version: 66.12
glider: 37
mission: 15
dive: 23
start: 2 8 117 14 15 57
data:
$ID,37
$MISSION,15
$DIVE,23
$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,48
$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
$GPS1,080217,141025,4743.3721,-12224.4922,3,0.8,11,16.3,0.0,0.0,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-59.7
$GPS2,080217,141513,4743.3755,-12224.4521,5,0.9,16,16.3,0.0,0.0,10,8.7
$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,334.7,2083,-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,-146.6,133,2078,577,794,2.5,-0.0,12,208,0.00,0.00,-124.57,0.107,16386,0.000,0.000,134,2078,1631,1546,1717,0,0,0,0,0,0,26.20,28.83,26.21,8.47,9.67
$GC,211,-1.15,-146.6,134,2078,1546,1718,3.1,-0.4,31,402,9.73,0.00,-176.35,0.104,18694,0.310,0.000,2320,2079,2542,2471,2613,0,0,0,0,0,0,25.63,25.92,25.83,8.56,8.92
$GC,465,-1.15,-146.6,2319,2079,2472,2613,1.4,-0.0,73,473,0.00,2.45,0.00,0.000,260,0.000,0.074,2311,3657,2541,2470,2613,0,0,0,0,0,0,26.23,25.96,26.25,8.64,8.41
$GC,642,-1.15,-146.6,2310,3657,2471,2613,1.5,0.1,107,649,0.00,2.40,0.00,0.000,1030,0.000,0.057,2311,2070,2542,2471,2613,0,0,0,0,0,0,26.23,26.16,26.25,8.65,8.61
$GC,712,-1.15,-146.6,2311,2069,2471,2613,4.8,-2.4,120,719,0.00,2.45,0.00,0.000,260,0.000,0.070,2302,3656,2542,2471,2613,0,0,0,0,0,0,26.46,26.20,26.48,8.65,8.45
$GC,806,-1.15,-146.6,2301,3656,2472,2613,18.2,-13.8,138,815,0.00,2.40,0.00,0.000,1030,0.000,0.057,2302,2063,2542,2472,2613,0,0,0,0,0,0,26.34,26.28,26.36,8.64,8.65
$GC,882,-1.15,-146.6,2301,2063,2472,2613,29.0,-13.9,146,887,0.00,2.42,0.00,0.000,516,0.000,0.077,2302,485,2542,2472,2613,0,0,0,0,0,0,26.57,26.27,26.58,8.65,8.69
$GC,944,-1.15,-146.6,2301,485,2472,2613,38.1,-14.2,152,950,0.15,2.35,0.00,0.000,3078,0.288,0.057,2325,2082,2542,2472,2613,0,0,0,0,0,0,26.12,26.36,26.32,8.65,8.85
$GC,1077,-1.15,-146.6,2324,2082,2471,2613,55.2,-12.4,165,1087,0.00,2.45,0.00,0.000,516,0.000,0.074,2333,482,2542,2472,2613,0,0,0,0,0,0,26.65,26.36,26.67,8.65,9.12
$GC,1182,-1.15,-146.6,2332,482,2471,2613,68.4,-13.3,175,1189,0.00,2.35,0.00,0.000,1030,0.000,0.060,2324,2080,2541,2471,2612,0,0,0,0,0,0,26.51,26.46,26.53,8.65,8.92
$GC,1309,-1.15,-146.6,2323,2079,2472,2613,85.0,-13.1,188,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2079,2542,2471,2613,0,0,0,0,0,0,26.73,26.75,26.74,8.64,9.48
$GC,1429,-1.15,-146.6,2323,2079,2472,2613,98.9,-11.5,200,1434,0.00,2.42,0.00,0.000,516,0.000,0.074,2329,495,2542,2472,2613,0,0,0,0,0,0,26.77,26.48,26.78,8.65,8.49
$GC,1471,-1.15,-146.6,2329,495,2472,2612,104.4,-11.7,204,1476,0.00,2.33,0.00,0.000,1030,0.000,0.057,2321,2079,2542,2472,2612,0,0,0,0,0,0,26.60,26.54,26.61,8.65,9.48
$STATE,1586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1586,begin apogee
$GC,1590,-0.33,0.0,2321,2079,2472,2611,120.6,-14.4,215,1703,0.93,0.00,103.35,0.864,10246,0.243,0.000,2582,2080,2046,1980,2112,0,0,0,0,0,0,26.36,25.06,24.51,8.65,8.77
$STATE,1704,end apogee,CONTROL_FINISHED_OK
$STATE,1704,begin climb
$GC,1705,1.15,146.6,2582,2080,1980,2112,127.8,0.0,227,1825,1.55,2.67,105.70,0.837,10756,0.194,0.079,3058,503,1548,1466,1631,0,0,0,0,0,0,25.07,24.72,24.18,8.61,8.92
$GC,1892,1.15,146.6,3057,503,1467,1631,112.1,11.5,245,1900,0.00,2.42,0.00,0.000,1030,0.000,0.060,3057,2077,1549,1467,1631,0,0,0,0,0,0,25.46,25.40,25.47,8.56,8.26
$GC,2020,1.15,146.6,3057,2077,1467,1631,93.6,14.1,258,2030,0.00,2.55,0.00,0.000,516,0.000,0.079,3069,485,1549,1467,1631,0,0,0,0,0,0,25.99,25.71,26.01,8.56,8.89
$GC,2124,1.15,146.6,3069,485,1467,1631,78.4,14.8,268,2134,0.00,2.38,0.00,0.000,1030,0.000,0.062,3069,2066,1549,1467,1631,0,0,0,0,0,0,25.97,25.95,25.99,8.56,8.06
$GC,2254,1.15,146.6,3069,2066,1466,1631,60.7,13.8,281,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2066,1548,1466,1631,0,0,0,0,0,0,26.32,26.34,26.34,8.56,8.65
$GC,2373,1.15,146.6,3069,2067,1466,1631,43.0,15.1,293,2383,0.00,2.47,0.00,0.000,516,0.000,0.079,3081,481,1548,1466,1631,0,0,0,0,0,0,26.43,26.13,26.44,8.55,8.96
$STATE,2661,end climb,SURFACE_DEPTH_REACHED
$STATE,2661,begin surface coast
$FINISH,1.8,1.019834
$STATE,2683,end surface coast,CONTROL_FINISHED_OK
$STATE,2683,begin surface
$SM_CCo,2702,180.68,0.757,0,0,690,400.29
$SM_GC,2.50,8.38,2.42,180.68,0.132,0.060,0.757,145,2069,690,-7.93,-1.39,400.29,0,0,0,0,0,0,26.26,26.37,24.31
$IRIDIUM_FIX,4726.11,-12222.38,080217,132200
$TT8_MAMPS,0.02247,0.186501
$HUMID,8.92
$INTERNAL_PRESSURE,8.43661
$TCM_TEMP,11.10
$XPDR_PINGS,15
$ALTIM_TOP_PING,18.9,4.0
$ALTIM_BOTTOM_PING,120.6,4.0
$24V_AH,24.18,6.256
$10V_AH,10.65,1.905
$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,20.725,38.950,209.050,180.675,300.925,24.976,14.245,153.414,4.500,0.000,18.137,879.363,776.985,665.942,818.530,68.196,0.000,1055.956,0.000,602.753,0.000,7.169,0.000
$DEVICE_MAMPS,310.375,79.456,864.084,757.315,106.769,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.806,442.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,21151,337
$CAP_FILE_SIZE,49976,1
$CFSIZE,2047311872,2042789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067,39.58,1
$GPS,080217,150450,4743.717,-12224.355,3,0.8,13,16.3,0.0,0.0,10,7.6