.2,104,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3266,3248,3284,0,0,0,0,0,0,26.53,26.54,26.53,9.05,19.52
$GC,927,-1.25,-244.4,2983,2207,3248,3283,74.3,-9.5,116,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2207,3266,3248,3284,0,0,0,0,0,0,26.58,26.59,26.59,9.04,19.48
$GC,1047,-1.25,-244.4,2984,2207,3248,3284,86.1,-10.2,128,1052,0.00,2.35,0.00,0.000,260,0.000,0.087,2973,3752,3266,3248,3284,0,0,0,0,0,0,26.62,26.20,26.63,9.03,19.79
$GC,1213,-1.25,-244.4,2972,3752,3248,3284,102.3,-10.5,144,1217,0.00,2.10,0.00,0.000,1030,0.000,0.067,2973,2214,3266,3248,3284,0,0,0,0,0,0,26.48,26.44,26.48,9.04,20.34
$GC,1344,-1.25,-244.4,2972,2213,3247,3284,115.8,-10.4,157,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2213,3266,3248,3284,0,0,0,0,0,0,26.70,26.72,26.71,9.03,19.87
$GC,1464,-1.25,-244.4,2972,2213,3248,3284,128.1,-10.2,169,1468,0.00,2.30,0.00,0.000,260,0.000,0.087,2962,3739,3266,3248,3284,0,0,0,0,0,0,26.72,26.28,26.74,9.02,19.64
$STATE,1654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1654,begin apogee
$GC,1660,-0.29,0.0,2961,2224,3248,3284,151.3,-12.8,188,1849,1.02,0.00,183.98,0.728,10246,0.164,0.000,3302,2223,2423,2421,2426,0,0,0,0,0,0,25.94,24.57,24.02,9.03,19.95
$STATE,1850,end apogee,CONTROL_FINISHED_OK
$STATE,1850,begin climb
$GC,1851,1.25,244.4,3301,2223,2421,2425,157.0,0.0,207,2048,1.38,2.38,186.05,0.695,10756,0.112,0.074,3799,741,1582,1576,1588,0,0,0,0,0,0,24.76,24.32,23.93,8.95,19.44
$GC,2144,1.25,244.4,3799,740,1574,1588,111.1,20.3,236,2152,0.00,2.28,0.00,0.000,1030,0.000,0.070,3799,2234,1581,1575,1588,0,0,0,0,0,0,25.49,25.43,25.51,8.86,19.28
$GC,2271,1.25,244.4,3798,2234,1576,1588,84.1,20.4,249,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,3799,2234,1581,1575,1588,0,0,0,0,0,0,26.03,26.03,26.03,8.86,20.19
$GC,2391,1.25,244.4,3799,2234,1575,1588,59.3,20.0,261,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3799,2234,1581,1575,1588,0,0,0,0,0,0,26.21,26.22,26.22,8.85,19.95
$GC,2511,1.25,244.4,3798,2234,1575,1587,35.7,19.1,273,2520,0.00,2.28,0.00,0.000,516,0.000,0.077,3810,736,1581,1575,1587,0,0,0,0,0,0,26.34,25.98,26.34,8.85,19.75
$GC,2609,1.25,244.4,3809,736,1575,1587,18.5,17.2,283,2617,0.00,2.28,0.00,0.000,1030,0.000,0.070,3810,2269,1581,1575,1587,0,0,0,0,0,0,26.16,26.09,26.17,8.86,20.03
$GC,2680,1.25,244.4,3809,2269,1575,1587,7.4,15.5,296,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,3810,2269,1581,1575,1587,0,0,0,0,0,0,26.45,26.47,26.46,8.86,20.15
$STATE,2711,end climb,SURFACE_DEPTH_REACHED
$STATE,2711,begin surface coast
$FINISH,2.2,0.999671
$STATE,2733,end surface coast,CONTROL_FINISHED_OK
$STATE,2733,begin surface
$SM_CCo,2749,115.40,0.618,0,0,1047,400.00
$SM_GC,3.23,9.50,0.00,115.40,0.084,0.000,0.618,194,2270,1047,-9.92,0.11,400.00,0,0,0,0,0,0,26.14,26.50,24.25
$IRIDIUM_FIX,4747.40,-12235.64,300518,192345
$TT8_MAMPS,0.02247,0.220955
$HUMID,19.83
$INTERNAL_PRESSURE,8.7835
$TCM_TEMP,13.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,17.5
$ALTIM_BOTTOM_PING,100.4,92.0
$24V_AH,23.93,10.166
$10V_AH,10.36,6.024
$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,23.550,22.450,370.025,115.400,230.950,0.000,0.000,0.000,0.750,0.000,16.563,766.315,899.270,648.520,610.309,28.611,0.000,1037.281,0.000,590.705,0.000,7.315,0.000
$DEVICE_MAMPS,275.613,86.905,727.519,618.267,163.878,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,203.082,402.563,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312256
$DATA_FILE_SIZE,20954,306
$CAP_FILE_SIZE,61255,0
$CFSIZE,2047311872,2041675776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.121,128.41,1
$GPS,300518,202703,4744.395,-12224.196,4,1.0,55,16.3,0.0,0.0,7,4.0