version: 66.12
glider: 37
mission: 15
dive: 6
start: 2 8 117 0 54 30
data:
$ID,37
$MISSION,15
$DIVE,6
$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
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78611
$MASS_COMP,8995.7998
$NAV_MODE,2
$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,700
$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,136
$PITCH_MAX,3906
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,2072
$C_ROLL_CLIMB,2072
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2046
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$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,50
$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,18.799999
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.185232
$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,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,080217,004859,4743.3682,-12225.2305,2,0.9,14,16.3,1.9,284.3,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-42.8
$GPS2,080217,005348,4743.3809,-12225.2363,5,0.9,16,16.3,0.0,0.0,9,9.6
$SPEED_LIMITS,0.275,0.285
$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,18.8,2266,-16.6,-10.000,-19.35,3122
$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,-1.15,-146.6,131,2075,31,250,2.1,-1.2,12,316,0.00,0.00,-232.57,0.104,16386,0.000,0.000,131,2074,1791,1711,1871,0,0,0,0,0,0,26.18,28.83,26.20,8.41,9.12
$GC,319,-1.15,-146.6,131,2074,1711,1871,3.1,-1.0,49,490,9.98,2.60,-153.40,0.104,18948,0.315,0.087,2322,495,2542,2469,2615,0,0,0,0,0,0,25.63,25.83,25.83,8.57,8.65
$GC,668,-1.15,-146.6,2321,495,2471,2612,12.0,-12.8,111,675,0.00,2.38,0.00,0.000,1030,0.000,0.062,2312,2076,2542,2471,2613,0,0,0,0,0,0,26.19,26.13,26.20,8.65,8.81
$GC,738,-1.15,-146.6,2313,2077,2471,2612,20.7,-13.1,124,748,0.00,2.42,0.00,0.000,260,0.000,0.074,2301,3653,2541,2471,2612,0,0,0,0,0,0,26.43,26.16,26.44,8.65,9.32
$GC,860,-1.15,-146.6,2300,3653,2471,2612,40.5,-16.3,136,871,0.00,2.40,0.00,0.000,1030,0.000,0.060,2300,2069,2541,2471,2612,0,0,0,0,0,0,26.34,26.27,26.35,8.64,8.89
$GC,991,-1.15,-146.6,2300,2069,2471,2612,60.8,-15.4,149,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2069,2541,2471,2612,0,0,0,0,0,0,26.59,26.60,26.60,8.65,9.59
$GC,1112,-1.15,-146.6,2300,2069,2471,2612,77.8,-13.6,161,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2069,2541,2471,2612,0,0,0,0,0,0,26.65,26.66,26.66,8.65,9.40
$GC,1231,-1.15,-146.6,2300,2070,2471,2612,95.3,-15.0,173,1241,0.00,2.42,0.00,0.000,516,0.000,0.082,2301,496,2541,2471,2612,0,0,0,0,0,0,26.70,26.40,26.70,8.65,8.85
$STATE,1266,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1266,begin apogee
$GC,1273,-0.33,0.0,2289,2074,2471,2612,100.2,-14.8,176,1384,1.08,0.00,102.97,0.849,10246,0.256,0.000,2584,2074,2045,1979,2112,0,0,0,0,0,0,26.26,24.90,24.51,8.65,9.12
$STATE,1385,end apogee,CONTROL_FINISHED_OK
$STATE,1385,begin climb
$GC,1386,1.15,146.6,2584,2075,1979,2112,106.1,0.0,188,1497,1.55,0.00,105.57,0.822,10246,0.196,0.000,3049,2075,1549,1468,1630,0,0,0,0,0,0,25.03,24.71,24.22,8.61,9.20
$GC,1615,1.15,146.6,3048,2075,1468,1630,78.9,15.3,211,1624,0.00,2.55,0.00,0.000,516,0.000,0.084,3061,500,1549,1468,1630,0,0,0,0,0,0,25.79,25.51,25.80,8.56,8.85
$GC,1726,1.15,146.6,3060,500,1468,1630,61.3,15.2,222,1731,0.00,2.47,0.00,0.000,1030,0.000,0.065,3061,2110,1548,1468,1629,0,0,0,0,0,0,25.89,25.83,25.91,8.56,8.73
$GC,1858,1.15,146.6,3060,2110,1468,1630,42.9,12.9,235,1868,0.00,2.40,0.00,0.000,260,0.000,0.077,3061,3649,1548,1467,1630,0,0,0,0,0,0,26.26,25.99,26.28,8.56,8.89
$GC,1893,1.15,146.6,3060,3649,1467,1629,38.2,14.0,238,1900,0.00,2.42,0.00,0.000,1030,0.000,0.065,3073,2082,1549,1468,1630,0,0,0,0,0,0,26.11,26.03,26.13,8.56,9.24
$GC,2020,1.15,146.6,3072,2083,1468,1630,20.7,13.5,251,2030,0.00,2.53,0.00,0.000,516,0.000,0.087,3085,484,1548,1467,1630,0,0,0,0,0,0,26.41,26.11,26.43,8.56,9.32
$GC,2092,1.15,146.6,3084,484,1467,1630,10.1,14.6,264,2100,0.00,2.42,0.00,0.000,1030,0.000,0.065,3085,2085,1549,1468,1630,0,0,0,0,0,0,26.29,26.23,26.31,8.56,8.41
$STATE,2135,end climb,SURFACE_DEPTH_REACHED
$STATE,2135,begin surface coast
$FINISH,1.3,1.022922
$STATE,2152,end surface coast,CONTROL_FINISHED_OK
$STATE,2152,begin surface
$SM_CCo,2168,313.65,0.750,0,0,140,562.65
$SM_CCo,2486,0.00,0.000,0,0,139,562.65
$SM_CCo,2489,0.00,0.000,0,0,140,562.65
$SM_GC,1.96,8.48,0.00,0.00,0.134,0.000,0.000,131,2086,140,-7.97,0.40,562.65,0,0,0,0,0,0,26.17,26.52,25.06
$IRIDIUM_FIX,4726.11,-12241.04,080217,000311
$TT8_MAMPS,0.02247,0.167776
$HUMID,8.53
$INTERNAL_PRESSURE,8.37801
$TCM_TEMP,11.00
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.6,3.7
$ALTIM_BOTTOM_PING,100.2,3.9
$24V_AH,24.22,4.493
$10V_AH,10.66,1.550
$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,21.075,29.425,208.550,313.650,385.975,22.976,35.929,140.344,5.250,0.000,17.435,635.409,578.227,864.243,675.072,62.170,0.000,1188.593,0.000,460.149,0.000,7.158,0.000
$DEVICE_MAMPS,315.341,86.905,849.186,749.866,104.286,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.882,360.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323020
$DATA_FILE_SIZE,17507,275
$CAP_FILE_SIZE,43715,1
$CFSIZE,2047311872,2044362752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205,4.94,1
$GPS,080217,013701,4743.844,-12225.003,2,0.9,25,16.3,0.0,0.0,9,9.8