version: 66.12
glider: 37
mission: 17
dive: 3
start: 4 8 117 18 43 37
data:
$ID,37
$MISSION,17
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$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,65
$T_MISSION,70
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79136.703
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,630
$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,50840
$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,17
$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,200
$C_ROLL_CLIMB,200
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$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,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.159239
$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,0
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,10
$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,2943.46
$GPS1,080417,184031,2730.8479,-7803.9893,2,0.8,20,-7.9,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-40.7
$GPS2,080417,184306,2730.8679,-7804.0586,5,0.9,18,-7.9,0.9,297.0,10,4.9
$SPEED_LIMITS,0.211,0.262
$TGT_NAME,BPS
$TGT_LATLONG,2700.000,-7638.000
$TGT_RADIUS,9000.000
$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,131.1,153084,-12.6,-7.692,-16.38,4754
$D_GRID,1079
$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,15,-0.81,-243.3,141,206,62,282,0.0,0.0,0,220,0.00,0.00,-202.12,0.102,16386,0.000,0.000,142,205,2628,2562,2694,0,0,0,0,0,0,27.05,28.83,27.07,8.96,12.23
$GC,223,-0.81,-243.3,141,205,2562,2694,3.2,-1.8,20,262,8.95,0.00,-27.95,0.107,18438,0.271,0.000,2431,203,3179,3127,3231,0,0,0,0,0,0,26.32,26.63,26.53,9.23,11.76
$GC,560,-0.81,-243.3,2430,204,3128,3230,37.4,-10.2,54,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,204,3179,3128,3230,0,0,0,0,0,0,27.08,27.10,27.10,9.28,11.76
$GC,861,-0.81,-243.3,2431,204,3128,3230,66.0,-9.5,84,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,204,3179,3128,3230,0,0,0,0,0,0,27.17,27.19,27.18,9.28,12.63
$GC,1161,-0.81,-243.3,2430,204,3128,3230,94.1,-8.8,114,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,204,3179,3128,3230,0,0,0,0,0,0,27.22,27.23,27.23,9.28,12.47
$GC,1461,-0.81,-243.3,2431,204,3128,3229,121.7,-9.2,144,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,204,3178,3128,3229,0,0,0,0,0,0,27.24,27.26,27.26,9.28,12.59
$GC,1761,-0.81,-243.3,2431,204,3128,3229,150.0,-9.9,174,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,203,3178,3127,3229,0,0,0,0,0,0,27.26,27.28,27.27,9.27,12.43
$STATE,1767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1768,begin apogee
$GC,1772,-0.29,0.0,2430,204,3128,3229,150.7,-9.5,175,1943,0.50,0.00,167.30,0.730,10246,0.151,0.000,2607,203,2340,2286,2394,0,0,0,0,0,0,26.84,25.66,25.16,9.27,12.51
$STATE,1944,end apogee,CONTROL_FINISHED_OK
$STATE,1944,begin climb
$GC,1945,0.81,243.3,2606,204,2286,2394,158.3,0.0,183,2118,0.93,0.00,169.05,0.720,10246,0.122,0.000,2946,204,1502,1427,1577,0,0,0,0,0,0,25.73,25.57,25.09,9.18,11.33
$GC,2410,0.81,243.3,2945,204,1427,1577,114.6,12.2,220,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,204,1502,1427,1577,0,0,0,0,0,0,26.86,26.88,26.88,9.09,12.15
$GC,2711,0.81,243.3,2945,204,1428,1577,74.7,13.1,250,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,204,1502,1427,1577,0,0,0,0,0,0,27.06,27.08,27.07,9.09,12.67
$GC,3011,0.81,243.3,2946,204,1427,1577,35.4,12.9,280,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,204,1502,1427,1577,0,0,0,0,0,0,27.15,27.17,27.16,9.09,12.82
$STATE,3260,end climb,SURFACE_DEPTH_REACHED
$STATE,3261,begin surface coast
$FINISH,1.0,1.025010
$STATE,3289,end surface coast,CONTROL_FINISHED_OK
$STATE,3290,begin surface
$SM_CCo,3305,281.92,0.608,0,0,171,630.07
$SM_GC,1.28,7.38,0.00,281.92,0.104,0.000,0.608,122,204,171,-7.99,0.11,630.07,0,0,0,0,0,0,26.88,27.22,25.24
$IRIDIUM_FIX,2720.22,-7805.18,080417,183652
$TT8_MAMPS,0.021721,0.169274
$HUMID,11.80
$INTERNAL_PRESSURE,8.90537
$TCM_TEMP,26.70
$XPDR_PINGS,44
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,25.09,7.111
$10V_AH,10.84,2.241
$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,17.750,0.000,336.350,281.925,230.075,0.000,0.000,0.000,11.250,0.000,19.864,800.789,1539.571,814.418,472.341,36.035,0.000,1072.514,0.000,461.532,0.000,2.656,0.000
$DEVICE_MAMPS,270.647,0.000,730.002,608.335,106.769,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.801,405.889,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284268
$DATA_FILE_SIZE,20965,308
$CAP_FILE_SIZE,54551,0
$CFSIZE,2047311872,2042429440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.759,297.09,1
$GPS,080417,194435,2731.519,-7805.475,3,1.1,44,-7.9,0.0,0.0,7,4.1