version: 66.12
glider: 37
mission: 15
dive: 19
start: 2 8 117 10 46 15
data:
$ID,37
$MISSION,15
$DIVE,19
$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,47
$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
$GPS1,080217,104113,4742.6436,-12225.2598,4,0.8,10,16.3,0.0,153.7,10,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-61.1
$GPS2,080217,104531,4742.6304,-12225.2715,6,0.8,12,16.3,1.5,61.1,10,8.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,29.5,1180,-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,79,-1.15,-146.6,134,2075,577,794,2.4,0.3,12,207,0.00,0.00,-125.43,0.107,16386,0.000,0.000,134,2075,1637,1552,1723,0,0,0,0,0,0,26.17,28.83,26.20,8.47,9.12
$GC,210,-1.15,-146.6,134,2075,1552,1723,3.1,-0.4,31,385,9.77,2.50,-154.65,0.107,18948,0.310,0.077,2329,500,2542,2474,2611,0,0,0,0,0,0,25.63,25.84,25.82,8.56,9.08
$GC,598,-1.15,-146.6,2328,500,2474,2611,37.3,-16.3,89,605,0.00,2.38,0.00,0.000,1030,0.000,0.060,2320,2072,2542,2474,2611,0,0,0,0,0,0,26.22,26.15,26.23,8.65,8.53
$GC,725,-1.15,-146.6,2319,2073,2474,2611,57.9,-15.4,102,730,0.00,2.47,0.00,0.000,260,0.000,0.074,2308,3657,2542,2474,2611,0,0,0,0,0,0,26.49,26.22,26.50,8.65,9.32
$GC,930,-1.15,-146.6,2307,3657,2474,2611,90.4,-16.2,122,938,0.00,2.40,0.00,0.000,1030,0.000,0.057,2310,2064,2543,2475,2611,0,0,0,0,0,0,26.43,26.37,26.44,8.65,9.16
$GC,1058,-1.15,-146.6,2309,2064,2474,2611,111.0,-15.4,135,1067,0.00,2.42,0.00,0.000,516,0.000,0.074,2310,489,2542,2474,2611,0,0,0,0,0,0,26.65,26.36,26.67,8.64,9.28
$GC,1090,-1.15,-146.6,2309,489,2474,2611,115.9,-15.1,138,1094,0.00,2.35,0.00,0.000,1030,0.000,0.057,2301,2080,2542,2474,2611,0,0,0,0,0,0,26.49,26.44,26.51,8.65,8.96
$GC,1222,-1.15,-146.6,2300,2080,2474,2611,136.0,-15.3,151,1231,0.00,2.40,0.00,0.000,260,0.000,0.072,2289,3654,2542,2474,2610,0,0,0,0,0,0,26.72,26.45,26.73,8.65,9.04
$GC,1266,-1.15,-146.6,2288,3654,2474,2611,142.5,-15.1,155,1274,0.15,2.38,0.00,0.000,3078,0.278,0.057,2324,2068,2542,2474,2611,0,0,0,0,0,0,26.26,26.49,26.46,8.65,9.04
$GC,1394,-1.15,-146.6,2324,2067,2474,2611,158.8,-12.5,168,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2066,2543,2474,2612,0,0,0,0,0,0,26.77,26.78,26.77,8.65,8.89
$GC,1514,-1.15,-146.6,2324,2067,2474,2611,173.1,-11.7,180,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2067,2542,2474,2611,0,0,0,0,0,0,26.79,26.82,26.81,8.65,8.92
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1572,begin apogee
$GC,1576,-0.33,0.0,2324,2067,2474,2611,180.6,-12.2,186,1686,0.90,0.00,103.97,0.904,10246,0.241,0.000,2584,2060,2046,1981,2112,0,0,0,0,0,0,26.37,25.01,24.46,8.65,8.81
$STATE,1687,end apogee,CONTROL_FINISHED_OK
$STATE,1687,begin climb
$GC,1689,1.15,146.6,2584,2060,1980,2112,185.4,0.0,197,1804,1.55,0.00,106.03,0.874,10502,0.194,0.000,3046,2059,1550,1469,1632,0,0,0,0,0,0,25.01,24.53,24.13,8.61,8.77
$GC,1924,1.15,146.6,3045,2059,1468,1632,161.9,13.8,221,1934,0.00,2.53,0.00,0.000,516,0.000,0.077,3058,498,1550,1468,1632,0,0,0,0,0,0,25.79,25.51,25.80,8.56,8.29
$GC,2060,1.15,146.6,3057,497,1469,1631,142.8,14.3,234,2067,0.00,2.40,0.00,0.000,1030,0.000,0.062,3058,2069,1550,1469,1631,0,0,0,0,0,0,25.94,25.87,25.95,8.56,8.53
$GC,2187,1.15,146.6,3057,2069,1469,1631,126.1,12.8,247,2197,0.00,2.50,0.00,0.000,516,0.000,0.082,3070,499,1550,1469,1631,0,0,0,0,0,0,26.27,25.98,26.28,8.56,9.08
$GC,2310,1.15,146.6,3069,499,1469,1631,107.7,15.0,259,2321,0.00,2.38,0.00,0.000,1030,0.000,0.062,3070,2071,1549,1468,1630,0,0,0,0,0,0,26.22,26.15,26.23,8.56,9.00
$GC,2441,1.15,146.6,3069,2071,1468,1631,85.4,17.3,272,2450,0.00,2.47,0.00,0.000,516,0.000,0.079,3081,510,1549,1468,1631,0,0,0,0,0,0,26.48,26.20,26.50,8.56,8.53
$GC,2546,1.15,146.6,3081,510,1468,1632,66.8,18.0,282,2553,0.00,2.35,0.00,0.000,1030,0.000,0.062,3081,2080,1549,1468,1631,0,0,0,0,0,0,26.37,26.32,26.39,8.55,8.65
$GC,2673,1.15,146.6,3081,2081,1468,1631,48.1,13.7,295,2683,0.00,2.42,0.00,0.000,260,0.000,0.074,3081,3656,1549,1468,1631,0,0,0,0,0,0,26.61,26.34,26.63,8.56,9.59
$GC,2739,1.15,146.6,3081,3656,1468,1631,39.8,13.1,301,2747,0.00,2.40,0.00,0.000,1030,0.000,0.060,3093,2077,1549,1468,1631,0,0,0,0,0,0,26.45,26.37,26.47,8.55,9.00
$GC,2867,1.15,146.6,3092,2076,1468,1631,23.9,12.3,314,2876,0.00,2.45,0.00,0.000,516,0.000,0.082,3105,490,1549,1468,1631,0,0,0,0,0,0,26.69,26.41,26.70,8.55,8.45
$STATE,3018,end climb,SURFACE_DEPTH_REACHED
$STATE,3018,begin surface coast
$FINISH,1.7,1.002901
$STATE,3040,end surface coast,CONTROL_FINISHED_OK
$STATE,3040,begin surface
$SM_CCo,3059,180.55,0.760,0,0,689,400.29
$SM_GC,2.47,8.43,2.40,180.55,0.134,0.060,0.760,144,2050,689,-7.94,-1.22,400.29,0,0,0,0,0,0,26.39,26.51,24.36
$IRIDIUM_FIX,4722.92,-12225.08,080217,095606
$TT8_MAMPS,0.02247,0.18725
$HUMID,9.12
$INTERNAL_PRESSURE,8.42684
$TCM_TEMP,11.00
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.7,6.4
$ALTIM_BOTTOM_PING,120.7,80.0
$24V_AH,24.13,5.820
$10V_AH,10.65,1.813
$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,20.800,43.600,210.000,180.550,280.075,22.466,14.508,136.070,3.250,0.000,13.358,917.023,1033.575,675.561,838.859,71.524,0.000,1085.022,0.000,650.228,0.000,7.378,0.000
$DEVICE_MAMPS,310.375,81.939,903.812,759.798,106.769,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.387,453.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354460
$DATA_FILE_SIZE,24463,345
$CAP_FILE_SIZE,52811,1
$CFSIZE,2047311872,2043183104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,232.37,1
$GPS,080217,114104,4742.733,-12225.094,3,0.9,12,16.3,0.0,0.0,10,8.8