version: 66.14
glider: 42
mission: 1
dive: 7
start: 11 30 117 1 6 19
data:
$ID,42
$MISSION,1
$DIVE,7
$N_DIVES,10
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$D_ABORT,6020
$D_NO_BLEED,200
$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,70
$T_MISSION,80
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,30
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,78936
$MASS_COMP,10087.7
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.015
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4771
$TGT_DEFAULT_LON,-12224
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3825
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,310
$ROLL_MAX,3800
$ROLL_DEG,55
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,300
$VBD_MAX,3960
$C_VBD,2168
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,5
$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,15
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.751469
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$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,0.0042671696
$SEABIRD_T_H,0.00061518833
$SEABIRD_T_I,2.0016038e-05
$SEABIRD_T_J,1.8480373e-06
$SEABIRD_C_G,-9.7694378
$SEABIRD_C_H,1.1168441
$SEABIRD_C_I,-0.001969754
$SEABIRD_C_J,0.00021742536
$SEABIRD_C_Z,2962.8101
$GPS1,301117,005340,4745.3896,-12224.2109,16,1.0,23,16.3,0.6,1.3,8,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-58.2
$GPS2,301117,010503,4745.6206,-12224.2578,9,0.9,42,16.3,0.7,344.1,10,4.7
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.800,-12224.500
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.041153,-0.211971
$KALMAN_X,1261.171387,251.172501,5.487171,-1277.696289,220.346985
$KALMAN_Y,3696.174316,278.986633,181.041138,-207.826157,1706.066895
$MHEAD_RNG_PITCHd_Wd,174.7,5233,-22.0,-10.000,-24.85,2235
$D_GRID,210
$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,42,-1.87,-146.6,211,2159,959,962,0.8,-2.1,6,144,0.00,0.00,-99.47,0.146,16386,0.000,0.000,211,2159,2251,2245,2258,0,0,0,0,0,0,26.43,28.83,26.45,9.01,38.65
$GC,146,-1.87,-146.6,211,2159,2246,2258,4.1,-6.9,20,185,7.68,3.20,-18.23,0.166,18948,0.256,0.094,2189,990,2674,2683,2666,0,0,0,0,0,0,25.86,25.95,25.90,9.14,38.38
$GC,197,-1.87,-146.6,2188,990,2683,2666,13.3,-14.8,27,206,0.00,3.12,0.00,0.000,1030,0.000,0.074,2177,2188,2675,2685,2666,0,0,0,0,0,0,26.12,26.04,26.13,9.18,37.12
$GC,270,-1.87,-146.6,2176,2188,2684,2666,26.4,-19.5,40,278,0.00,3.22,0.00,0.000,260,0.000,0.097,2162,3379,2674,2683,2666,0,0,0,0,0,0,26.42,26.09,26.43,9.18,37.83
$GC,483,-1.87,-146.6,2161,3379,2684,2666,67.6,-16.7,76,494,0.12,3.03,0.00,0.000,3078,0.191,0.070,2198,2181,2675,2684,2667,0,0,0,0,0,0,26.16,26.33,26.27,9.18,37.55
$GC,613,-1.87,-146.6,2197,2180,2684,2666,87.1,-14.4,89,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2181,2675,2684,2666,0,0,0,0,0,0,26.68,26.70,26.70,9.18,37.95
$GC,733,-1.87,-146.6,2197,2181,2684,2666,104.5,-15.0,101,744,0.00,3.22,0.00,0.000,260,0.000,0.097,2185,3381,2675,2684,2666,0,0,0,0,0,0,26.74,26.41,26.75,9.18,38.58
$GC,832,-1.87,-146.6,2184,3380,2684,2666,119.5,-14.8,110,843,0.00,3.00,0.00,0.000,1030,0.000,0.070,2185,2183,2675,2684,2666,0,0,0,0,0,0,26.53,26.50,26.55,9.18,37.95
$GC,962,-1.87,-146.6,2184,2183,2683,2666,139.1,-16.0,123,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2183,2675,2684,2666,0,0,0,0,0,0,26.82,26.84,26.83,9.18,38.10
$GC,1143,-1.87,-146.6,2184,2184,2684,2666,165.6,-14.4,141,1153,0.00,3.17,0.00,0.000,260,0.000,0.097,2170,3377,2675,2684,2666,0,0,0,0,0,0,26.87,26.53,26.88,9.18,38.50
$GC,1243,-1.87,-146.6,2169,3377,2684,2666,181.4,-16.0,150,1252,0.00,3.05,0.00,0.000,1030,0.000,0.070,2170,2174,2675,2684,2666,0,0,0,0,0,0,26.65,26.62,26.67,9.18,38.62
$STATE,1291,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1291,begin apogee
$GC,1294,-0.38,0.0,2170,2174,2684,2666,189.0,-14.5,155,1414,1.55,0.00,114.35,0.772,10246,0.176,0.000,2668,2173,2166,2196,2136,0,0,0,0,0,0,26.48,25.22,24.70,9.18,38.38
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1416,1.87,146.6,2668,2173,2196,2136,193.3,0.0,167,1543,2.08,0.00,115.25,0.750,10758,0.117,0.000,3382,2173,1660,1687,1633,0,0,0,0,0,0,25.27,24.93,24.45,9.13,38.18
$GC,1722,1.87,146.6,3381,2173,1691,1633,160.4,15.5,198,1732,0.00,3.30,0.00,0.000,260,0.000,0.097,3382,3381,1662,1691,1634,0,0,0,0,0,0,26.20,25.86,26.20,9.09,37.79
$GC,1767,1.87,146.6,3381,3380,1691,1634,152.8,17.3,202,1778,0.00,3.08,0.00,0.000,1030,0.000,0.070,3396,2185,1662,1691,1633,0,0,0,0,0,0,26.03,25.98,26.05,9.09,38.14
$GC,1957,1.87,146.6,3395,2185,1691,1633,125.0,14.0,221,1967,0.00,3.22,0.00,0.000,260,0.000,0.097,3396,3377,1662,1691,1633,0,0,0,0,0,0,26.51,26.18,26.53,9.09,38.38
$GC,2004,1.87,146.6,3395,3377,1691,1634,117.7,15.7,225,2014,0.00,3.10,0.00,0.000,1030,0.000,0.070,3398,2177,1662,1691,1633,0,0,0,0,0,0,26.29,26.25,26.32,9.09,38.22
$GC,2133,1.87,146.6,3397,2178,1691,1633,99.0,13.5,238,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2178,1662,1691,1633,0,0,0,0,0,0,26.64,26.66,26.65,9.10,38.22
$GC,2253,1.87,146.6,3398,2178,1691,1633,82.2,13.5,250,2264,0.00,3.20,0.00,0.000,260,0.000,0.097,3398,3376,1662,1690,1634,0,0,0,0,0,0,26.71,26.38,26.71,9.09,38.54
$GC,2352,1.87,146.6,3398,3375,1691,1633,67.7,14.4,259,2362,0.00,3.03,0.00,0.000,1030,0.000,0.070,3413,2175,1662,1691,1633,0,0,0,0,0,0,26.50,26.46,26.49,9.09,38.38
$GC,2485,1.87,146.6,3412,2176,1691,1634,50.0,12.9,279,2494,0.00,3.22,0.00,0.000,516,0.000,0.102,3428,980,1662,1691,1633,0,0,0,0,0,0,26.80,26.45,26.81,9.09,38.62
$GC,2537,1.87,146.6,3427,980,1691,1634,43.1,12.7,288,2546,0.00,3.08,0.00,0.000,1030,0.000,0.074,3428,2182,1662,1691,1633,0,0,0,0,0,0,26.60,26.51,26.62,9.09,39.13
$GC,2672,1.88,150.2,3427,2182,1691,1634,28.2,9.8,313,2688,0.00,3.20,4.50,0.507,8452,0.000,0.094,3427,3379,1648,1674,1623,0,0,0,0,0,0,26.85,26.48,25.92,9.09,38.77
$GC,2696,1.89,159.7,3427,3379,1674,1622,26.0,9.6,316,2713,0.12,3.05,8.80,0.603,13318,0.219,0.072,3409,2169,1616,1641,1591,0,0,0,0,0,0,26.38,26.53,25.86,9.09,38.42
$GC,2778,1.91,180.7,3409,2169,1642,1591,18.9,9.0,330,2800,0.00,0.00,16.60,0.641,8198,0.000,0.000,3409,2169,1545,1570,1520,0,0,0,0,0,0,26.74,26.06,25.72,9.08,38.69
$GC,2864,1.91,180.7,3409,2169,1571,1520,8.8,15.1,345,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2169,1545,1571,1520,0,0,0,0,0,0,26.60,26.62,26.61,9.08,38.02
$GC,2936,1.96,221.3,3409,2169,1571,1520,2.1,8.1,358,2945,0.00,0.00,7.12,0.569,8706,0.000,0.000,3409,2168,1519,1544,1494,0,0,0,0,0,0,26.65,28.83,26.67,9.08,38.73
$STATE,2946,end climb,SURFACE_DEPTH_REACHED
$STATE,2946,begin surface coast
$FINISH,0.2,1.021181
$STATE,2968,end surface coast,CONTROL_FINISHED_OK
$STATE,2968,begin surface
$SM_CCo,2983,121.00,0.646,0,0,961,350.04
$SM_GC,0.44,8.73,0.00,121.00,0.099,0.000,0.646,222,2169,961,-8.00,-0.50,350.04,0,0,0,0,0,0,26.32,26.62,24.82
$IRIDIUM_FIX,4744.48,-12222.38,301117,005445
$TT8_MAMPS,0.021721,0.217959
$HUMID,37.32
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,103.2
$24V_AH,24.45,1.367
$10V_AH,10.47,0.558
$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,20.275,60.000,266.625,121.000,117.700,49.469,98.754,343.770,0.500,0.000,49.218,933.036,748.184,500.286,1601.847,35.548,33.454,965.286,0.000,1036.067,0.000,7.281,0.000
$DEVICE_MAMPS,255.749,101.803,772.213,645.580,166.361,34.760,160.000,223.000,420.000,0.000,13.480,12.220,2.190,12.220,34.690,54.910,54.910,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.498,475.076,887.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,30.710,47.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312224
$DATA_FILE_SIZE,28091,363
$CAP_FILE_SIZE,60639,0
$CFSIZE,2047311872,2044395520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$WARN,PPS timeout
$GPS,301117,015919,4745.723,-12224.535,26,1.0,37,16.3,0.7,358.7,8,10.0