version: 66.12
glider: 37
mission: 15
dive: 21
start: 2 8 117 12 35 42
data:
$ID,37
$MISSION,15
$DIVE,21
$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,47
$R_STBD_OVSHOOT,50
$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
$GPS1,080217,123026,4742.7681,-12224.7549,3,0.9,38,16.3,0.0,0.0,10,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-60.1
$GPS2,080217,123500,4742.7603,-12224.7227,5,0.9,9,16.3,0.0,0.0,10,8.4
$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,350.0,3234,-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,82,-1.15,-146.6,133,2086,576,794,2.6,-0.1,12,229,0.00,0.00,-144.18,0.107,16386,0.000,0.000,133,2087,1774,1689,1859,0,0,0,0,0,0,26.20,28.83,26.22,8.47,9.08
$GC,232,-1.15,-146.6,133,2087,1689,1859,3.2,-0.5,34,405,9.95,2.55,-151.65,0.104,18948,0.315,0.077,2320,499,2542,2473,2612,0,0,0,0,0,0,25.64,25.85,25.83,8.57,9.32
$GC,464,-1.15,-146.6,2319,499,2474,2611,1.8,-0.0,72,471,0.00,2.38,0.00,0.000,1030,0.000,0.060,2312,2077,2542,2474,2611,0,0,0,0,0,0,26.06,26.00,26.08,8.65,8.57
$GC,534,-1.15,-146.6,2311,2077,2474,2611,4.7,-2.3,85,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2077,2542,2474,2611,0,0,0,0,0,0,26.32,26.34,26.33,8.65,8.85
$GC,605,-1.15,-146.6,2311,2077,2474,2611,13.3,-10.3,98,613,0.00,2.47,0.00,0.000,516,0.000,0.074,2311,493,2542,2474,2610,0,0,0,0,0,0,26.38,26.10,26.40,8.65,8.85
$GC,670,-1.15,-146.6,2311,493,2474,2610,22.8,-14.3,109,680,0.00,2.38,0.00,0.000,1030,0.000,0.060,2300,2073,2542,2474,2610,0,0,0,0,0,0,26.26,26.20,26.28,8.65,9.40
$GC,800,-1.15,-146.6,2299,2073,2474,2611,44.0,-16.3,122,810,0.00,2.45,0.00,0.000,516,0.000,0.074,2300,502,2542,2474,2610,0,0,0,0,0,0,26.53,26.24,26.54,8.65,8.53
$GC,823,-1.15,-146.6,2299,502,2474,2611,47.7,-16.3,124,834,0.15,2.35,0.00,0.000,3078,0.286,0.060,2323,2074,2542,2474,2611,0,0,0,0,0,0,26.06,26.30,26.27,8.65,9.59
$GC,953,-1.15,-146.6,2322,2074,2474,2610,65.6,-13.1,137,963,0.00,2.42,0.00,0.000,516,0.000,0.074,2330,501,2542,2475,2610,0,0,0,0,0,0,26.60,26.31,26.62,8.65,8.85
$GC,1087,-1.15,-146.6,2329,501,2475,2610,80.8,-11.6,150,1097,0.00,2.33,0.00,0.000,1030,0.000,0.060,2321,2071,2542,2474,2610,0,0,0,0,0,0,26.45,26.42,26.48,8.65,9.55
$GC,1217,-1.15,-146.6,2320,2072,2474,2611,96.5,-11.8,163,1226,0.00,2.42,0.00,0.000,260,0.000,0.074,2309,3644,2542,2474,2611,0,0,0,0,0,0,26.71,26.44,26.72,8.65,8.41
$GC,1340,-1.15,-146.6,2308,3644,2474,2611,112.4,-13.3,175,1349,0.00,2.38,0.00,0.000,1030,0.000,0.057,2309,2056,2542,2474,2610,0,0,0,0,0,0,26.57,26.51,26.58,8.65,9.24
$STATE,1402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1402,begin apogee
$GC,1406,-0.33,0.0,2309,2056,2474,2610,120.1,-13.6,181,1519,0.98,0.00,103.35,0.859,10246,0.243,0.000,2586,2047,2046,1981,2112,0,0,0,0,0,0,26.32,25.03,24.50,8.65,9.08
$STATE,1520,end apogee,CONTROL_FINISHED_OK
$STATE,1520,begin climb
$GC,1521,1.15,146.6,2586,2047,1981,2112,125.6,0.0,193,1632,1.55,0.00,106.05,0.832,10758,0.191,0.000,3049,2047,1549,1467,1632,0,0,0,0,0,0,25.06,24.69,24.18,8.61,8.77
$GC,1750,1.15,146.6,3048,2047,1466,1631,100.1,14.8,216,1759,0.00,2.50,0.00,0.000,516,0.000,0.077,3061,499,1548,1466,1631,0,0,0,0,0,0,25.77,25.49,25.78,8.56,8.89
$GC,1782,1.15,146.6,3060,499,1466,1631,95.9,13.7,219,1786,0.00,2.42,0.00,0.000,1030,0.000,0.060,3061,2073,1548,1466,1631,0,0,0,0,0,0,25.71,25.65,25.72,8.56,9.12
$GC,1914,1.15,146.6,3060,2074,1466,1631,77.9,14.0,232,1923,0.00,2.53,0.00,0.000,516,0.000,0.079,3073,497,1548,1466,1631,0,0,0,0,0,0,26.13,25.84,26.15,8.56,8.65
$GC,1976,1.15,146.6,3072,497,1466,1631,68.8,14.5,238,1985,0.00,2.40,0.00,0.000,1030,0.000,0.062,3073,2075,1548,1466,1631,0,0,0,0,0,0,26.05,25.98,26.06,8.56,9.04
$GC,2106,1.15,146.6,3072,2076,1466,1631,49.7,14.7,251,2110,0.00,2.47,0.00,0.000,516,0.000,0.079,3084,507,1548,1466,1630,0,0,0,0,0,0,26.36,26.07,26.36,8.56,8.61
$GC,2200,1.15,146.6,3083,507,1466,1631,36.8,13.8,260,2208,0.00,2.38,0.00,0.000,1030,0.000,0.060,3084,2081,1549,1466,1632,0,0,0,0,0,0,26.26,26.20,26.27,8.56,8.65
$GC,2329,1.15,146.6,3084,2081,1466,1631,18.8,13.4,273,2337,0.00,2.50,0.00,0.000,516,0.000,0.079,3096,497,1548,1466,1631,0,0,0,0,0,0,26.49,26.22,26.51,8.56,8.53
$STATE,2438,end climb,SURFACE_DEPTH_REACHED
$STATE,2438,begin surface coast
$FINISH,1.8,1.022759
$STATE,2460,end surface coast,CONTROL_FINISHED_OK
$STATE,2460,begin surface
$SM_CCo,2478,180.15,0.755,0,0,690,400.29
$SM_GC,2.44,8.40,2.40,180.15,0.129,0.057,0.755,134,2048,690,-7.96,-1.19,400.29,0,0,0,0,0,0,26.25,26.36,24.32
$IRIDIUM_FIX,4722.92,-12220.67,080217,114217
$TT8_MAMPS,0.02247,0.190246
$HUMID,8.77
$INTERNAL_PRESSURE,8.43661
$TCM_TEMP,11.00
$XPDR_PINGS,13
$ALTIM_TOP_PING,18.8,6.3
$ALTIM_BOTTOM_PING,120.1,3.9
$24V_AH,24.18,6.038
$10V_AH,10.60,1.858
$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,21.025,43.725,209.400,180.150,295.825,20.356,36.557,134.321,4.000,0.000,10.740,765.643,714.641,697.226,725.243,67.894,0.000,1053.991,0.000,524.305,0.000,7.171,0.000
$DEVICE_MAMPS,315.341,79.456,859.118,754.832,106.769,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,198.045,390.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,20956,298
$CAP_FILE_SIZE,48963,1
$CFSIZE,2047311872,2042986496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1398.26,0x26d3d2,0,24
$CURRENT,0.017,325.46,1
$GPS,080217,132045,4743.035,-12224.661,4,0.8,8,16.3,0.0,0.0,11,9.8