version: 66.12
glider: 37
mission: 15
dive: 20
start: 2 8 117 11 47 3
data:
$ID,37
$MISSION,15
$DIVE,20
$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,43
$R_STBD_OVSHOOT,17
$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
$GPS1,080217,114104,4742.7334,-12225.0938,3,0.9,12,16.3,0.0,0.0,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-60.9
$GPS2,080217,114619,4742.7212,-12225.0693,6,0.8,15,16.3,0.0,0.0,11,9.1
$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,37.0,878,-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,80,-1.15,-146.6,143,2088,577,793,2.7,0.0,12,219,0.00,0.00,-136.00,0.107,16386,0.000,0.000,143,2088,1711,1626,1796,0,0,0,0,0,0,26.22,28.83,26.24,8.47,9.24
$GC,221,-1.15,-146.6,143,2088,1626,1796,3.0,-0.3,33,401,9.90,2.58,-158.25,0.104,18948,0.315,0.077,2323,490,2543,2474,2612,0,0,0,0,0,0,25.64,25.85,25.84,8.56,9.04
$GC,536,-1.15,-146.6,2322,489,2474,2612,22.0,-15.5,86,546,0.00,2.42,0.00,0.000,1030,0.000,0.060,2314,2108,2543,2474,2612,0,0,0,0,0,0,26.16,26.10,26.17,8.64,8.73
$GC,666,-1.15,-146.6,2313,2108,2474,2612,41.8,-15.2,99,671,0.00,2.53,0.00,0.000,516,0.000,0.074,2314,482,2543,2474,2612,0,0,0,0,0,0,26.44,26.16,26.46,8.65,9.24
$GC,721,-1.15,-146.6,2313,482,2474,2611,50.1,-15.8,104,729,0.00,2.38,0.00,0.000,1030,0.000,0.060,2302,2074,2543,2474,2612,0,0,0,0,0,0,26.31,26.25,26.32,8.65,9.63
$GC,848,-1.15,-146.6,2302,2074,2474,2612,70.5,-15.3,117,853,0.00,2.40,0.00,0.000,260,0.000,0.074,2290,3650,2543,2474,2612,0,0,0,0,0,0,26.56,26.29,26.58,8.65,8.85
$GC,1123,-1.15,-146.6,2289,3651,2474,2612,114.4,-16.2,144,1131,0.15,2.38,0.00,0.000,3078,0.278,0.057,2325,2056,2543,2474,2612,0,0,0,0,0,0,26.22,26.45,26.41,8.66,9.67
$STATE,1162,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1162,begin apogee
$GC,1166,-0.33,0.0,2325,2056,2474,2612,120.1,-15.4,148,1274,0.90,0.00,103.93,0.859,10246,0.241,0.000,2583,2048,2046,1981,2111,0,0,0,0,0,0,26.25,25.00,24.46,8.66,9.40
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1277,1.15,146.6,2583,2048,1980,2111,126.4,0.0,159,1392,1.55,2.62,106.18,0.832,10756,0.194,0.082,3062,498,1548,1467,1630,0,0,0,0,0,0,24.98,24.70,24.16,8.61,9.28
$GC,1508,1.15,146.6,3061,498,1467,1630,106.7,12.8,182,1516,0.00,2.45,0.00,0.000,1030,0.000,0.060,3061,2079,1548,1467,1630,0,0,0,0,0,0,25.62,25.56,25.63,8.56,8.65
$GC,1635,1.15,146.6,3061,2079,1467,1629,89.3,13.2,195,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2079,1548,1467,1630,0,0,0,0,0,0,26.07,26.09,26.08,8.56,8.73
$GC,1755,1.15,146.6,3061,2079,1467,1630,73.1,13.8,207,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2079,1548,1467,1630,0,0,0,0,0,0,26.25,26.26,26.26,8.56,9.12
$GC,1875,1.15,146.6,3061,2079,1466,1630,58.0,12.2,219,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2079,1548,1466,1630,0,0,0,0,0,0,26.36,26.39,26.38,8.56,9.04
$GC,1995,1.15,146.6,3061,2079,1467,1630,42.8,12.8,231,2005,0.00,2.50,0.00,0.000,516,0.000,0.079,3074,490,1548,1467,1630,0,0,0,0,0,0,26.46,26.17,26.48,8.56,9.08
$GC,2060,1.15,146.6,3073,490,1467,1630,35.1,12.1,237,2067,0.00,2.38,0.00,0.000,1030,0.000,0.062,3074,2074,1548,1467,1630,0,0,0,0,0,0,26.33,26.27,26.34,8.56,8.69
$GC,2188,1.15,146.6,3073,2074,1467,1630,19.2,12.0,250,2196,0.00,2.47,0.00,0.000,516,0.000,0.079,3085,493,1548,1467,1629,0,0,0,0,0,0,26.55,26.27,26.56,8.56,9.12
$STATE,2307,end climb,SURFACE_DEPTH_REACHED
$STATE,2307,begin surface coast
$FINISH,1.6,1.010165
$STATE,2328,end surface coast,CONTROL_FINISHED_OK
$STATE,2328,begin surface
$SM_CCo,2347,180.70,0.755,0,0,690,400.29
$SM_GC,2.47,8.40,2.42,180.70,0.132,0.060,0.755,133,2080,690,-7.97,-1.30,400.29,0,0,0,0,0,0,26.29,26.41,24.33
$IRIDIUM_FIX,4726.11,-12225.08,080217,104223
$TT8_MAMPS,0.02247,0.161784
$HUMID,9.08
$INTERNAL_PRESSURE,8.43661
$TCM_TEMP,11.10
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.2,6.3
$ALTIM_BOTTOM_PING,120.1,3.9
$24V_AH,24.16,5.930
$10V_AH,10.67,1.835
$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,20.900,29.525,210.100,180.700,294.250,22.895,35.839,159.994,3.750,0.000,16.351,713.188,714.090,656.175,731.483,65.557,0.000,977.021,0.000,494.825,0.000,7.171,0.000
$DEVICE_MAMPS,315.341,81.939,859.118,754.832,106.769,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,184.318,363.526,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,17564,277
$CAP_FILE_SIZE,43235,1
$CFSIZE,2047311872,2043084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,197.66,1
$GPS,080217,123026,4742.768,-12224.755,3,0.9,38,16.3,0.0,0.0,10,7.7