version: 66.14
glider: 42
mission: 1
dive: 16
start: 11 30 117 12 20 48
data:
$ID,42
$MISSION,1
$DIVE,16
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,80
$T_MISSION,90
$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,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-8
$MAX_BUOY,450
$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,2790
$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,27
$R_STBD_OVSHOOT,17
$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,0
$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
$GPS1,301117,121003,4742.7671,-12224.4912,24,1.0,46,16.3,0.0,0.0,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-54.9
$GPS2,301117,121933,4742.7842,-12224.5352,16,1.0,55,16.3,0.0,0.0,8,4.2
$SPEED_LIMITS,0.130,0.314
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.041036,0.311151
$KALMAN_X,1726.519653,-283.195801,105.227722,-1656.762451,-160.969910
$KALMAN_Y,10113.513672,-425.696350,-492.292725,-10481.967773,843.113403
$MHEAD_RNG_PITCHd_Wd,351.2,3178,-8.5,-7.500,-13.44,8767
$D_GRID,177
$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,-1.19,-439.9,222,2175,964,954,0.7,-0.6,6,158,0.00,0.00,-113.60,0.146,16386,0.000,0.000,223,2176,2383,2376,2391,0,0,0,0,0,0,26.41,28.83,26.42,9.01,37.87
$GC,161,-1.19,-439.9,223,2175,2376,2390,4.0,-7.5,22,228,8.48,3.35,-52.42,0.151,18692,0.258,0.097,2385,3380,3685,3690,3681,0,0,0,0,0,0,25.82,25.91,25.86,9.14,37.55
$GC,432,-1.19,-439.9,2384,3380,3690,3680,42.5,-13.8,70,440,0.00,3.05,0.00,0.000,1030,0.000,0.070,2385,2182,3685,3690,3680,0,0,0,0,0,0,26.30,26.23,26.32,9.28,37.32
$GC,567,-1.19,-439.9,2384,2183,3690,3680,61.6,-12.7,94,577,0.00,3.20,0.00,0.000,516,0.000,0.094,2385,985,3685,3690,3680,0,0,0,0,0,0,26.60,26.28,26.62,9.28,37.79
$GC,601,-1.19,-439.9,2384,985,3690,3680,66.2,-13.0,97,612,0.08,3.08,0.00,0.000,3078,0.174,0.072,2404,2183,3685,3690,3680,0,0,0,0,0,0,26.25,26.34,26.32,9.28,37.71
$GC,732,-1.19,-439.9,2403,2183,3690,3680,81.7,-11.7,110,742,0.00,3.17,0.00,0.000,260,0.000,0.097,2398,3375,3685,3690,3680,0,0,0,0,0,0,26.69,26.36,26.70,9.28,37.39
$GC,787,-1.19,-439.9,2397,3376,3689,3680,87.8,-11.2,115,798,0.00,3.00,0.00,0.000,1030,0.000,0.067,2398,2179,3685,3690,3680,0,0,0,0,0,0,26.48,26.44,26.50,9.28,37.71
$GC,917,-1.19,-439.9,2397,2178,3690,3680,99.7,-9.5,128,933,0.00,3.20,0.00,0.000,260,0.000,0.097,2393,3378,3685,3690,3680,0,0,0,0,0,0,26.77,26.44,26.78,9.28,37.55
$GC,967,-1.19,-439.9,2392,3378,3690,3680,104.8,-10.4,132,978,0.00,3.00,0.00,0.000,1030,0.000,0.070,2393,2180,3685,3690,3680,0,0,0,0,0,0,26.57,26.51,26.56,9.28,37.47
$GC,1097,-1.19,-439.9,2392,2179,3689,3679,118.4,-10.2,145,1108,0.00,3.20,0.00,0.000,260,0.000,0.097,2392,3377,3684,3690,3679,0,0,0,0,0,0,26.82,26.46,26.83,9.28,37.95
$GC,1143,-1.19,-439.9,2391,3378,3690,3679,122.8,-9.9,149,1153,0.00,3.00,0.00,0.000,1030,0.000,0.067,2392,2178,3684,3690,3679,0,0,0,0,0,0,26.60,26.54,26.62,9.28,38.22
$GC,1333,-1.19,-439.9,2391,2178,3690,3679,143.6,-11.5,168,1343,0.00,3.17,0.00,0.000,260,0.000,0.094,2392,3376,3684,3690,3679,0,0,0,0,0,0,26.88,26.55,26.89,9.28,38.10
$GC,1401,-1.19,-439.9,2391,3376,3690,3679,151.4,-12.5,174,1411,0.00,3.03,0.00,0.000,1030,0.000,0.070,2392,2179,3684,3690,3678,0,0,0,0,0,0,26.65,26.62,26.67,9.28,37.95
$GC,1590,-1.19,-439.9,2391,2180,3690,3678,173.2,-11.1,193,1600,0.00,3.17,0.00,0.000,260,0.000,0.097,2392,3378,3684,3690,3679,0,0,0,0,0,0,26.93,26.60,26.94,9.28,38.46
$STATE,1623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1623,begin apogee
$GC,1630,-0.62,0.0,2391,2173,3690,3679,177.1,-11.4,196,1976,0.55,0.00,338.90,0.752,10246,0.142,0.000,2586,2172,2166,2199,2134,0,0,0,0,0,0,26.58,24.88,24.40,9.28,37.71
$STATE,1977,end apogee,CONTROL_FINISHED_OK
$STATE,1977,begin climb
$GC,1978,1.19,439.9,2586,2171,2200,2134,181.7,0.0,231,2336,1.60,3.42,342.23,0.718,11012,0.099,0.094,3156,3376,653,671,635,0,0,0,0,0,0,25.00,24.72,24.36,9.14,36.41
$GC,2414,1.19,439.9,3156,3376,671,635,142.2,14.6,274,2424,0.00,3.12,0.00,0.000,1030,0.000,0.070,3162,2183,653,671,635,0,0,0,0,0,0,25.53,25.49,25.55,9.01,36.29
$GC,2604,1.19,439.9,3162,2184,670,635,116.6,12.9,293,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2184,652,669,635,0,0,0,0,0,0,26.22,26.24,26.23,9.01,37.32
$GC,2724,1.19,439.9,3161,2184,670,635,101.9,12.5,305,2734,0.00,3.25,0.00,0.000,260,0.000,0.094,3162,3378,652,670,635,0,0,0,0,0,0,26.38,26.04,26.39,9.00,37.63
$GC,2790,1.19,439.9,3161,3378,670,635,93.0,13.5,311,2801,0.00,3.05,0.00,0.000,1030,0.000,0.070,3165,2182,652,670,635,0,0,0,0,0,0,26.20,26.15,26.21,9.00,37.91
$GC,2922,1.19,439.9,3164,2182,669,635,76.3,13.2,324,2932,0.00,3.22,0.00,0.000,516,0.000,0.099,3165,989,651,669,633,0,0,0,0,0,0,26.54,26.20,26.55,9.00,38.22
$GC,2957,1.19,439.9,3165,989,669,633,71.6,13.6,327,2967,0.00,3.10,0.00,0.000,1030,0.000,0.072,3165,2179,651,669,633,0,0,0,0,0,0,26.31,26.27,26.34,9.00,37.71
$GC,3088,1.19,439.9,3164,2179,669,633,54.0,13.3,344,3096,0.00,3.22,0.00,0.000,260,0.000,0.097,3165,3383,651,669,633,0,0,0,0,0,0,26.64,26.30,26.65,9.00,37.87
$GC,3139,1.19,439.9,3164,3382,669,633,46.5,14.1,353,3148,0.00,3.05,0.00,0.000,1030,0.000,0.070,3166,2180,652,671,633,0,0,0,0,0,0,26.45,26.37,26.46,9.00,37.83
$GC,3273,1.19,439.9,3165,2180,670,633,30.8,13.2,378,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2180,651,669,633,0,0,0,0,0,0,26.72,26.73,26.73,9.00,37.75
$GC,3406,1.19,439.9,3165,2180,669,633,15.4,8.5,403,3414,0.00,3.20,0.00,0.000,516,0.000,0.099,3166,986,651,669,633,0,0,0,0,0,0,26.77,26.43,26.78,8.99,38.06
$GC,3432,1.19,439.9,3165,986,669,632,12.9,10.2,407,3440,0.00,3.08,0.00,0.000,1030,0.000,0.072,3166,2185,650,669,632,0,0,0,0,0,0,26.56,26.48,26.58,9.00,38.10
$GC,3504,1.19,439.9,3165,2185,669,632,5.4,10.3,420,3512,0.00,3.17,0.00,0.000,260,0.000,0.097,3166,3379,650,669,632,0,0,0,0,0,0,26.79,26.46,26.81,9.00,37.75
$STATE,3539,end climb,SURFACE_DEPTH_REACHED
$STATE,3539,begin surface coast
$FINISH,-0.6,1.021729
$STATE,3561,end surface coast,CONTROL_FINISHED_OK
$STATE,3561,begin surface
$SM_CCo,3639,0.00,0.000,0,0,650,440.96
$SM_GC,0.51,7.62,3.08,0.00,0.074,0.065,0.000,210,2176,650,-7.98,1.18,440.96,0,0,0,0,0,0,26.53,26.54,26.58
$IRIDIUM_FIX,4741.67,-12220.67,301117,110057
$TT8_MAMPS,0.021721,0.218708
$HUMID,37.43
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,91.7
$24V_AH,24.36,2.840
$10V_AH,10.45,1.037
$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,18.325,81.675,681.125,0.000,166.025,22.276,53.280,364.304,0.500,0.000,61.996,976.551,753.113,701.936,1761.240,41.423,33.449,1360.549,0.000,1248.151,0.000,5.677,0.000
$DEVICE_MAMPS,258.232,99.320,752.349,0.000,151.463,34.760,160.000,223.000,420.000,0.000,13.480,12.220,2.190,12.220,34.690,54.910,54.910,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.879,561.172,1049.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,30.710,47.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312260
$DATA_FILE_SIZE,35103,430
$CAP_FILE_SIZE,62601,0
$CFSIZE,2047311872,2043445248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$WARN,PPS timeout
$GPS,301117,132251,4743.482,-12224.363,25,0.9,48,16.3,0.2,333.2,9,4.9