version: 66.12
glider: 39
mission: 14
dive: 18
start: 2 8 117 12 46 45
data:
$ID,39
$MISSION,14
$DIVE,18
$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,11
$R_STBD_OVSHOOT,89
$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
$GPS1,080217,124030,4742.8184,-12224.8730,3,0.9,11,16.3,0.6,86.3,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-56.2
$GPS2,080217,124613,4742.8164,-12224.8330,5,0.9,13,16.3,0.7,112.8,10,7.8
$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,351.3,3145,-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,-146.0,137,2065,1273,1340,2.6,0.3,12,177,0.00,0.00,-95.30,0.151,16386,0.000,0.000,137,2066,1873,1838,1909,0,0,0,0,0,0,26.33,28.83,26.34,8.75,9.63
$GC,180,-1.21,-146.0,137,2065,1838,1909,3.0,-1.0,28,406,10.68,2.45,-205.35,0.149,18948,0.238,0.062,2086,425,2846,2813,2879,0,0,0,0,0,0,25.65,25.74,25.64,8.81,9.59
$GC,532,-1.15,-146.0,2085,425,2814,2879,25.5,-15.3,86,540,0.12,2.30,0.00,0.000,3078,0.191,0.052,2109,2049,2846,2813,2879,0,0,0,0,0,0,25.87,26.12,26.02,8.91,9.99
$GC,658,-1.15,-146.0,2109,2049,2814,2879,41.0,-10.6,99,662,0.00,2.38,0.00,0.000,516,0.000,0.065,2110,436,2846,2814,2879,0,0,0,0,0,0,26.46,26.17,26.46,8.91,9.36
$GC,872,-1.15,-146.0,2109,423,2814,2879,74.3,-16.0,120,880,0.00,2.30,0.00,0.000,1030,0.000,0.052,2099,2055,2846,2813,2879,0,0,0,0,0,0,26.41,26.39,26.42,8.90,9.87
$GC,1000,-1.15,-146.0,2099,2055,2814,2879,94.0,-15.8,133,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2055,2846,2814,2879,0,0,0,0,0,0,26.66,26.68,26.67,8.91,9.12
$GC,1120,-1.15,-146.0,2099,2054,2814,2879,113.2,-16.6,145,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2055,2846,2814,2879,0,0,0,0,0,0,26.71,26.72,26.72,8.91,9.79
$STATE,1173,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1173,begin apogee
$GC,1177,-0.29,0.0,2100,2055,2814,2879,120.6,-15.0,150,1291,0.88,0.00,110.32,0.911,10246,0.137,0.000,2380,2054,2345,2298,2392,0,0,0,0,0,0,26.28,24.96,24.34,8.91,9.95
$STATE,1292,end apogee,CONTROL_FINISHED_OK
$STATE,1292,begin climb
$GC,1294,1.21,146.0,2379,2054,2298,2392,128.6,0.0,162,1414,1.38,2.47,111.18,0.886,10500,0.107,0.070,2853,3605,1841,1807,1875,0,0,0,0,0,0,25.10,24.77,24.17,8.87,10.03
$GC,1473,1.14,146.0,2853,3606,1807,1875,122.6,8.6,180,1482,0.00,2.40,0.00,0.000,1030,0.000,0.052,2866,1968,1841,1808,1875,0,0,0,0,0,0,25.52,25.48,25.53,8.82,9.04
$GC,1602,1.14,146.0,2865,1969,1806,1874,110.3,9.9,193,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1969,1840,1807,1874,0,0,0,0,0,0,26.06,26.08,26.07,8.83,9.16
$GC,1722,1.14,146.0,2865,1969,1807,1874,97.5,10.6,205,1726,0.00,2.28,0.00,0.000,516,0.000,0.067,2877,416,1840,1807,1874,0,0,0,0,0,0,26.26,25.99,26.27,8.81,9.24
$GC,1784,1.08,146.0,2876,416,1807,1874,90.2,12.2,211,1794,0.17,2.33,0.00,0.000,5126,0.179,0.052,2824,2066,1840,1807,1874,0,0,0,0,0,0,25.88,26.13,26.04,8.82,9.75
$GC,1914,1.08,146.0,2823,2066,1807,1874,76.4,9.8,224,1923,0.00,2.42,0.00,0.000,516,0.000,0.065,2835,422,1840,1807,1874,0,0,0,0,0,0,26.46,26.18,26.46,8.82,9.79
$GC,1968,1.08,146.0,2834,421,1807,1873,70.9,9.9,229,1976,0.00,2.30,0.00,0.000,1030,0.000,0.052,2834,2045,1840,1807,1874,0,0,0,0,0,0,26.31,26.32,26.32,8.82,9.20
$GC,2095,1.08,146.0,2834,2045,1807,1873,57.5,11.2,242,2099,0.00,2.28,0.00,0.000,260,0.000,0.065,2834,3606,1840,1807,1873,0,0,0,0,0,0,26.58,26.30,26.59,8.81,10.18
$GC,2147,1.08,146.0,2834,3606,1807,1874,51.7,11.6,247,2156,0.00,2.20,0.00,0.000,1030,0.000,0.052,2846,2023,1840,1807,1873,0,0,0,0,0,0,26.44,26.39,26.44,8.82,9.87
$GC,2277,1.08,146.0,2846,2023,1807,1873,39.6,8.9,260,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2023,1840,1807,1874,0,0,0,0,0,0,26.67,26.68,26.68,8.81,9.40
$GC,2397,1.08,146.0,2846,2023,1806,1874,29.8,8.8,272,2406,0.00,2.20,0.00,0.000,516,0.000,0.065,2858,499,1840,1806,1874,0,0,0,0,0,0,26.71,26.44,26.72,8.81,9.40
$GC,2659,1.08,146.0,2857,498,1807,1874,10.3,8.3,309,2667,0.10,2.15,0.00,0.000,5126,0.196,0.052,2826,2067,1840,1807,1874,0,0,0,0,0,0,26.33,26.58,26.48,8.81,9.63
$GC,2730,1.10,222.7,2825,2067,1806,1874,5.2,6.5,322,2768,0.00,0.00,35.75,0.844,8194,0.000,0.000,2825,2067,1679,1644,1715,0,0,0,0,0,0,26.81,28.83,26.82,8.81,9.75
$STATE,2769,end climb,SURFACE_DEPTH_REACHED
$STATE,2769,begin surface coast
$FINISH,1.5,1.020032
$STATE,2812,end surface coast,CONTROL_FINISHED_OK
$STATE,2812,begin surface
$SM_CCo,2827,80.62,0.844,0,0,1311,300.08
$SM_GC,2.84,7.03,0.00,80.62,0.067,0.000,0.844,143,2068,1311,-7.21,0.57,300.08,0,0,0,0,0,0,26.03,26.29,24.44
$IRIDIUM_FIX,4722.92,-12213.55,080217,113305
$TT8_MAMPS,0.023968,0.2247
$HUMID,9.63
$INTERNAL_PRESSURE,8.6723
$TCM_TEMP,9.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.1
$ALTIM_BOTTOM_PING,120.6,4.1
$24V_AH,24.17,9.524
$10V_AH,10.29,10.429
$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,20.350,32.450,257.250,80.625,300.650,23.754,36.641,180.625,0.750,0.000,20.630,786.069,949.970,580.790,875.548,75.696,0.000,984.280,0.000,612.334,0.000,7.918,0.000
$DEVICE_MAMPS,238.368,69.524,911.261,844.220,151.463,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.734,441.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323124
$DATA_FILE_SIZE,20909,336
$CAP_FILE_SIZE,51115,0
$CFSIZE,2047311872,2039414784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080217,133611,4743.139,-12224.807,2,1.2,21,16.3,0.7,227.1,9,9.8