version: 66.12
glider: 36
mission: 20
dive: 10
start: 7 4 115 0 37 33
data:
$ID,36
$MISSION,20
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1080
$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,360
$T_MISSION,390
$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,82
$R_STBD_OVSHOOT,150
$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,500
$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
$GPS1,040715,003152,3219.2224,-6435.5234,10,1.0,51,-15.5,0.6,8.8,9,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.2
$GPS2,040715,003710,3219.2351,-6435.4941,11,1.0,51,-15.5,0.5,33.2,9,4.1
$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,168.8,19149,-19.7,-10.000,-22.23,2234
$D_GRID,1080
$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,-146.6,167,1680,1290,1298,0.0,0.0,0,111,0.00,0.00,-94.03,0.099,16386,0.000,0.000,163,1679,2763,2548,2978,0,0,0,0,0,0,26.53,28.83,26.55
$GC,114,-1.01,-146.6,163,1680,2549,2978,3.1,-2.7,9,144,10.77,1.95,-7.88,0.119,18692,0.251,0.052,2964,3014,3009,2794,3224,0,0,0,0,0,0,25.91,26.22,26.06
$GC,473,-1.01,-146.6,2964,3014,2794,3224,55.5,-12.1,41,483,0.00,1.85,0.00,0.000,1030,0.000,0.047,2964,1700,3009,2794,3224,0,0,0,0,0,0,26.56,26.53,26.58
$GC,782,-1.01,-146.6,2964,1700,2794,3224,88.4,-9.7,72,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1700,3009,2794,3224,0,0,0,0,0,0,26.84,26.86,26.86
$GC,1084,-1.01,-146.6,2963,1700,2794,3224,119.1,-10.7,102,1094,0.00,1.90,0.00,0.000,260,0.000,0.052,2955,3025,3008,2794,3223,0,0,0,0,0,0,26.89,26.65,26.91
$GC,1165,-1.01,-146.6,2955,3025,2794,3224,127.9,-10.4,109,1175,0.00,1.85,0.00,0.000,1030,0.000,0.050,2956,1699,3009,2794,3224,0,0,0,0,0,0,26.72,26.68,26.73
$GC,1485,-1.01,-146.6,2955,1699,2794,3224,165.0,-11.9,135,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3009,2794,3224,0,0,0,0,0,0,26.93,26.95,26.95
$GC,1784,-1.01,-146.6,2955,1699,2794,3223,203.7,-13.3,150,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3009,2794,3224,0,0,0,0,0,0,26.94,26.96,26.96
$GC,2086,-1.01,-146.6,2955,1699,2794,3223,243.2,-13.2,165,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1698,3009,2794,3224,0,0,0,0,0,0,26.95,26.97,26.97
$GC,2386,-1.01,-146.6,2955,1699,2794,3224,283.2,-14.0,180,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3008,2794,3223,0,0,0,0,0,0,26.96,26.98,26.98
$GC,2704,-1.01,-146.6,2955,1699,2794,3224,324.6,-12.8,193,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3009,2794,3224,0,0,0,0,0,0,26.96,26.98,26.98
$GC,3004,-1.01,-146.6,2955,1699,2794,3223,363.8,-13.1,203,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3008,2794,3223,0,0,0,0,0,0,26.96,26.98,26.98
$GC,3306,-1.01,-146.6,2955,1699,2794,3223,403.0,-13.0,213,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3008,2794,3223,0,0,0,0,0,0,26.96,26.98,26.98
$GC,3604,-1.01,-146.6,2955,1699,2794,3223,441.3,-13.1,223,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3009,2794,3224,0,0,0,0,0,0,26.96,26.99,26.98
$GC,3904,-1.01,-146.6,2955,1699,2794,3223,482.1,-14.2,233,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3008,2794,3223,0,0,0,0,0,0,26.96,26.98,26.98
$GC,4206,-1.01,-146.6,2955,1699,2794,3223,523.2,-13.3,243,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3008,2794,3223,0,0,0,0,0,0,26.94,26.96,26.95
$GC,4507,-1.01,-146.6,2955,1699,2794,3223,562.6,-13.1,253,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1699,3008,2794,3223,0,0,0,0,0,0,26.94,26.97,26.96
$GC,4806,-1.01,-146.6,2955,1699,2794,3223,601.4,-12.7,263,4811,0.00,1.98,0.00,0.000,516,0.000,0.060,2955,314,3008,2794,3223,0,0,0,0,0,0,26.94,26.67,26.95
$GC,4866,-1.01,-146.6,2955,314,2794,3223,609.7,-13.2,265,4871,0.00,1.83,0.00,0.000,1030,0.000,0.045,2948,1656,3008,2794,3223,0,0,0,0,0,0,26.79,26.76,26.81
$GC,5198,-1.01,-146.6,2948,1655,2794,3221,653.2,-13.0,276,5203,0.00,2.00,0.00,0.000,260,0.000,0.055,2944,3063,3007,2794,3221,0,0,0,0,0,0,26.94,26.70,26.96
$GC,5260,-1.01,-146.6,2943,3063,2794,3220,661.4,-13.3,278,5266,0.10,1.92,0.00,0.000,3078,0.154,0.047,2976,1674,3007,2794,3220,0,0,0,0,0,0,26.50,26.72,26.58
$GC,5590,-1.01,-146.6,2976,1674,2795,3219,699.6,-11.3,289,5595,0.00,1.98,0.00,0.000,516,0.000,0.062,2977,296,3007,2794,3220,0,0,0,0,0,0,26.96,26.67,26.98
$GC,5652,-1.01,-146.6,2976,297,2794,3220,707.3,-12.0,291,5656,0.00,1.95,0.00,0.000,1030,0.000,0.045,2970,1701,3006,2794,3219,0,0,0,0,0,0,26.79,26.75,26.79
$GC,5985,-1.01,-146.6,2970,1702,2794,3217,744.7,-11.3,302,5990,0.00,1.95,0.00,0.000,260,0.000,0.055,2960,3070,3005,2794,3217,0,0,0,0,0,0,26.96,26.69,26.98
$GC,6048,-1.01,-146.6,2960,3070,2793,3217,751.9,-11.4,304,6054,0.00,1.92,0.00,0.000,1030,0.000,0.047,2960,1691,3005,2794,3216,0,0,0,0,0,0,26.74,26.72,26.76
$GC,6378,-1.01,-146.6,2960,1691,2794,3216,794.6,-12.9,315,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1691,3005,2794,3216,0,0,0,0,0,0,26.96,26.98,26.98
$GC,6677,-1.01,-146.6,2960,1691,2793,3214,834.8,-13.6,325,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1692,3004,2794,3214,0,0,0,0,0,0,26.96,26.98,26.97
$GC,6977,-1.01,-146.6,2960,1691,2794,3212,875.9,-13.8,335,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1691,3003,2794,3212,0,0,0,0,0,0,26.95,26.98,26.97
$GC,7277,-1.01,-146.6,2960,1691,2794,3212,916.2,-13.3,345,7283,0.00,2.00,0.00,0.000,516,0.000,0.062,2960,313,3003,2794,3212,0,0,0,0,0,0,26.95,26.65,26.97
$GC,7352,-1.01,-146.6,2960,313,2794,3211,925.1,-13.8,347,7356,0.00,1.95,0.00,0.000,1030,0.000,0.045,2952,1696,3002,2794,3211,0,0,0,0,0,0,26.74,26.72,26.76
$GC,7672,-1.01,-146.6,2952,1696,2794,3209,971.5,-13.8,358,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1696,3001,2794,3209,0,0,0,0,0,0,26.91,26.94,26.94
$GC,7972,-1.01,-146.6,2952,1696,2794,3207,1010.9,-13.1,367,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1696,3000,2793,3207,0,0,0,0,0,0,26.91,26.93,26.93
$GC,8272,-1.01,-146.6,2952,1697,2794,3204,1052.0,-13.8,372,8275,0.00,2.00,0.00,0.000,260,0.000,0.057,2947,3069,2998,2793,3204,0,0,0,0,0,0,26.90,26.65,26.92
$GC,8320,-1.01,-146.6,2946,3070,2794,3204,1052.0,-13.8,372,8325,0.00,2.00,0.00,0.000,1030,0.000,0.047,2946,1699,2998,2793,3203,0,0,0,0,0,0,26.72,26.69,26.73
$STATE,8514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8514,begin apogee
$GC,8517,-0.24,0.0,2946,1699,2793,3202,1085.2,-13.6,376,8625,0.80,0.00,104.95,1.676,10246,0.127,0.000,3226,1698,2500,2321,2680,0,0,0,0,0,0,26.44,24.69,23.44
$STATE,8626,end apogee,CONTROL_FINISHED_OK
$STATE,8627,begin climb
$GC,8628,1.01,146.6,3227,1698,2321,2680,1087.9,0.0,377,8733,1.02,2.17,96.20,1.654,10500,0.062,0.060,3678,3083,1993,1818,2169,0,0,0,0,0,0,25.10,23.86,23.52
$GC,8921,1.13,548.2,3679,3083,1817,2168,1111.5,-8.4,382,9318,0.00,2.08,387.15,1.604,9222,0.000,0.047,3688,1696,611,592,631,0,0,0,0,0,0,26.05,26.03,23.24
$GC,9621,1.13,548.2,3688,1696,580,624,935.4,34.9,397,9627,0.00,2.03,0.00,0.000,516,0.000,0.060,3699,315,602,580,624,0,0,0,0,0,0,26.28,26.03,26.29
$GC,9914,1.13,548.2,3699,315,576,624,836.9,36.3,406,9919,0.12,2.00,0.00,0.000,5126,0.196,0.045,3663,1718,600,577,624,0,0,0,0,0,0,26.08,26.34,26.21
$GC,10235,1.13,548.2,3663,1717,576,622,728.4,32.3,417,10240,0.00,2.05,0.00,0.000,516,0.000,0.060,3671,318,599,576,622,0,0,0,0,0,0,26.68,26.42,26.70
$GC,10271,1.13,548.2,3671,318,576,622,718.3,32.5,418,10275,0.00,1.95,0.00,0.000,1030,0.000,0.047,3671,1671,599,577,622,0,0,0,0,0,0,26.51,26.49,26.52
$GC,10595,1.13,548.2,3671,1671,577,622,609.3,32.5,429,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,3671,1671,599,576,622,0,0,0,0,0,0,26.76,26.79,26.78
$GC,10896,1.13,548.2,3671,1671,576,622,511.2,33.5,439,10901,0.00,1.98,0.00,0.000,516,0.000,0.060,3679,314,599,576,622,0,0,0,0,0,0,26.80,26.54,26.83
$GC,10937,1.13,548.2,3678,314,576,622,500.8,33.8,440,10942,0.00,2.00,0.00,0.000,1030,0.000,0.045,3678,1710,599,576,622,0,0,0,0,0,0,26.63,26.60,26.64
$GC,11256,1.13,548.2,3678,1711,576,622,384.0,35.8,451,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,3678,1711,599,576,622,0,0,0,0,0,0,26.84,26.86,26.86
$GC,11556,1.13,548.2,3678,1711,576,622,276.1,36.0,462,11562,0.00,2.03,0.00,0.000,516,0.000,0.057,3685,317,599,576,622,0,0,0,0,0,0,26.86,26.60,26.89
$GC,11610,1.13,548.2,3686,317,576,621,261.3,35.8,464,11619,0.00,1.98,0.00,0.000,1030,0.000,0.045,3686,1704,599,576,622,0,0,0,0,0,0,26.67,26.65,26.68
$GC,11919,1.13,548.2,3686,1704,576,622,144.7,36.3,480,11920,0.00,0.00,0.00,0.000,6,0.000,0.000,3686,1704,598,576,621,0,0,0,0,0,0,26.89,26.91,26.91
$GC,12219,1.13,548.2,3686,1704,576,622,39.7,32.0,510,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,3686,1704,599,576,622,0,0,0,0,0,0,26.90,26.92,26.92
$STATE,12347,end climb,SURFACE_DEPTH_REACHED
$STATE,12348,begin surface coast
$FINISH,0.6,1.024427
$STATE,12359,end surface coast,CONTROL_FINISHED_OK
$STATE,12359,begin surface
$SM_CCo,12434,0.00,0.000,0,0,599,552.22
$SM_GC,1.60,8.77,0.00,0.00,0.055,0.000,0.000,173,1718,599,-9.64,0.51,552.22,0,0,0,0,0,0,26.67,26.93,26.71
$IRIDIUM_FIX,3205.87,-6434.50,290408,115406
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.30
$INTERNAL_PRESSURE,8.90731
$TCM_TEMP,18.30
$XPDR_PINGS,36
$24V_AH,23.24,8.971
$10V_AH,10.18,5.951
$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,21.600,51.275,588.300,0.000,101.900,24.215,54.298,124.343,23.750,0.000,52.382,1437.288,8105.093,541.691,2613.641,66.998,0.000,1360.473,0.000,2280.745,0.000,108.936,0.000
$DEVICE_MAMPS,250.783,62.075,1676.025,0.000,119.184,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.573,1707.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330356
$DATA_FILE_SIZE,33625,524
$CAP_FILE_SIZE,100637,0
$CFSIZE,1024409600,1019019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040715,040639,3217.084,-6435.237,38,1.0,78,-15.5,0.0,253.7,9,4.2