version: 66.12
glider: 39
mission: 14
dive: 20
start: 2 8 117 14 35 16
data:
$ID,39
$MISSION,14
$DIVE,20
$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,18
$R_STBD_OVSHOOT,36
$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
$GPS1,080217,142940,4743.5151,-12224.6748,3,0.9,9,16.3,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-56.0
$GPS2,080217,143444,4743.5254,-12224.6465,5,0.9,12,16.3,0.0,0.0,9,9.3
$SPEED_LIMITS,0.100,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-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,349.5,1814,-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,-146.0,144,1959,1273,1343,2.6,-0.1,12,177,0.00,0.00,-95.43,0.151,16386,0.000,0.000,145,1959,1876,1842,1911,0,0,0,0,0,0,26.32,28.83,26.34,8.76,9.44
$GC,180,-1.21,-146.0,145,1959,1842,1912,3.1,-0.9,28,387,10.77,0.00,-187.65,0.149,19206,0.233,0.000,2083,1955,2847,2814,2881,0,0,0,0,0,0,25.68,25.75,25.65,8.81,9.52
$GC,449,-1.21,-146.0,2082,1956,2815,2880,16.2,-14.7,74,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,1955,2847,2814,2881,0,0,0,0,0,0,26.24,26.25,26.25,8.91,9.12
$GC,518,-1.21,-146.0,2082,1955,2815,2880,26.6,-15.4,83,527,0.00,2.25,0.00,0.000,516,0.000,0.065,2083,424,2848,2816,2880,0,0,0,0,0,0,26.34,26.06,26.34,8.91,9.79
$GC,699,-1.21,-146.0,2082,424,2815,2880,56.5,-17.0,101,709,0.00,2.33,0.00,0.000,1030,0.000,0.052,2072,2096,2847,2815,2880,0,0,1,0,0,0,26.34,26.29,26.34,8.91,9.75
$GC,830,-1.21,-146.0,2072,2096,2815,2880,78.4,-15.8,114,839,0.00,2.45,0.00,0.000,516,0.000,0.065,2072,421,2847,2815,2880,0,0,0,0,0,0,26.59,26.30,26.60,8.91,9.63
$GC,902,-1.16,-146.0,2072,420,2815,2880,90.3,-17.1,121,912,0.15,2.28,0.00,0.000,3078,0.194,0.052,2101,2050,2847,2815,2880,0,0,0,0,0,0,26.17,26.41,26.32,8.92,9.79
$GC,1031,-1.16,-146.0,2101,2051,2815,2880,109.4,-15.9,134,1041,0.00,2.38,0.00,0.000,516,0.000,0.065,2102,421,2847,2815,2880,0,0,0,0,0,0,26.68,26.39,26.70,8.91,10.07
$GC,1093,-1.16,-146.0,2101,421,2815,2880,119.5,-16.3,140,1097,0.00,2.25,0.00,0.000,1030,0.000,0.052,2091,2049,2847,2815,2880,0,0,0,0,0,0,26.53,26.49,26.54,8.91,9.59
$STATE,1105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1105,begin apogee
$GC,1109,-0.29,0.0,2091,2049,2815,2880,121.6,-16.5,141,1225,0.90,0.00,110.80,0.939,10246,0.137,0.000,2380,2049,2344,2297,2392,0,0,0,0,0,0,26.27,24.93,24.30,8.91,9.59
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1226,begin climb
$GC,1228,1.21,146.0,2380,2049,2297,2392,129.1,0.0,153,1345,1.38,0.00,111.55,0.914,10246,0.107,0.000,2855,2049,1841,1808,1875,0,0,0,0,0,0,25.11,24.71,24.12,8.87,10.15
$GC,1465,1.21,146.0,2854,2049,1808,1874,113.5,10.8,177,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2049,1841,1808,1874,0,0,0,0,0,0,25.86,25.88,25.88,8.82,9.12
$GC,1584,1.21,146.0,2854,2049,1808,1874,100.3,11.2,189,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2049,1840,1808,1873,0,0,0,0,0,0,26.14,26.15,26.15,8.82,9.20
$GC,1704,1.21,146.0,2854,2049,1808,1873,87.0,11.5,201,1714,0.00,2.40,0.00,0.000,516,0.000,0.065,2867,430,1840,1808,1873,0,0,0,0,0,0,26.31,26.04,26.32,8.81,9.28
$GC,1737,1.21,146.0,2866,430,1808,1873,83.6,11.0,204,1746,0.00,2.28,0.00,0.000,1030,0.000,0.052,2867,2048,1840,1808,1873,0,0,0,0,0,0,26.17,26.15,26.17,8.82,9.36
$GC,1866,1.21,146.0,2866,2048,1808,1873,70.2,9.0,217,1875,0.00,2.33,0.00,0.000,260,0.000,0.065,2867,3612,1841,1808,1874,0,0,0,0,0,0,26.47,26.20,26.48,8.82,9.79
$GC,1918,1.14,146.0,2866,3613,1808,1873,64.7,11.2,222,1928,0.10,2.20,0.00,0.000,5126,0.204,0.052,2848,2038,1840,1808,1873,0,0,0,0,0,0,26.06,26.29,26.21,8.82,9.40
$GC,2048,1.14,146.0,2847,2038,1808,1873,52.1,9.6,235,2057,0.00,2.35,0.00,0.000,516,0.000,0.065,2859,413,1840,1808,1873,0,0,1,0,0,0,26.59,26.30,26.60,8.82,9.52
$GC,2142,1.14,146.0,2858,414,1808,1872,43.8,8.6,244,2149,0.00,2.30,0.00,0.000,1030,0.000,0.052,2859,2070,1840,1808,1872,0,0,0,0,0,0,26.46,26.43,26.48,8.82,9.44
$GC,2269,1.14,146.0,2859,2070,1808,1873,31.2,9.6,257,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2070,1840,1808,1873,0,0,0,0,0,0,26.69,26.70,26.70,8.81,9.40
$GC,2389,1.14,146.0,2858,2070,1808,1872,20.3,8.9,269,2399,0.00,2.42,0.00,0.000,516,0.000,0.065,2871,405,1840,1808,1872,0,0,0,0,0,0,26.73,26.44,26.74,8.81,10.18
$GC,2523,1.14,146.0,2870,405,1808,1872,7.6,9.7,294,2530,0.00,2.28,0.00,0.000,1030,0.000,0.052,2871,2048,1840,1808,1873,0,0,0,0,0,0,26.60,26.56,26.61,8.81,9.28
$STATE,2575,end climb,SURFACE_DEPTH_REACHED
$STATE,2575,begin surface coast
$FINISH,1.5,1.013610
$STATE,2606,end surface coast,CONTROL_FINISHED_OK
$STATE,2606,begin surface
$SM_CCo,2621,113.43,0.857,0,0,1312,300.08
$SM_GC,2.39,6.97,0.00,113.43,0.062,0.000,0.857,130,2048,1312,-7.25,0.00,300.08,0,0,0,0,0,0,26.54,26.81,24.41
$IRIDIUM_FIX,4722.92,-12304.12,080217,133729
$TT8_MAMPS,0.023219,0.195489
$HUMID,9.28
$INTERNAL_PRESSURE,8.68207
$TCM_TEMP,8.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.0
$ALTIM_BOTTOM_PING,121.6,4.2
$24V_AH,24.12,9.745
$10V_AH,10.35,10.472
$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,20.275,32.550,222.350,113.425,283.075,20.610,37.361,152.780,0.750,0.000,19.972,724.909,881.806,610.295,771.399,70.114,0.000,974.770,0.000,543.926,0.000,7.182,0.000
$DEVICE_MAMPS,233.402,124.150,938.574,856.635,151.463,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.250,407.542,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323064
$DATA_FILE_SIZE,21023,310
$CAP_FILE_SIZE,48717,0
$CFSIZE,2047311872,2039218176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$WARN,PPS timeout
$GPS,080217,152136,4743.932,-12224.548,3,0.9,10,16.3,0.9,45.5,9,9.6