version: 66.12
glider: 37
mission: 15
dive: 24
start: 2 8 117 15 10 34
data:
$ID,37
$MISSION,15
$DIVE,24
$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,43
$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
$GPS1,080217,150450,4743.7173,-12224.3555,3,0.8,13,16.3,0.0,0.0,10,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-59.4
$GPS2,080217,150951,4743.7314,-12224.3193,5,0.9,27,16.3,0.0,0.0,9,9.8
$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,324.5,1441,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,80,-1.15,-146.6,145,2071,577,794,2.5,0.1,12,215,0.00,0.00,-132.00,0.107,16386,0.000,0.000,145,2071,1685,1600,1770,0,0,0,0,0,0,26.20,28.83,26.22,8.47,9.08
$GC,218,-1.15,-146.6,145,2071,1600,1770,3.0,-0.3,32,405,9.85,2.50,-166.35,0.104,18692,0.315,0.074,2312,3651,2543,2473,2613,0,0,0,0,0,0,25.64,25.86,25.82,8.57,9.44
$GC,583,-1.15,-146.6,2311,3652,2473,2612,4.7,-6.9,96,591,0.00,2.40,0.00,0.000,1030,0.000,0.057,2312,2064,2543,2473,2613,0,0,0,0,0,0,26.19,26.13,26.20,8.65,9.12
$GC,654,-1.15,-146.6,2312,2064,2473,2613,13.1,-10.7,109,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2064,2543,2473,2613,0,0,0,0,0,0,26.42,26.44,26.44,8.64,9.40
$GC,729,-1.15,-146.6,2312,2064,2473,2613,23.0,-13.4,121,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2065,2543,2473,2613,0,0,0,0,0,0,26.48,26.50,26.49,8.65,8.77
$GC,849,-1.15,-146.6,2312,2064,2473,2612,40.3,-14.5,133,854,0.00,2.42,0.00,0.000,516,0.000,0.077,2313,489,2543,2473,2613,0,0,0,0,0,0,26.55,26.26,26.56,8.65,8.89
$GC,1061,-1.15,-146.6,2312,489,2473,2612,72.5,-16.8,154,1070,0.00,2.35,0.00,0.000,1030,0.000,0.057,2303,2086,2542,2473,2612,0,0,0,0,0,0,26.48,26.42,26.49,8.65,9.04
$GC,1191,-1.15,-146.6,2303,2086,2473,2612,92.2,-15.3,167,1196,0.00,2.38,0.00,0.000,260,0.000,0.070,2291,3650,2542,2473,2612,0,0,0,0,0,0,26.70,26.43,26.71,8.65,9.48
$GC,1216,-1.15,-146.6,2291,3649,2472,2612,95.9,-15.4,169,1224,0.15,2.35,0.00,0.000,3078,0.281,0.057,2326,2071,2543,2473,2613,0,0,0,0,0,0,26.24,26.47,26.44,8.65,9.24
$GC,1343,-1.15,-146.6,2326,2072,2473,2612,115.6,-14.8,182,1352,0.00,2.42,0.00,0.000,260,0.000,0.072,2317,3643,2542,2473,2612,0,0,0,0,0,0,26.74,26.48,26.76,8.65,8.65
$STATE,1408,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1409,begin apogee
$GC,1415,-0.33,0.0,2322,2067,2473,2613,125.4,-15.2,188,1528,0.90,0.00,103.57,0.867,10246,0.241,0.000,2580,2060,2046,1980,2113,0,0,0,0,0,0,26.32,24.88,24.49,8.65,9.59
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1530,1.15,146.6,2580,2059,1980,2112,132.7,0.0,200,1641,1.58,0.00,106.15,0.837,10758,0.194,0.000,3053,2059,1549,1466,1632,0,0,0,0,0,0,25.03,24.68,24.17,8.61,8.81
$GC,1759,1.15,146.6,3053,2059,1466,1631,112.3,11.8,223,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2059,1548,1466,1631,0,0,0,0,0,0,25.77,25.79,25.78,8.56,7.94
$GC,1879,1.15,146.6,3053,2059,1466,1631,97.5,12.4,235,1883,0.00,2.53,0.00,0.000,516,0.000,0.077,3066,470,1548,1466,1631,0,0,0,0,0,0,26.06,25.77,26.07,8.56,8.89
$GC,1981,1.15,146.6,3065,470,1466,1631,84.0,13.3,245,1986,0.00,2.42,0.00,0.000,1030,0.000,0.062,3066,2076,1548,1466,1631,0,0,0,0,0,0,26.04,25.98,26.06,8.56,8.61
$GC,2113,1.15,146.6,3065,2076,1466,1631,64.9,14.6,258,2122,0.00,2.55,0.00,0.000,516,0.000,0.082,3077,466,1548,1466,1631,0,0,0,0,0,0,26.34,26.06,26.36,8.56,9.12
$GC,2338,1.15,146.6,3077,466,1465,1631,36.6,12.1,280,2346,0.00,2.40,0.00,0.000,1030,0.000,0.065,3078,2070,1548,1466,1631,0,0,0,0,0,0,26.34,26.29,26.36,8.55,9.48
$GC,2465,1.15,146.6,3077,2070,1466,1631,20.9,12.4,293,2470,0.00,2.53,0.00,0.000,516,0.000,0.082,3090,461,1548,1465,1631,0,0,0,0,0,0,26.58,26.29,26.60,8.56,8.81
$STATE,2592,end climb,SURFACE_DEPTH_REACHED
$STATE,2592,begin surface coast
$FINISH,1.6,1.020344
$STATE,2614,end surface coast,CONTROL_FINISHED_OK
$STATE,2614,begin surface
$SM_CCo,2633,180.35,0.757,0,0,689,400.29
$SM_GC,2.50,8.43,2.45,180.35,0.132,0.060,0.757,134,2064,689,-7.97,-1.55,400.29,0,0,0,0,0,0,26.30,26.41,24.33
$IRIDIUM_FIX,4726.11,-12224.09,080217,141138
$TT8_MAMPS,0.02247,0.187999
$HUMID,8.89
$INTERNAL_PRESSURE,8.43661
$TCM_TEMP,11.00
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.6,3.8
$ALTIM_BOTTOM_PING,125.4,3.9
$24V_AH,24.17,6.366
$10V_AH,10.66,1.930
$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,20.900,34.100,209.725,180.350,298.350,25.748,12.894,156.226,5.250,0.000,28.804,842.757,772.186,655.542,810.560,69.121,0.000,1027.663,0.000,585.028,0.000,11.547,0.000
$DEVICE_MAMPS,315.341,81.939,866.567,757.315,106.769,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.079,421.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,20971,321
$CAP_FILE_SIZE,48156,1
$CFSIZE,2047311872,2042691584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,20.91,1
$GPS,080217,155831,4744.089,-12224.350,3,0.8,26,16.3,0.0,0.0,11,6.5