version: 66.12
glider: 37
mission: 15
dive: 22
start: 2 8 117 13 26 31
data:
$ID,37
$MISSION,15
$DIVE,22
$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,50
$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
$GPS1,080217,132045,4743.0347,-12224.6611,4,0.8,8,16.3,0.0,0.0,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-59.2
$GPS2,080217,132548,4743.0386,-12224.6279,6,0.8,12,16.3,1.4,111.6,11,9.2
$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,349.2,2711,-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,-146.6,133,2096,578,793,2.5,-0.0,12,208,0.00,0.00,-124.88,0.107,16386,0.000,0.000,133,2095,1631,1545,1718,0,0,0,0,0,0,26.19,28.83,26.20,8.47,9.52
$GC,211,-1.15,-146.6,133,2096,1545,1717,3.1,-0.4,31,405,9.75,2.50,-174.23,0.104,18948,0.308,0.072,2328,502,2541,2473,2610,0,0,0,0,0,0,25.64,25.85,25.83,8.57,9.40
$GC,423,-1.15,-146.6,2327,502,2473,2610,4.7,-1.5,64,430,0.00,2.42,0.00,0.000,1030,0.000,0.060,2319,2109,2542,2474,2610,0,0,0,0,0,0,26.00,25.94,26.02,8.65,9.44
$GC,492,-1.15,-146.6,2318,2109,2473,2610,13.2,-10.0,77,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2109,2542,2474,2610,0,0,0,0,0,0,26.27,26.27,26.27,8.65,8.45
$GC,563,-1.15,-146.6,2318,2109,2473,2610,23.0,-13.8,88,573,0.00,2.53,0.00,0.000,516,0.000,0.074,2319,503,2542,2474,2610,0,0,0,0,0,0,26.34,26.06,26.36,8.65,8.61
$GC,606,-1.15,-146.6,2319,504,2474,2610,29.2,-13.8,92,616,0.00,2.35,0.00,0.000,1030,0.000,0.057,2310,2076,2541,2473,2610,0,0,0,0,0,0,26.20,26.15,26.22,8.65,8.53
$GC,736,-1.15,-146.6,2310,2076,2473,2610,47.0,-13.7,105,746,0.00,2.45,0.00,0.000,516,0.000,0.074,2310,492,2541,2474,2609,0,0,0,0,0,0,26.48,26.20,26.49,8.65,9.28
$GC,859,-1.15,-146.6,2309,492,2473,2610,63.0,-11.7,117,869,0.10,2.35,0.00,0.000,3078,0.295,0.057,2321,2074,2541,2473,2610,0,0,0,0,0,0,26.08,26.32,26.29,8.66,9.08
$GC,989,-1.15,-146.6,2320,2074,2473,2610,79.7,-12.9,130,999,0.00,2.40,0.00,0.000,260,0.000,0.072,2311,3650,2541,2473,2610,0,0,0,0,0,0,26.61,26.35,26.63,8.65,8.45
$GC,1044,-1.15,-146.6,2310,3650,2473,2611,86.6,-13.0,135,1052,0.00,2.38,0.00,0.000,1030,0.000,0.057,2313,2062,2542,2473,2611,0,0,0,0,0,0,26.46,26.41,26.48,8.65,9.08
$GC,1172,-1.15,-146.6,2312,2062,2474,2610,105.8,-15.2,148,1182,0.00,2.40,0.00,0.000,516,0.000,0.074,2313,491,2542,2474,2610,0,0,0,0,0,0,26.69,26.40,26.70,8.65,9.36
$GC,1225,-1.15,-146.6,2312,491,2473,2610,113.3,-14.8,153,1235,0.00,2.35,0.00,0.000,1030,0.000,0.057,2304,2085,2541,2473,2610,0,0,0,0,0,0,26.53,26.47,26.55,8.65,9.52
$STATE,1277,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1277,begin apogee
$GC,1282,-0.33,0.0,2304,2085,2473,2610,121.1,-14.8,158,1395,1.00,0.00,103.60,0.864,10246,0.248,0.000,2582,2086,2045,1979,2112,0,0,0,0,0,0,26.28,25.01,24.46,8.65,9.28
$STATE,1396,end apogee,CONTROL_FINISHED_OK
$STATE,1396,begin climb
$GC,1397,1.15,146.6,2582,2086,1979,2112,128.0,0.0,170,1517,1.55,2.65,105.70,0.837,10756,0.191,0.079,3058,499,1549,1467,1631,0,0,0,0,0,0,25.03,24.70,24.17,8.61,8.45
$GC,1593,1.15,146.6,3058,499,1467,1631,111.0,12.1,189,1602,0.00,2.42,0.00,0.000,1030,0.000,0.057,3058,2079,1549,1467,1631,0,0,0,0,0,0,25.49,25.43,25.51,8.56,8.53
$GC,1721,1.15,146.6,3058,2080,1467,1630,94.8,12.3,202,1731,0.00,2.50,0.00,0.000,516,0.000,0.079,3070,507,1548,1467,1630,0,0,0,0,0,0,26.01,25.73,26.02,8.56,8.49
$GC,1814,1.15,146.6,3069,507,1466,1631,81.0,14.7,211,1824,0.00,2.38,0.00,0.000,1030,0.000,0.062,3070,2077,1548,1466,1631,0,0,0,0,0,0,25.99,25.94,26.01,8.56,8.49
$GC,1944,1.15,146.6,3069,2077,1466,1631,61.0,15.3,224,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2078,1548,1466,1631,0,0,0,0,0,0,26.32,26.33,26.33,8.56,9.20
$GC,2066,1.15,146.6,3069,2077,1466,1630,44.6,13.8,236,2075,0.00,2.47,0.00,0.000,516,0.000,0.079,3082,492,1549,1467,1631,0,0,0,0,0,0,26.42,26.16,26.44,8.56,9.00
$GC,2354,1.15,146.6,3081,492,1466,1631,3.7,14.9,275,2362,0.00,2.35,0.00,0.000,1030,0.000,0.062,3082,2074,1548,1466,1631,0,0,0,0,0,0,26.42,26.36,26.44,8.56,9.55
$STATE,2367,end climb,SURFACE_DEPTH_REACHED
$STATE,2367,begin surface coast
$FINISH,1.7,1.022914
$STATE,2388,end surface coast,CONTROL_FINISHED_OK
$STATE,2388,begin surface
$SM_CCo,2405,180.30,0.755,0,0,690,400.29
$SM_GC,2.38,8.43,0.00,180.30,0.134,0.000,0.755,133,2076,690,-7.97,0.08,400.29,0,0,0,0,0,0,26.27,26.63,24.32
$IRIDIUM_FIX,4722.92,-12225.08,080217,123133
$TT8_MAMPS,0.021721,0.163282
$HUMID,9.12
$INTERNAL_PRESSURE,8.43661
$TCM_TEMP,11.00
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.3,6.3
$ALTIM_BOTTOM_PING,121.1,4.0
$24V_AH,24.17,6.147
$10V_AH,10.66,1.881
$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,20.825,38.900,209.300,180.300,299.100,25.313,37.844,151.985,3.750,0.000,12.784,718.697,691.767,686.748,760.967,65.914,0.000,1053.681,0.000,533.359,0.000,7.172,0.000
$DEVICE_MAMPS,307.892,79.456,864.084,754.832,106.769,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,186.095,368.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,17607,281
$CAP_FILE_SIZE,47859,1
$CFSIZE,2047311872,2042888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,33.71,1
$GPS,080217,141025,4743.372,-12224.492,3,0.8,11,16.3,0.0,0.0,11,9.0