version: 66.12
glider: 39
mission: 14
dive: 16
start: 2 8 117 10 43 12
data:
$ID,39
$MISSION,14
$DIVE,16
$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,90
$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
$GPS1,080217,103708,4742.5601,-12225.2061,2,0.8,25,16.3,0.0,0.0,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-56.8
$GPS2,080217,104241,4742.5454,-12225.2295,5,0.8,31,16.3,0.0,0.0,10,9.8
$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,30.9,1239,-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,-146.0,152,1957,1274,1340,2.7,-0.2,12,165,0.00,0.00,-83.65,0.154,16386,0.000,0.000,152,1957,1806,1772,1841,0,0,0,0,0,0,26.36,28.83,26.38,8.75,10.18
$GC,168,-1.21,-146.0,152,1957,1772,1841,3.2,-0.6,26,393,10.75,2.47,-203.38,0.149,18692,0.243,0.062,2074,3599,2847,2814,2881,0,0,0,0,0,0,25.68,25.75,25.69,8.82,9.48
$GC,471,-1.16,-146.0,2073,3598,2814,2882,20.6,-15.9,78,481,0.12,2.33,0.00,0.000,3078,0.189,0.052,2110,1956,2847,2814,2881,0,0,0,0,0,0,25.82,26.06,25.96,8.91,9.12
$GC,600,-1.16,-146.0,2109,1956,2814,2881,39.8,-13.7,91,604,0.00,2.25,0.00,0.000,516,0.000,0.067,2110,410,2847,2814,2881,0,0,0,0,0,0,26.42,26.13,26.44,8.90,9.83
$GC,722,-1.16,-146.0,2110,410,2814,2880,59.0,-15.1,103,731,0.00,2.30,0.00,0.000,1030,0.000,0.052,2100,2047,2847,2814,2881,0,0,0,0,0,0,26.35,26.31,26.36,8.90,9.55
$GC,852,-1.16,-146.0,2100,2046,2814,2881,76.9,-13.3,116,861,0.00,2.30,0.00,0.000,260,0.000,0.067,2088,3617,2847,2814,2881,0,0,0,0,0,0,26.60,26.32,26.61,8.91,9.24
$GC,886,-1.16,-146.0,2087,3616,2814,2881,81.4,-13.7,119,893,0.00,2.33,0.00,0.000,1030,0.000,0.052,2088,1965,2847,2814,2881,0,0,0,0,0,0,26.44,26.39,26.45,8.91,9.67
$GC,1013,-1.16,-146.0,2088,1965,2814,2881,99.6,-15.1,132,1022,0.00,2.25,0.00,0.000,516,0.000,0.067,2088,415,2847,2814,2881,0,0,0,0,0,0,26.67,26.39,26.69,8.91,9.12
$GC,1135,-1.16,-146.0,2088,415,2814,2881,118.4,-15.4,144,1145,0.10,2.28,0.00,0.000,3078,0.214,0.052,2104,2049,2847,2814,2881,0,0,0,0,0,0,26.26,26.51,26.41,8.91,9.20
$STATE,1158,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1158,begin apogee
$GC,1162,-0.29,0.0,2103,2049,2814,2881,121.6,-14.8,146,1276,0.85,0.00,110.12,0.859,10246,0.144,0.000,2377,2050,2345,2298,2393,0,0,0,0,0,0,26.27,25.00,24.40,8.91,9.87
$STATE,1277,end apogee,CONTROL_FINISHED_OK
$STATE,1277,begin climb
$GC,1279,1.21,146.0,2377,2050,2297,2392,129.0,0.0,158,1396,1.38,0.00,111.00,0.842,10502,0.107,0.000,2849,2049,1841,1808,1875,0,0,0,0,0,0,25.15,24.78,24.22,8.87,9.87
$GC,1515,1.21,146.0,2849,2049,1808,1874,116.0,8.6,182,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2049,1841,1808,1874,0,0,0,0,0,0,25.90,25.91,25.91,8.82,9.08
$GC,1635,1.21,146.0,2849,2049,1808,1873,105.1,9.0,194,1644,0.00,2.33,0.00,0.000,260,0.000,0.065,2849,3610,1841,1808,1874,0,0,0,0,0,0,26.17,25.91,26.17,8.82,8.96
$GC,1669,1.21,146.0,2849,3610,1808,1874,102.3,9.1,197,1676,0.00,2.40,0.00,0.000,1030,0.000,0.052,2861,1953,1840,1807,1874,0,0,0,0,0,0,26.03,26.01,26.06,8.82,9.55
$GC,1796,1.21,146.0,2861,1952,1808,1873,90.3,9.8,210,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1952,1841,1808,1874,0,0,0,0,0,0,26.37,26.39,26.39,8.82,9.55
$GC,1916,1.21,146.0,2861,1952,1808,1873,79.0,10.4,222,1926,0.00,2.25,0.00,0.000,516,0.000,0.067,2873,415,1840,1808,1873,0,0,0,0,0,0,26.48,26.20,26.49,8.82,9.32
$GC,2001,1.15,146.0,2873,415,1807,1873,70.2,10.6,230,2008,0.00,2.30,0.00,0.000,1030,0.000,0.052,2873,2054,1840,1808,1873,0,0,0,0,0,0,26.37,26.32,26.38,8.82,9.52
$GC,2128,1.15,146.0,2872,2054,1808,1872,57.6,10.0,243,2137,0.00,2.28,0.00,0.000,260,0.000,0.065,2873,3606,1840,1807,1873,0,0,0,0,0,0,26.61,26.33,26.62,8.82,10.11
$GC,2283,1.08,146.0,2872,3606,1807,1873,43.2,9.3,258,2291,0.17,2.17,0.00,0.000,5126,0.184,0.052,2829,2032,1840,1807,1873,0,0,0,0,0,0,26.19,26.46,26.36,8.81,9.28
$GC,2410,1.10,231.5,2829,2032,1808,1873,34.9,6.1,271,2481,0.00,2.50,64.45,0.790,8708,0.000,0.070,2840,427,1547,1511,1584,0,0,0,0,0,0,26.72,25.40,24.77,8.82,9.52
$GC,2527,1.10,231.5,2839,427,1511,1581,26.6,8.4,282,2534,0.00,2.33,0.00,0.000,1030,0.000,0.052,2840,2044,1546,1511,1581,0,0,0,0,0,0,25.84,25.80,25.86,8.79,9.63
$GC,2654,1.10,231.5,2839,2044,1511,1581,13.9,10.0,301,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2044,1546,1511,1581,0,0,0,0,0,0,26.27,26.29,26.28,8.78,9.24
$GC,2723,1.10,231.5,2839,2044,1511,1581,7.0,10.5,314,2730,0.00,2.40,0.00,0.000,516,0.000,0.065,2852,425,1546,1511,1581,0,0,0,0,0,0,26.36,26.09,26.38,8.78,9.55
$STATE,2761,end climb,SURFACE_DEPTH_REACHED
$STATE,2761,begin surface coast
$FINISH,1.6,0.999914
$STATE,2786,end surface coast,CONTROL_FINISHED_OK
$STATE,2787,begin surface
$SM_CCo,2804,50.70,0.765,0,0,1312,300.08
$SM_GC,3.26,7.07,2.35,50.70,0.067,0.050,0.765,146,2009,1312,-7.22,-2.21,300.08,0,0,0,0,0,0,26.15,26.23,24.75
$IRIDIUM_FIX,4722.92,-12225.08,080217,093049
$TT8_MAMPS,0.023968,0.199234
$HUMID,9.99
$INTERNAL_PRESSURE,8.68207
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,121.6,4.2
$24V_AH,24.22,9.306
$10V_AH,10.35,10.380
$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,20.450,41.800,285.575,50.700,287.025,26.276,13.976,176.904,0.750,0.000,38.674,751.925,930.645,592.590,853.139,76.227,0.000,998.518,0.000,598.315,0.000,7.194,0.000
$DEVICE_MAMPS,243.334,69.524,859.118,764.764,153.946,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.324,428.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,21039,326
$CAP_FILE_SIZE,51879,0
$CFSIZE,2047311872,2039611392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080217,113132,4742.618,-12225.136,3,0.9,9,16.3,0.0,0.0,9,10.0