version: 66.12
glider: 39
mission: 14
dive: 17
start: 2 8 117 11 37 27
data:
$ID,39
$MISSION,14
$DIVE,17
$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,35
$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
$GPS1,080217,113132,4742.6177,-12225.1357,3,0.9,9,16.3,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-57.3
$GPS2,080217,113656,4742.6006,-12225.1055,5,1.0,13,16.3,0.0,0.0,9,8.3
$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,29.3,1057,-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,-146.0,145,2064,1274,1343,2.7,0.1,12,165,0.00,0.00,-83.68,0.154,16386,0.000,0.000,145,2064,1813,1777,1849,0,0,0,0,0,0,26.34,28.83,26.36,8.75,9.44
$GC,168,-1.21,-146.0,145,2064,1777,1849,3.0,-0.5,26,399,10.60,2.47,-210.20,0.149,18948,0.236,0.062,2084,418,2847,2813,2882,0,0,0,0,0,0,25.67,25.74,25.65,8.81,10.18
$GC,545,-1.15,-146.0,2084,418,2815,2882,34.9,-18.1,85,553,0.12,2.38,0.00,0.000,3078,0.209,0.052,2107,2096,2848,2815,2881,0,0,0,0,0,0,25.88,26.14,26.04,8.91,9.04
$GC,671,-1.15,-146.0,2106,2096,2816,2881,55.1,-15.4,98,681,0.00,2.45,0.00,0.000,516,0.000,0.065,2107,427,2848,2815,2881,0,0,0,0,0,0,26.47,26.20,26.48,8.90,9.16
$GC,706,-1.15,-146.0,2107,427,2815,2882,60.0,-15.9,101,713,0.00,2.28,0.00,0.000,1030,0.000,0.052,2097,2049,2848,2816,2881,0,0,0,0,0,0,26.32,26.29,26.34,8.91,9.55
$GC,833,-1.15,-146.0,2096,2049,2815,2881,82.0,-17.0,114,842,0.00,2.28,0.00,0.000,260,0.000,0.065,2085,3600,2848,2815,2881,0,0,0,0,0,0,26.58,26.30,26.59,8.91,9.55
$GC,865,-1.15,-146.0,2085,3600,2816,2881,87.2,-16.0,117,874,0.00,2.17,0.00,0.000,1030,0.000,0.052,2085,2049,2848,2816,2881,0,0,0,0,0,0,26.43,26.39,26.44,8.90,9.48
$GC,995,-1.15,-146.0,2085,2049,2816,2881,107.7,-14.9,130,1004,0.00,2.38,0.00,0.000,516,0.000,0.065,2085,415,2848,2816,2881,0,0,0,0,0,0,26.66,26.37,26.67,8.90,9.79
$GC,1152,-1.15,-146.0,2085,415,2816,2881,133.5,-16.1,145,1161,0.12,2.28,0.00,0.000,3078,0.201,0.052,2109,2050,2848,2815,2881,0,0,0,0,0,0,26.24,26.51,26.39,8.91,9.16
$GC,1282,-1.15,-146.0,2109,2050,2815,2881,150.9,-12.6,158,1291,0.00,2.38,0.00,0.000,516,0.000,0.065,2109,417,2849,2816,2882,0,0,0,0,0,0,26.76,26.46,26.77,8.91,9.75
$GC,1326,-1.15,-146.0,2109,417,2815,2881,156.2,-12.7,162,1334,0.00,2.28,0.00,0.000,1030,0.000,0.052,2099,2056,2848,2816,2881,0,0,0,0,0,0,26.60,26.55,26.60,8.91,9.36
$GC,1453,-1.15,-146.0,2099,2056,2815,2881,174.7,-13.6,175,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2056,2848,2816,2881,0,0,0,0,0,0,26.81,26.82,26.82,8.91,9.20
$STATE,1492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1492,begin apogee
$GC,1496,-0.29,0.0,2099,2056,2816,2881,179.9,-13.0,179,1614,0.88,0.00,110.75,0.909,10246,0.139,0.000,2378,2056,2345,2298,2393,0,0,0,0,0,0,26.36,24.98,24.36,8.91,9.99
$STATE,1615,end apogee,CONTROL_FINISHED_OK
$STATE,1615,begin climb
$GC,1617,1.21,146.0,2377,2056,2298,2392,185.2,0.0,191,1738,1.38,2.45,111.65,0.881,10500,0.104,0.067,2853,3593,1841,1807,1875,0,0,0,0,0,0,25.17,24.79,24.18,8.87,10.22
$GC,1786,1.13,146.0,2853,3593,1807,1876,176.5,10.1,208,1790,0.00,2.22,0.00,0.000,1030,0.000,0.052,2865,2039,1841,1807,1875,0,0,0,0,0,0,25.48,25.44,25.49,8.82,9.44
$GC,1917,1.13,146.0,2864,2040,1806,1875,163.9,9.2,221,1921,0.00,2.35,0.00,0.000,260,0.000,0.065,2865,3606,1841,1807,1875,0,0,0,0,0,0,26.05,25.79,26.06,8.82,9.71
$GC,1971,1.05,146.0,2864,3611,1807,1875,159.3,8.7,226,1980,0.20,2.22,0.00,0.000,5126,0.179,0.052,2814,2045,1841,1807,1875,0,0,0,0,0,0,25.73,25.95,25.88,8.81,9.12
$GC,2099,1.05,146.0,2814,2045,1807,1875,148.1,8.4,239,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2045,1841,1807,1875,0,0,0,0,0,0,26.32,26.35,26.34,8.82,9.99
$GC,2219,1.05,146.0,2813,2045,1806,1875,138.6,8.5,251,2228,0.00,2.28,0.00,0.000,516,0.000,0.065,2825,490,1840,1806,1874,0,0,0,0,0,0,26.45,26.17,26.46,8.82,9.52
$GC,2463,1.05,146.0,2824,489,1807,1873,116.3,9.3,275,2471,0.00,2.20,0.00,0.000,1030,0.000,0.052,2824,2052,1840,1807,1874,0,0,0,0,0,0,26.41,26.40,26.46,8.82,9.36
$GC,2591,1.05,146.0,2824,2051,1807,1874,103.3,9.4,288,2600,0.00,2.28,0.00,0.000,260,0.000,0.065,2824,3612,1840,1806,1874,0,0,0,0,0,0,26.67,26.39,26.68,8.81,9.91
$GC,2632,1.05,146.0,2824,3612,1807,1874,98.7,10.8,292,2641,0.00,2.17,0.00,0.000,1030,0.000,0.052,2836,2048,1840,1807,1874,0,0,0,0,0,0,26.51,26.47,26.52,8.82,9.32
$GC,2762,1.05,146.0,2836,2048,1806,1874,84.6,11.1,305,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2048,1840,1807,1874,0,0,0,0,0,0,26.73,26.74,26.74,8.82,9.44
$GC,2882,1.05,146.0,2836,2048,1807,1874,71.2,11.6,317,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2048,1840,1807,1874,0,0,0,0,0,0,26.77,26.78,26.78,8.81,9.08
$GC,3002,1.05,146.0,2835,2048,1807,1874,59.6,9.2,329,3011,0.00,2.30,0.00,0.000,260,0.000,0.065,2836,3603,1840,1807,1874,0,0,0,0,0,0,26.80,26.51,26.81,8.81,9.67
$GC,3066,1.05,146.0,2836,3603,1807,1874,53.8,9.6,335,3074,0.00,2.17,0.00,0.000,1030,0.000,0.052,2847,2051,1840,1807,1874,0,0,0,0,0,0,26.62,26.60,26.63,8.82,9.32
$GC,3194,1.06,204.3,2847,2052,1807,1874,43.6,7.3,348,3244,0.00,0.00,44.15,0.854,8454,0.000,0.000,2847,2052,1640,1603,1678,0,0,0,0,0,0,26.84,25.63,25.00,8.81,9.71
$GC,3364,1.06,204.3,2847,2051,1603,1676,28.8,9.9,365,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2052,1639,1603,1676,0,0,0,0,0,0,26.32,26.34,26.34,8.79,9.63
$GC,3486,1.06,204.3,2847,2052,1603,1676,16.0,11.1,380,3493,0.00,2.40,0.00,0.000,516,0.000,0.065,2860,415,1639,1603,1675,0,0,0,0,0,0,26.46,26.18,26.47,8.80,9.28
$GC,3605,1.06,204.3,2859,415,1603,1674,3.1,11.1,403,3613,0.12,2.30,0.00,0.000,5126,0.184,0.052,2820,2064,1638,1603,1674,0,0,0,0,0,0,26.10,26.34,26.25,8.80,9.55
$STATE,3618,end climb,SURFACE_DEPTH_REACHED
$STATE,3618,begin surface coast
$FINISH,1.5,1.022024
$STATE,3650,end surface coast,CONTROL_FINISHED_OK
$STATE,3650,begin surface
$SM_CCo,3664,71.45,0.844,0,0,1312,300.08
$SM_GC,2.51,6.93,0.00,71.45,0.065,0.000,0.844,140,2064,1312,-7.21,0.45,300.08,0,0,0,0,0,0,26.32,26.60,24.57
$IRIDIUM_FIX,4722.92,-12225.08,080217,103832
$TT8_MAMPS,0.023219,0.196238
$HUMID,9.71
$INTERNAL_PRESSURE,8.68207
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.1
$ALTIM_BOTTOM_PING,126.5,68.0
$24V_AH,24.18,9.415
$10V_AH,10.35,10.406
$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,20.350,50.675,266.550,71.450,293.875,24.351,47.797,152.186,1.250,0.000,21.506,988.682,1379.211,629.431,996.337,84.497,0.000,1106.157,0.000,742.568,0.000,12.498,0.000
$DEVICE_MAMPS,235.885,67.041,908.778,844.220,153.946,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.943,541.078,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323092
$DATA_FILE_SIZE,27938,411
$CAP_FILE_SIZE,63231,0
$CFSIZE,2047311872,2039513088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080217,124030,4742.818,-12224.873,3,0.9,11,16.3,0.6,86.3,10,9.8