version: 66.12
glider: 39
mission: 14
dive: 11
start: 2 8 117 5 57 4
data:
$ID,39
$MISSION,14
$DIVE,11
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$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,60
$T_MISSION,90
$T_ABORT,120
$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,0.0099999998
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,78467
$MASS_COMP,9200.2002
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,100840
$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,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$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,2048
$C_ROLL_CLIMB,2048
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2345
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.786182
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$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,0.0044020778
$SEABIRD_T_H,0.00064109167
$SEABIRD_T_I,2.6113514e-05
$SEABIRD_T_J,3.207555e-06
$SEABIRD_C_G,-9.7950287
$SEABIRD_C_H,1.1392668
$SEABIRD_C_I,-0.0017858738
$SEABIRD_C_J,0.00021101594
$SEABIRD_C_Z,2936.5898
$GPS1,080217,055109,4744.5005,-12225.0596,3,0.9,12,16.3,0.0,0.0,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-52.1
$GPS2,080217,055633,4744.4912,-12225.0771,5,0.9,15,16.3,0.0,0.0,9,9.1
$SPEED_LIMITS,0.100,0.244
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,149.1,2854,-19.8,-10.000,-22.25,2234
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,79,-1.21,-146.0,144,1944,926,1004,2.5,-0.2,12,202,0.00,0.00,-120.15,0.151,16386,0.000,0.000,145,1944,1694,1657,1731,0,0,0,0,0,0,26.28,28.83,26.30,8.72,9.52
$GC,204,-1.21,-146.0,144,1944,1657,1731,3.0,-1.3,32,466,10.27,2.35,-242.07,0.149,18948,0.221,0.065,2087,412,2848,2815,2881,0,0,0,0,0,0,25.67,25.79,25.61,8.80,9.52
$GC,694,-1.15,-146.0,2086,411,2816,2880,43.5,-15.9,106,704,0.10,2.33,0.00,0.000,3078,0.204,0.052,2102,2068,2848,2816,2881,0,0,0,0,0,0,25.96,26.20,26.10,8.90,9.28
$GC,824,-1.15,-146.0,2102,2068,2816,2880,60.9,-12.6,119,833,0.00,2.42,0.00,0.000,516,0.000,0.065,2102,417,2848,2816,2881,0,0,0,0,0,0,26.53,26.23,26.53,8.90,9.44
$GC,979,-1.15,-146.0,2101,417,2816,2881,82.1,-13.7,134,986,0.00,2.30,0.00,0.000,1030,0.000,0.052,2092,2060,2848,2816,2881,0,0,0,0,0,0,26.44,26.40,26.45,8.91,9.59
$GC,1105,-1.15,-146.0,2092,2060,2816,2881,97.8,-11.9,147,1114,0.00,2.40,0.00,0.000,516,0.000,0.065,2092,419,2848,2816,2881,0,0,0,0,0,0,26.67,26.38,26.69,8.92,9.44
$GC,1169,-1.15,-146.0,2091,419,2816,2881,105.8,-12.6,153,1177,0.00,2.28,0.00,0.000,1030,0.000,0.052,2081,2054,2848,2816,2881,0,0,0,0,0,0,26.52,26.47,26.53,8.91,9.79
$STATE,1290,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1290,begin apogee
$GC,1294,-0.29,0.0,2080,2054,2816,2881,120.6,-12.1,165,1408,1.00,0.00,110.38,0.867,10246,0.144,0.000,2381,2053,2345,2297,2393,0,0,0,0,0,0,26.26,24.98,24.37,8.92,9.79
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1410,begin climb
$GC,1411,1.21,146.0,2381,2054,2297,2393,125.4,0.0,177,1531,1.40,2.45,110.68,0.847,10500,0.112,0.070,2850,3593,1841,1808,1875,0,0,0,0,0,0,25.14,24.81,24.21,8.87,9.67
$GC,1640,1.15,146.0,2849,3593,1807,1875,106.2,10.8,200,1649,0.00,2.38,0.00,0.000,1030,0.000,0.052,2862,1961,1841,1807,1875,0,0,0,0,0,0,25.72,25.69,25.74,8.82,9.20
$GC,1769,1.15,146.0,2862,1961,1807,1874,90.0,12.8,213,1779,0.00,2.30,0.00,0.000,516,0.000,0.067,2874,414,1841,1808,1874,0,0,0,0,0,0,26.17,25.90,26.18,8.82,9.44
$GC,1794,1.15,146.0,2873,414,1807,1874,87.2,12.4,215,1801,0.00,2.33,0.00,0.000,1030,0.000,0.052,2874,2050,1840,1807,1874,0,0,0,0,0,0,26.05,26.01,26.06,8.82,9.48
$GC,1921,1.15,146.0,2873,2050,1807,1874,72.0,12.0,228,1930,0.00,2.42,0.00,0.000,516,0.000,0.065,2886,412,1840,1807,1874,0,0,0,0,0,0,26.36,26.09,26.37,8.82,9.16
$GC,1973,1.08,146.0,2885,412,1807,1874,65.8,12.2,233,1983,0.17,2.33,0.00,0.000,5126,0.179,0.052,2831,2067,1840,1807,1874,0,0,0,0,0,0,25.95,26.21,26.11,8.81,9.32
$GC,2103,1.08,146.0,2831,2067,1807,1873,53.6,9.4,246,2112,0.00,2.42,0.00,0.000,516,0.000,0.065,2842,420,1839,1806,1873,0,0,0,0,0,0,26.52,26.23,26.53,8.82,9.36
$GC,2195,1.10,191.9,2841,420,1807,1873,46.4,7.9,255,2236,0.00,2.28,35.47,0.802,9222,0.000,0.052,2842,2047,1683,1650,1716,0,0,0,0,0,0,26.40,26.36,24.96,8.81,9.67
$GC,2355,1.10,191.9,2842,2048,1649,1716,31.5,9.6,271,2364,0.00,2.30,0.00,0.000,260,0.000,0.065,2842,3593,1682,1649,1716,0,0,0,0,0,0,26.27,26.01,26.29,8.80,9.48
$GC,2493,1.10,191.9,2842,3593,1648,1715,17.1,10.3,287,2501,0.00,2.17,0.00,0.000,1030,0.000,0.052,2854,2055,1681,1647,1715,0,0,0,0,0,0,26.27,26.22,26.27,8.80,9.24
$GC,2563,1.10,191.9,2853,2055,1647,1716,9.5,10.1,300,2570,0.00,2.40,0.00,0.000,516,0.000,0.065,2866,419,1681,1647,1715,0,0,0,0,0,0,26.49,26.21,26.51,8.80,9.63
$STATE,2626,end climb,SURFACE_DEPTH_REACHED
$STATE,2626,begin surface coast
$FINISH,1.5,0.999929
$STATE,2641,end surface coast,CONTROL_FINISHED_OK
$STATE,2641,begin surface
$SM_CCo,2659,80.07,0.797,0,0,1312,300.08
$SM_GC,2.62,7.07,2.35,80.07,0.067,0.050,0.797,143,2025,1312,-7.20,-2.18,300.08,0,0,0,0,0,0,26.28,26.35,24.56
$IRIDIUM_FIX,4722.92,-12226.80,080217,045134
$TT8_MAMPS,0.021721,0.196987
$HUMID,9.67
$INTERNAL_PRESSURE,8.68207
$TCM_TEMP,8.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,120.6,6.2
$24V_AH,24.21,8.785
$10V_AH,10.34,10.263
$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,20.025,42.275,256.525,80.075,362.225,25.757,36.569,163.286,1.000,0.000,22.582,702.465,809.451,641.154,855.504,71.681,0.000,1059.756,0.000,608.219,0.000,7.198,0.000
$DEVICE_MAMPS,220.987,124.150,866.567,797.043,151.463,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.756,413.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323088
$DATA_FILE_SIZE,20985,315
$CAP_FILE_SIZE,49783,0
$CFSIZE,2047311872,2040102912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080217,064334,4743.955,-12225.012,2,1.0,14,16.3,1.0,203.6,9,9.6