version: 66.12
glider: 37
mission: 15
dive: 17
start: 2 8 117 9 8 56
data:
$ID,37
$MISSION,15
$DIVE,17
$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,1440
$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,400
$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,49
$R_STBD_OVSHOOT,14
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$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,2.94346
$GPS1,080217,090418,4742.9810,-12225.3428,4,1.1,16,16.3,0.0,0.0,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-51.0
$GPS2,080217,090815,4742.9771,-12225.3896,6,0.9,15,16.3,2.0,270.3,9,9.9
$SPEED_LIMITS,0.275,0.285
$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,71.5,1110,-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,14,begin dive
$GC,81,-1.15,-146.6,138,2069,45,232,2.4,0.2,12,306,0.00,0.00,-221.45,0.104,16386,0.000,0.000,139,2069,1703,1619,1788,0,0,0,0,0,0,26.63,28.83,26.65,8.41,9.20
$GC,309,-1.15,-146.6,139,2070,1619,1788,3.0,-0.5,46,497,9.75,2.60,-169.80,0.104,18692,0.315,0.072,2311,3679,2542,2472,2613,0,0,0,0,0,0,25.89,26.05,26.01,8.56,9.63
$GC,589,-1.15,-146.6,2311,3679,2472,2614,1.6,0.7,93,597,0.00,2.45,0.00,0.000,1030,0.000,0.057,2314,2065,2543,2472,2614,0,0,0,0,0,0,26.25,26.20,26.27,8.64,8.89
$GC,660,-1.15,-146.6,2314,2064,2472,2614,5.6,-4.8,106,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2064,2543,2472,2614,0,0,0,0,0,0,26.48,26.50,26.49,8.65,8.41
$GC,729,-1.15,-146.6,2313,2064,2472,2613,14.3,-11.2,119,736,0.00,2.53,0.00,0.000,260,0.000,0.072,2304,3690,2543,2472,2614,0,0,0,0,0,0,26.53,26.27,26.55,8.64,9.32
$GC,784,-1.15,-146.6,2304,3690,2472,2614,22.7,-15.1,128,788,0.00,2.45,0.00,0.000,1030,0.000,0.057,2303,2065,2543,2472,2614,0,0,0,0,0,0,26.39,26.32,26.41,8.65,8.33
$GC,916,-1.15,-146.6,2304,2065,2472,2614,44.4,-16.4,141,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2066,2542,2470,2614,0,0,0,0,0,0,26.63,26.65,26.65,8.65,8.73
$GC,1036,-1.15,-146.6,2304,2065,2472,2613,63.1,-15.2,153,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2065,2542,2472,2613,0,0,0,0,0,0,26.69,26.71,26.70,8.65,9.12
$GC,1156,-1.15,-146.6,2304,2065,2472,2614,82.2,-15.9,165,1165,0.00,2.50,0.00,0.000,260,0.000,0.072,2292,3690,2542,2471,2614,0,0,0,0,0,0,26.74,26.47,26.74,8.65,9.20
$GC,1298,-1.15,-146.6,2292,3690,2471,2614,104.3,-15.6,179,1308,0.10,2.40,0.00,0.000,3078,0.286,0.057,2315,2071,2543,2472,2614,0,0,0,0,0,0,26.32,26.54,26.45,8.65,9.79
$STATE,1420,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1420,begin apogee
$GC,1425,-0.33,0.0,2315,2071,2472,2614,121.2,-13.8,191,1537,0.93,0.00,103.40,0.869,10246,0.243,0.000,2580,2063,2046,1981,2111,0,0,0,0,0,0,26.36,25.07,24.53,8.65,9.52
$STATE,1538,end apogee,CONTROL_FINISHED_OK
$STATE,1538,begin climb
$GC,1540,1.15,146.6,2580,2063,1981,2111,127.1,0.0,203,1660,1.58,2.58,105.45,0.839,10756,0.196,0.082,3058,516,1548,1468,1629,0,0,0,0,0,0,25.08,24.61,24.22,8.61,9.04
$GC,1714,1.15,146.6,3058,516,1468,1628,109.9,12.8,220,1724,0.00,2.50,0.00,0.000,1030,0.000,0.062,3058,2113,1548,1468,1629,0,0,0,0,0,0,25.43,25.37,25.44,8.56,9.04
$GC,1844,1.15,146.6,3058,2113,1469,1629,90.3,15.0,233,1854,0.00,2.60,0.00,0.000,516,0.000,0.082,3071,502,1548,1468,1629,0,0,0,0,0,0,25.99,25.71,26.01,8.56,9.08
$GC,1888,1.15,146.6,3070,501,1468,1629,83.9,15.2,237,1896,0.00,2.42,0.00,0.000,1030,0.000,0.062,3070,2081,1548,1468,1629,0,0,0,0,0,0,25.91,25.85,25.93,8.55,8.26
$GC,2016,1.15,146.6,3070,2081,1468,1628,66.7,12.9,250,2026,0.00,2.45,0.00,0.000,260,0.000,0.074,3070,3652,1548,1468,1629,0,0,0,0,0,0,26.27,26.00,26.28,8.56,8.92
$GC,2079,1.15,146.6,3070,3652,1468,1629,57.3,13.9,256,2089,0.00,2.45,0.00,0.000,1030,0.000,0.065,3082,2077,1548,1468,1629,0,0,0,0,0,0,26.15,26.06,26.16,8.55,8.37
$GC,2210,1.15,146.6,3082,2077,1467,1629,38.2,14.6,269,2219,0.00,2.47,0.00,0.000,516,0.000,0.087,3094,497,1548,1467,1629,0,0,0,0,0,0,26.44,26.14,26.46,8.55,8.29
$GC,2332,1.15,146.6,3094,497,1468,1629,21.8,13.5,281,2342,0.00,2.40,0.00,0.000,1030,0.000,0.065,3094,2086,1548,1468,1629,0,0,0,0,0,0,26.34,26.29,26.36,8.55,9.00
$STATE,2462,end climb,SURFACE_DEPTH_REACHED
$STATE,2462,begin surface coast
$FINISH,1.6,1.013007
$STATE,2484,end surface coast,CONTROL_FINISHED_OK
$STATE,2484,begin surface
$SM_CCo,2501,180.43,0.760,0,0,690,400.29
$SM_GC,2.41,8.45,0.00,180.43,0.132,0.000,0.760,132,2086,690,-7.97,0.40,400.29,0,0,0,0,0,0,26.27,26.62,24.34
$IRIDIUM_FIX,4726.11,-12224.09,080217,075741
$TT8_MAMPS,0.02247,0.192493
$HUMID,9.04
$INTERNAL_PRESSURE,8.43661
$TCM_TEMP,10.90
$XPDR_PINGS,19
$ALTIM_TOP_PING,18.9,3.7
$ALTIM_BOTTOM_PING,121.2,3.9
$24V_AH,24.22,5.601
$10V_AH,10.63,1.766
$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,20.800,34.850,208.850,180.425,391.250,26.545,20.013,108.816,5.500,0.000,16.261,749.772,684.980,741.480,721.250,64.305,0.000,1121.752,0.000,547.620,0.000,7.165,0.000
$DEVICE_MAMPS,315.341,166.361,869.050,759.798,104.286,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.391,404.981,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,21012,309
$CAP_FILE_SIZE,46311,1
$CFSIZE,2047311872,2043379712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.210,234.27,1
$GPS,080217,095449,4742.756,-12225.380,11,0.9,35,16.3,0.5,273.0,9,3.7