version: 66.12
glider: 36
mission: 20
dive: 9
start: 7 3 115 22 31 51
data:
$ID,36
$MISSION,20
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,5500
$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,120
$T_MISSION,135
$T_ABORT,2880
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$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,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,110
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$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,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,030715,222634,3219.8027,-6435.7451,9,0.9,50,-15.5,0.4,32.1,9,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.3
$GPS2,030715,223128,3219.8401,-6435.7383,11,0.9,51,-15.5,0.6,2.6,9,4.2
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$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,169.2,20323,-19.7,-10.000,-22.23,2234
$D_GRID,360
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.01,-146.6,168,1689,1267,1322,0.0,0.0,0,111,0.00,0.00,-94.03,0.099,16386,0.000,0.000,164,1688,2802,2616,2989,0,0,0,0,0,0,26.54,28.83,26.56
$GC,114,-1.01,-146.6,164,1688,2616,2990,3.9,-4.8,9,137,10.85,2.05,-6.12,0.127,18692,0.256,0.052,2965,3063,3009,2823,3196,0,0,0,0,0,0,25.92,26.23,26.06
$GC,338,-1.01,-146.6,2965,3063,2823,3196,37.6,-11.6,29,348,0.00,1.98,0.00,0.000,1030,0.000,0.047,2965,1705,3009,2823,3196,0,0,0,0,0,0,26.48,26.46,26.50
$GC,648,-1.01,-146.6,2965,1705,2823,3196,70.8,-10.5,60,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1705,3009,2822,3196,0,0,0,0,0,0,26.82,26.84,26.84
$GC,948,-1.01,-146.6,2965,1705,2822,3196,102.4,-10.6,90,958,0.00,1.95,0.00,0.000,260,0.000,0.055,2956,3060,3009,2823,3196,0,0,0,0,0,0,26.89,26.64,26.90
$GC,1019,-1.01,-146.6,2955,3060,2823,3196,110.1,-11.4,96,1029,0.00,1.98,0.00,0.000,1030,0.000,0.047,2957,1691,3009,2823,3196,0,0,0,0,0,0,26.69,26.67,26.70
$GC,1329,-1.01,-146.6,2956,1691,2823,3196,144.7,-11.4,127,1339,0.00,1.98,0.00,0.000,516,0.000,0.062,2956,304,3009,2822,3196,0,0,0,0,0,0,26.93,26.65,26.94
$GC,1388,-1.01,-146.6,2956,304,2822,3196,150.3,-12.5,131,1397,0.00,1.95,0.00,0.000,1030,0.000,0.045,2948,1703,3009,2823,3196,0,0,0,0,0,0,26.74,26.72,26.75
$GC,1697,-1.01,-146.6,2947,1703,2822,3196,188.8,-12.1,147,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1703,3009,2822,3196,0,0,0,0,0,0,26.95,26.97,26.96
$GC,1997,-1.01,-146.6,2948,1703,2823,3196,225.1,-12.5,162,2002,0.00,1.95,0.00,0.000,260,0.000,0.055,2944,3071,3009,2823,3196,0,0,0,0,0,0,26.96,26.70,26.97
$GC,2062,-1.01,-146.6,2943,3071,2822,3196,232.9,-12.5,165,2068,0.10,1.92,0.00,0.000,3078,0.159,0.047,2976,1676,3009,2823,3196,0,0,0,0,0,0,26.51,26.73,26.60
$GC,2382,-1.01,-146.6,2976,1676,2822,3196,269.6,-11.2,181,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1675,3009,2823,3196,0,0,0,0,0,0,26.96,26.98,26.98
$GC,2691,-1.01,-146.6,2976,1675,2823,3196,304.8,-11.4,196,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1675,3009,2822,3196,0,0,0,0,0,0,26.97,26.99,26.98
$GC,2991,-1.01,-146.6,2976,1676,2822,3196,337.0,-10.7,206,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1676,3009,2822,3196,0,0,0,0,0,0,26.97,26.99,26.99
$STATE,3231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3231,begin apogee
$GC,3234,-0.24,0.0,2976,1675,2822,3196,362.0,-10.2,214,3340,0.70,0.00,102.75,1.142,10246,0.132,0.000,3223,1676,2500,2335,2665,0,0,0,0,0,0,26.52,25.01,24.11
$STATE,3341,end apogee,CONTROL_FINISHED_OK
$STATE,3341,begin climb
$GC,3343,1.01,146.6,3223,1675,2335,2665,364.0,0.0,217,3443,1.00,2.20,92.25,1.157,10500,0.082,0.057,3609,3064,1994,1826,2163,0,0,0,0,0,0,25.32,25.01,24.16
$GC,3547,1.01,146.6,3610,3064,1825,2162,346.9,11.3,224,3551,0.00,2.03,0.00,0.000,1030,0.000,0.047,3617,1696,1994,1826,2162,0,0,0,0,0,0,26.03,26.01,26.05
$GC,3871,1.01,146.6,3617,1696,1825,2162,306.6,11.7,235,3876,0.00,2.03,0.00,0.000,516,0.000,0.060,3627,309,1994,1826,2162,0,0,0,0,0,0,26.65,26.39,26.67
$GC,4029,1.01,146.6,3627,309,1826,2162,288.7,12.1,241,4038,0.00,1.95,0.00,0.000,1030,0.000,0.045,3627,1700,1993,1825,2162,0,0,0,0,0,0,26.55,26.54,26.56
$GC,4338,1.01,146.6,3627,1700,1826,2162,250.9,11.4,257,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,1700,1994,1826,2162,0,0,0,0,0,0,26.83,26.85,26.84
$GC,4638,1.01,146.6,3627,1700,1825,2162,219.7,10.4,272,4644,0.00,2.03,0.00,0.000,516,0.000,0.060,3637,309,1994,1826,2162,0,0,0,0,0,0,26.88,26.61,26.90
$GC,4729,1.01,146.6,3637,309,1825,2162,210.5,11.0,276,4734,0.00,1.95,0.00,0.000,1030,0.000,0.045,3637,1710,1993,1825,2162,0,0,0,0,0,0,26.71,26.69,26.72
$GC,5045,1.01,146.6,3637,1710,1826,2161,176.4,10.8,292,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,1709,1994,1826,2162,0,0,0,0,0,0,26.92,26.94,26.94
$GC,5343,1.01,146.6,3637,1710,1825,2162,143.9,10.7,309,5353,0.00,2.03,0.00,0.000,516,0.000,0.060,3646,313,1994,1826,2162,0,0,0,0,0,0,26.94,26.65,26.96
$GC,5493,1.01,146.6,3646,313,1825,2162,127.1,11.8,322,5502,0.00,1.92,0.00,0.000,1030,0.000,0.045,3646,1701,1994,1826,2162,0,0,0,0,0,0,26.74,26.74,26.76
$GC,5803,1.01,146.6,3646,1702,1825,2162,95.4,9.9,353,5813,0.00,2.03,0.00,0.000,516,0.000,0.060,3656,314,1994,1826,2162,0,0,0,0,0,0,26.95,26.67,26.97
$GC,5930,1.01,146.6,3656,314,1825,2162,82.1,11.1,364,5940,0.10,1.92,0.00,0.000,5126,0.206,0.045,3627,1743,1993,1825,2162,0,0,0,0,0,0,26.41,26.74,26.53
$GC,6239,1.02,194.8,3627,1742,1825,2161,55.2,7.8,395,6279,0.00,0.00,32.92,0.946,8198,0.000,0.000,3627,1743,1828,1688,1968,0,0,0,0,0,0,26.96,25.66,25.14
$GC,6579,1.02,194.8,3627,1743,1689,1968,23.7,9.2,429,6589,0.00,1.88,0.00,0.000,260,0.000,0.055,3622,3030,1828,1689,1968,0,0,0,0,0,0,26.71,26.46,26.72
$GC,6918,1.08,379.0,3622,3030,1689,1968,9.9,1.6,459,7039,0.00,1.88,115.70,0.914,9218,0.000,0.047,3630,1690,1393,1384,1403,0,0,0,0,0,0,26.65,26.63,26.66
$STATE,7040,end climb,SURFACE_DEPTH_REACHED
$STATE,7041,begin surface coast
$FINISH,0.2,1.014844
$STATE,7076,end surface coast,CONTROL_FINISHED_OK
$STATE,7077,begin surface
$SM_CCo,7091,23.90,0.864,0,0,1294,350.04
$SM_GC,0.87,8.80,0.00,23.90,0.052,0.000,0.864,190,1689,1294,-9.57,-0.31,350.04,0,0,0,0,0,0,25.82,26.01,24.65
$IRIDIUM_FIX,3205.87,-6444.81,290408,095516
$TT8_MAMPS,0.02247,0.02247
$HUMID,42.40
$INTERNAL_PRESSURE,9.13193
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,24.11,8.687
$10V_AH,10.07,5.887
$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,21.550,39.575,343.625,23.900,100.150,26.824,26.934,126.166,7.500,0.000,52.220,1180.513,3632.786,396.592,2164.801,49.987,0.000,1038.782,0.000,1900.421,0.000,43.484,0.000
$DEVICE_MAMPS,255.749,62.075,1157.078,864.084,126.633,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.579,1544.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330352
$DATA_FILE_SIZE,26863,474
$CAP_FILE_SIZE,71483,0
$CFSIZE,1024409600,1019133952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040715,003152,3219.222,-6435.523,10,1.0,51,-15.5,0.6,8.8,9,4.1