version: 66.12
glider: 39
mission: 14
dive: 21
start: 2 8 117 15 26 43
data:
$ID,39
$MISSION,14
$DIVE,21
$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,4
$R_STBD_OVSHOOT,85
$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
$GPS1,080217,152136,4743.9321,-12224.5479,3,0.9,10,16.3,0.9,45.5,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-56.1
$GPS2,080217,152613,4743.9414,-12224.5166,5,0.8,12,16.3,0.0,0.0,10,9.7
$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,344.8,1034,-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,14,begin dive
$GC,79,-1.21,-146.0,119,2050,1273,1341,2.6,0.5,12,142,0.00,0.00,-60.22,0.156,16386,0.000,0.000,119,2050,1685,1654,1716,0,0,0,0,0,0,26.29,28.83,26.31,8.76,9.71
$GC,144,-1.21,-146.0,119,2050,1653,1716,3.0,-0.4,22,460,9.93,2.33,-294.73,0.149,19204,0.231,0.062,2078,3598,2847,2811,2884,0,0,0,0,0,0,25.73,25.72,25.64,8.80,9.36
$GC,483,-1.33,-146.0,2077,3599,2811,2884,3.0,-3.4,78,490,0.00,2.20,0.00,0.000,1030,0.000,0.052,2078,2055,2847,2811,2883,0,0,0,0,0,0,25.99,25.95,26.00,8.91,9.28
$GC,552,-1.33,-146.0,2077,2055,2812,2884,11.6,-14.4,91,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2055,2847,2811,2884,0,0,0,0,0,0,26.27,26.29,26.28,8.91,9.71
$GC,622,-1.33,-146.0,2077,2055,2811,2883,21.4,-15.2,103,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2054,2847,2811,2883,0,0,0,0,0,0,26.36,26.38,26.37,8.91,9.24
$GC,741,-1.33,-146.0,2077,2054,2811,2883,39.1,-14.9,115,750,0.00,2.38,0.00,0.000,516,0.000,0.065,2077,426,2847,2811,2883,0,0,0,0,0,0,26.48,26.20,26.48,8.91,9.40
$GC,1034,-1.33,-146.0,2077,426,2812,2883,89.7,-16.7,144,1043,0.00,2.22,0.00,0.000,1030,0.000,0.052,2065,2040,2847,2811,2883,0,0,0,0,0,0,26.46,26.44,26.47,8.91,9.24
$GC,1162,-1.33,-146.0,2064,2041,2811,2883,109.5,-15.3,157,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2040,2847,2811,2883,0,0,0,0,0,0,26.70,26.72,26.71,8.91,10.11
$STATE,1234,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1234,begin apogee
$GC,1238,-0.29,0.0,2065,2041,2811,2884,120.3,-15.5,164,1353,1.02,0.00,110.65,0.926,10246,0.144,0.000,2380,2040,2345,2297,2393,0,0,0,0,0,0,26.29,24.96,24.34,8.91,9.83
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1356,1.21,146.0,2379,2040,2298,2392,128.4,0.0,176,1473,1.38,0.00,111.03,0.899,10502,0.104,0.000,2853,2040,1842,1808,1876,0,0,0,0,0,0,25.12,24.73,24.15,8.88,9.36
$GC,1592,1.21,146.0,2852,2040,1807,1874,115.8,8.5,200,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2040,1840,1807,1874,0,0,0,0,0,0,25.87,25.89,25.88,8.83,9.32
$GC,1712,1.21,146.0,2852,2040,1807,1874,105.3,8.8,212,1722,0.00,2.33,0.00,0.000,260,0.000,0.065,2853,3602,1840,1807,1874,0,0,0,0,0,0,26.15,25.89,26.16,8.82,9.44
$GC,1824,1.14,146.0,2852,3602,1807,1874,93.5,10.5,223,1829,0.00,2.20,0.00,0.000,1030,0.000,0.052,2865,2037,1840,1807,1874,0,0,0,0,0,0,26.14,26.10,26.15,8.81,9.55
$GC,1956,1.14,146.0,2864,2037,1807,1873,78.7,11.5,236,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2037,1840,1807,1873,0,0,0,0,0,0,26.44,26.46,26.46,8.82,9.36
$GC,2076,1.14,146.0,2864,2037,1807,1874,66.3,10.5,248,2085,0.00,2.35,0.00,0.000,516,0.000,0.065,2877,428,1840,1807,1874,0,0,0,0,0,0,26.53,26.25,26.55,8.80,9.59
$GC,2219,1.09,146.0,2876,428,1807,1873,51.3,10.4,262,2229,0.12,2.25,0.00,0.000,5126,0.176,0.052,2837,2069,1840,1807,1873,0,0,0,0,0,0,26.15,26.41,26.24,8.82,9.44
$GC,2348,1.11,204.3,2836,2068,1807,1873,40.8,7.3,275,2399,0.00,2.50,44.33,0.854,8708,0.000,0.070,2847,443,1640,1604,1677,0,0,0,0,0,0,26.67,25.53,24.87,8.81,9.12
$GC,2505,1.13,255.1,2847,443,1603,1675,29.1,7.7,290,2553,0.00,2.25,40.10,0.827,9222,0.000,0.052,2847,2035,1466,1429,1503,0,0,0,0,0,0,26.07,26.03,24.65,8.80,9.12
$GC,2673,1.13,255.1,2847,2035,1427,1500,12.1,10.2,314,2680,0.00,2.35,0.00,0.000,260,0.000,0.065,2847,3613,1464,1428,1500,0,0,0,0,0,0,26.13,25.87,26.15,8.77,9.28
$STATE,2750,end climb,SURFACE_DEPTH_REACHED
$STATE,2751,begin surface coast
$FINISH,1.7,1.011520
$STATE,2767,end surface coast,CONTROL_FINISHED_OK
$STATE,2768,begin surface
$SM_CCo,2785,34.62,0.809,0,0,1311,300.08
$SM_GC,2.37,7.10,2.28,34.62,0.067,0.050,0.809,136,2059,1311,-7.24,-0.17,300.08,0,0,0,0,0,0,26.03,26.09,24.77
$IRIDIUM_FIX,4722.92,-12222.38,080217,143054
$TT8_MAMPS,0.023219,0.199234
$HUMID,9.28
$INTERNAL_PRESSURE,8.68207
$TCM_TEMP,9.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,120.3,4.2
$24V_AH,24.15,9.855
$10V_AH,10.36,10.495
$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,19.550,27.625,306.100,34.625,354.950,24.555,14.421,144.967,1.000,0.000,19.553,741.561,870.966,608.105,822.280,72.283,0.000,1028.588,0.000,620.630,0.000,7.192,0.000
$DEVICE_MAMPS,230.919,69.524,926.159,809.458,156.429,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.497,436.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323104
$DATA_FILE_SIZE,21025,332
$CAP_FILE_SIZE,48425,0
$CFSIZE,2047311872,2039119872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080217,161455,4744.311,-12224.552,4,0.8,35,16.3,0.0,0.0,10,7.2