version: 66.12
glider: 39
mission: 7
dive: 4
start: 1 30 115 16 47 40
data:
$ID,39
$MISSION,7
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,5500
$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,2880
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,78901
$MASS_COMP,9163.7002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$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,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,17
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,40
$C_ROLL_DIVE,2048
$C_ROLL_CLIMB,2048
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2066
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1077.0439
$PRESSURE_SLOPE,0.00094170001
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0044030095
$SEABIRD_T_H,0.00064263446
$SEABIRD_T_I,2.7272366e-05
$SEABIRD_T_J,3.452938e-06
$SEABIRD_C_G,-9.7790155
$SEABIRD_C_H,1.1333548
$SEABIRD_C_I,-0.00086257502
$SEABIRD_C_J,0.00014502628
$GPS1,300115,164315,3218.7114,-6434.9131,2,1.2,11,-14.9,0.0,0.0,7,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-42.5
$GPS2,300115,164709,3218.7095,-6434.8989,4,1.3,17,-14.9,0.0,0.0,7,8.3
$SPEED_LIMITS,0.100,0.332
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$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,169.4,17865,-13.8,-10.000,-16.77,4446
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.81,-292.0,154,2058,122,368,0.0,0.0,0,221,0.00,0.00,-204.05,0.137,16386,0.000,0.000,154,2059,2863,2748,2978,0,0,0,0,0,0,27.17,28.83,27.19
$GC,223,-0.81,-292.0,154,2058,2748,2978,3.3,-3.2,20,254,8.88,2.00,-10.12,0.176,18692,0.266,0.057,2375,3442,3072,2956,3189,0,0,0,0,0,0,26.29,26.48,26.40
$GC,483,-0.81,-292.0,2375,3442,2956,3189,33.0,-9.8,43,493,0.00,2.03,0.00,0.000,1030,0.000,0.047,2375,2045,3072,2956,3189,0,0,0,0,0,0,26.86,26.83,26.88
$GC,793,-0.81,-292.0,2375,2045,2956,3188,67.9,-10.2,74,803,0.00,2.00,0.00,0.000,516,0.000,0.060,2375,643,3071,2955,3187,0,0,0,0,0,0,27.22,26.94,27.24
$GC,929,-0.81,-292.0,2375,643,2956,3186,81.4,-9.9,86,932,0.00,1.95,0.00,0.000,1030,0.000,0.047,2365,2049,3071,2956,3186,0,0,0,0,0,0,27.07,27.01,27.09
$GC,1241,-0.81,-292.0,2365,2049,2956,3186,113.8,-10.2,117,1251,0.00,2.00,0.00,0.000,516,0.000,0.060,2365,642,3070,2956,3185,0,0,0,0,0,0,27.32,27.03,27.34
$GC,1404,-0.81,-292.0,2365,641,2956,3184,132.7,-11.5,131,1415,0.08,2.00,0.00,0.000,3078,0.161,0.045,2383,2052,3070,2956,3184,0,0,0,0,0,0,26.92,27.10,27.01
$GC,1724,-0.81,-292.0,2382,2052,2956,3184,163.2,-9.1,156,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2052,3070,2956,3184,0,0,0,0,0,0,27.37,27.39,27.39
$STATE,1923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1924,begin apogee
$GC,1927,-0.29,0.0,2382,2052,2956,3184,180.2,-8.4,166,2131,0.47,0.00,200.73,0.735,10246,0.129,0.000,2556,2052,2066,1990,2142,0,0,0,0,0,0,26.99,25.62,25.13
$STATE,2132,end apogee,CONTROL_FINISHED_OK
$STATE,2132,begin climb
$GC,2133,0.81,292.0,2556,2051,1990,2142,184.3,0.0,176,2345,0.93,0.00,202.55,0.705,10502,0.104,0.000,2895,2052,1058,933,1184,0,0,0,0,0,0,25.71,25.46,25.13
$GC,2644,0.81,292.0,2895,2051,934,1184,128.9,10.9,211,2654,0.00,2.05,0.00,0.000,516,0.000,0.060,2905,641,1058,933,1184,0,0,0,0,0,0,26.94,26.66,26.95
$GC,2703,0.81,292.0,2905,641,933,1184,122.7,11.1,216,2713,0.00,2.03,0.00,0.000,1030,0.000,0.045,2906,2050,1058,933,1184,0,0,0,0,0,0,26.77,26.75,26.80
$GC,3012,0.81,292.0,2905,2050,933,1184,88.4,10.8,247,3023,0.00,2.05,0.00,0.000,516,0.000,0.060,2914,644,1059,934,1184,0,0,0,0,0,0,27.17,26.90,27.20
$GC,3104,0.81,292.0,2914,644,934,1184,78.1,11.5,255,3114,0.00,1.95,0.00,0.000,1030,0.000,0.047,2915,2057,1059,934,1184,0,0,0,0,0,0,26.99,26.95,27.01
$GC,3413,0.81,292.0,2914,2057,934,1184,39.2,12.5,286,3424,0.00,2.03,0.00,0.000,516,0.000,0.060,2924,650,1059,934,1184,0,0,0,0,0,0,27.29,27.01,27.31
$GC,3482,0.81,292.0,2923,650,933,1184,30.7,12.6,292,3492,0.00,1.95,0.00,0.000,1030,0.000,0.047,2923,2058,1058,933,1184,0,0,0,0,0,0,27.12,27.05,27.13
$STATE,3711,end climb,SURFACE_DEPTH_REACHED
$STATE,3711,begin surface coast
$FINISH,0.6,1.025832
$STATE,3722,end surface coast,CONTROL_FINISHED_OK
$STATE,3722,begin surface
$SM_CCo,3734,37.40,0.618,0,0,860,350.05
$SM_GC,1.88,6.75,0.00,37.40,0.047,0.000,0.618,119,2058,860,-7.79,0.28,350.05,0,0,0,0,0,0,27.08,27.36,26.04
$IRIDIUM_FIX,3205.87,-6436.80,300115,163958
$TT8_MAMPS,0.020972,0.020972
$HUMID,51.89
$INTERNAL_PRESSURE,9.37414
$TCM_TEMP,22.00
$XPDR_PINGS,9
$ALTIM_TOP_PING,18.9,999.0
$24V_AH,25.13,3.487
$10V_AH,10.65,2.390
$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,17.100,24.025,403.275,37.400,214.175,0.000,0.000,0.000,4.750,0.000,24.654,728.695,1302.071,547.958,1249.412,24.738,0.000,1018.396,0.000,1221.623,0.000,16.755,0.000
$DEVICE_MAMPS,265.681,59.592,734.968,618.267,176.293,0.000,0.000,0.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.312,1028.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330388
$DATA_FILE_SIZE,16883,316
$CAP_FILE_SIZE,68259,0
$CFSIZE,1024409600,1016004608
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4221.01,0x238a9a,7,5
$INTR,1,1925.25,0x238a9a,2,5
$INTR,2,3725.21,0x238a9a,7,5
$WARN,PPS timeout
$GPS,300115,175206,3218.123,-6434.624,16,1.3,60,-14.9,0.0,0.0,6,3.4