version: 66.12
glider: 39
mission: 14
dive: 12
start: 2 8 117 6 49 28
data:
$ID,39
$MISSION,14
$DIVE,12
$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,12
$R_STBD_OVSHOOT,50
$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
$GPS1,080217,064334,4743.9551,-12225.0117,2,1.0,14,16.3,1.0,203.6,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-56.9
$GPS2,080217,064857,4743.9360,-12225.0449,5,1.1,45,16.3,0.0,0.0,7,3.2
$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,142.3,1861,-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,-146.0,142,1948,1276,1338,2.6,0.0,12,178,0.00,0.00,-96.35,0.154,16386,0.000,0.000,143,1948,1877,1841,1913,0,0,0,0,0,0,26.36,28.83,26.39,8.75,9.91
$GC,181,-1.21,-146.0,142,1947,1841,1914,3.1,-0.8,28,406,10.32,2.28,-205.50,0.149,18948,0.228,0.062,2083,424,2845,2813,2878,0,0,0,0,0,0,25.70,25.75,25.64,8.81,9.52
$GC,585,-1.14,-146.0,2082,422,2814,2878,35.7,-17.4,91,595,0.15,2.33,0.00,0.000,3078,0.149,0.052,2111,2077,2846,2814,2878,0,0,0,0,0,0,25.92,26.17,26.10,8.91,9.24
$GC,714,-1.14,-146.0,2111,2077,2814,2878,52.5,-12.3,104,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2077,2846,2814,2878,0,0,0,0,0,0,26.51,26.52,26.52,8.91,9.24
$GC,834,-1.14,-146.0,2110,2077,2813,2878,67.4,-11.8,116,843,0.00,2.42,0.00,0.000,516,0.000,0.065,2111,424,2845,2813,2878,0,0,0,0,0,0,26.58,26.29,26.60,8.91,9.08
$GC,1055,-1.14,-146.0,2110,424,2814,2878,95.8,-12.4,138,1065,0.00,2.28,0.00,0.000,1030,0.000,0.052,2101,2057,2846,2814,2878,0,0,0,0,0,0,26.51,26.47,26.52,8.91,9.59
$GC,1186,-1.14,-146.0,2100,2058,2813,2878,110.3,-10.9,151,1195,0.00,2.38,0.00,0.000,516,0.000,0.065,2101,426,2846,2814,2878,0,0,0,0,0,0,26.73,26.44,26.74,8.91,9.99
$GC,1257,-1.14,-146.0,2100,426,2814,2878,119.1,-12.8,158,1269,0.00,2.28,0.00,0.000,1030,0.000,0.052,2089,2063,2845,2813,2878,0,0,0,0,0,0,26.58,26.53,26.58,8.91,9.55
$STATE,1276,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1276,begin apogee
$GC,1280,-0.29,0.0,2089,2062,2812,2878,121.7,-13.0,160,1398,0.93,0.00,109.65,0.886,10246,0.142,0.000,2377,2063,2345,2298,2392,0,0,0,0,0,0,26.30,24.82,24.38,8.91,9.36
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1401,1.21,146.0,2377,2062,2298,2392,125.9,0.0,172,1519,1.40,2.62,110.93,0.839,10756,0.107,0.070,2868,428,1841,1807,1876,0,0,0,0,0,0,25.18,24.82,24.22,8.87,9.59
$GC,1574,1.15,146.0,2867,423,1807,1874,114.0,9.9,189,1583,0.00,2.35,0.00,0.000,1030,0.000,0.052,2867,2051,1841,1808,1874,0,0,0,0,0,0,25.51,25.48,25.51,8.82,9.00
$GC,1702,1.15,146.0,2867,2052,1807,1874,99.2,11.2,202,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2052,1840,1807,1874,0,0,0,0,0,0,26.06,26.08,26.08,8.82,9.40
$GC,1822,1.15,146.0,2867,2051,1807,1874,86.1,10.8,214,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2052,1841,1808,1874,0,0,0,0,0,0,26.27,26.28,26.27,8.81,9.28
$GC,1942,1.15,146.0,2867,2051,1807,1874,72.2,10.9,226,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2051,1840,1807,1874,0,0,0,0,0,0,26.40,26.41,26.41,8.81,9.28
$GC,2062,1.15,146.0,2867,2052,1807,1873,58.8,11.3,238,2071,0.00,2.40,0.00,0.000,516,0.000,0.065,2879,423,1840,1807,1873,0,0,0,0,0,0,26.50,26.22,26.51,8.82,9.44
$GC,2114,1.10,146.0,2879,422,1808,1873,53.4,10.7,243,2124,0.15,2.30,0.00,0.000,5126,0.184,0.052,2832,2066,1840,1808,1873,0,0,0,0,0,0,26.06,26.32,26.22,8.82,9.95
$GC,2244,1.10,146.0,2832,2067,1807,1873,40.5,10.2,256,2253,0.00,2.42,0.00,0.000,516,0.000,0.065,2844,416,1840,1808,1873,0,0,0,0,0,0,26.61,26.32,26.62,8.81,9.52
$GC,2278,1.10,146.0,2843,415,1808,1873,37.3,9.9,259,2285,0.00,2.25,0.00,0.000,1030,0.000,0.052,2844,2045,1840,1807,1873,0,0,1,0,0,0,26.45,26.41,26.46,8.81,9.67
$GC,2405,1.10,146.0,2843,2047,1807,1873,26.2,8.2,272,2414,0.00,2.28,0.00,0.000,260,0.000,0.065,2844,3605,1840,1807,1873,0,0,0,0,0,0,26.68,26.40,26.70,8.81,9.48
$GC,2477,1.10,146.0,2843,3605,1807,1873,19.6,9.1,279,2484,0.00,2.30,0.00,0.000,1030,0.000,0.052,2856,1960,1840,1807,1873,0,0,0,0,0,0,26.53,26.48,26.53,8.82,9.91
$GC,2547,1.10,146.0,2855,1960,1807,1873,13.8,8.8,292,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1960,1840,1808,1873,0,0,0,0,0,0,26.73,26.75,26.74,8.81,9.55
$GC,2617,1.10,146.0,2855,1959,1807,1873,8.2,8.2,305,2624,0.00,2.22,0.00,0.000,516,0.000,0.065,2868,423,1840,1808,1873,0,0,0,0,0,0,26.75,26.46,26.77,8.82,9.36
$STATE,2675,end climb,SURFACE_DEPTH_REACHED
$STATE,2675,begin surface coast
$FINISH,1.4,1.010702
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2723,113.50,0.809,0,0,1312,300.08
$SM_GC,2.54,7.03,2.33,113.50,0.070,0.050,0.809,152,2036,1312,-7.20,-2.09,300.08,0,0,0,0,0,0,26.47,26.57,24.44
$IRIDIUM_FIX,4726.11,-12224.09,080217,055231
$TT8_MAMPS,0.023219,0.195489
$HUMID,9.00
$INTERNAL_PRESSURE,8.68207
$TCM_TEMP,9.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,120.2,6.4
$24V_AH,24.22,8.888
$10V_AH,10.34,10.285
$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,19.975,37.500,220.575,113.500,301.850,22.444,17.933,155.132,1.000,0.000,52.640,754.611,905.856,615.908,831.802,71.145,0.000,1007.452,0.000,584.228,0.000,7.186,0.000
$DEVICE_MAMPS,228.436,124.150,886.431,809.458,153.946,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.198,423.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323108
$DATA_FILE_SIZE,21018,322
$CAP_FILE_SIZE,50717,0
$CFSIZE,2047311872,2040004608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$WARN,PPS timeout
$GPS,080217,073736,4743.361,-12225.091,4,0.9,15,16.3,0.0,0.0,9,9.9