version: 66.12
glider: 36
mission: 17
dive: 7
start: 1 7 115 2 28 22
data:
$ID,36
$MISSION,17
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,300
$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,80
$T_MISSION,90
$T_ABORT,120
$T_TURN,540
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78118
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12224.5
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$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,3365
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,21.5
$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,45
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,48
$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,-971.80823
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$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
$GPS1,070115,022304,4743.8003,-12224.3838,12,1.3,45,18.2,0.0,94.8,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.8
$GPS2,070115,022753,4743.8022,-12224.3662,12,1.7,16,18.2,0.0,0.0,8,6.1
$SPEED_LIMITS,0.075,0.235
$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,334.5,1303,-13.1,-7.500,-17.71,2947
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.65,-146.6,215,2183,665,892,0.0,0.0,0,147,0.00,0.00,-129.80,0.772,16386,0.000,0.000,216,2183,2626,2548,2704,0,0,0,0,0,0,25.96,28.83,25.98
$GC,150,-0.65,-146.6,216,2183,2548,2704,3.0,-2.6,24,190,11.93,2.55,-20.20,0.822,18692,2.391,0.442,3144,3782,3004,2914,3095,0,0,0,0,0,0,25.44,25.65,25.58
$GC,387,-0.65,-146.6,3144,3782,2915,3095,27.1,-10.1,64,391,0.00,2.40,0.00,0.000,1030,0.000,0.251,3144,2186,3005,2915,3096,0,0,0,0,0,0,26.03,25.98,26.05
$GC,512,-0.65,-146.6,3144,2186,2915,3096,39.0,-9.6,76,513,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2186,3005,2915,3096,0,0,0,0,0,0,26.30,26.32,26.32
$GC,632,-0.65,-146.6,3144,2186,2915,3096,50.6,-9.5,88,633,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2186,3005,2915,3096,0,0,0,0,0,0,26.38,26.40,26.39
$GC,752,-0.65,-146.6,3144,2186,2915,3096,61.9,-9.1,100,761,0.00,2.47,0.00,0.000,260,0.000,0.439,3133,3772,3005,2915,3095,0,0,0,0,0,0,26.44,26.15,26.45
$GC,825,-0.65,-146.6,3133,3772,2915,3096,69.1,-10.0,107,833,0.00,2.38,0.00,0.000,1030,0.000,0.246,3134,2193,3005,2915,3095,0,0,0,0,0,0,26.31,26.25,26.32
$GC,953,-0.65,-146.6,3133,2193,2915,3096,80.6,-8.7,120,954,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2193,3005,2914,3096,0,0,0,0,0,0,26.51,26.53,26.53
$GC,1073,-0.65,-146.6,3133,2193,2915,3095,91.9,-9.3,132,1077,0.00,2.45,0.00,0.000,260,0.000,0.442,3122,3773,3005,2915,3096,0,0,0,0,0,0,26.54,26.26,26.56
$GC,1148,-0.65,-146.6,3122,3773,2915,3095,99.7,-9.9,139,1154,0.12,2.33,0.00,0.000,3078,1.405,0.248,3162,2196,3005,2915,3096,0,0,0,0,0,0,26.19,26.34,26.31
$GC,1275,-0.65,-146.6,3162,2195,2915,3096,110.5,-9.3,151,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2195,3005,2915,3096,0,0,0,0,0,0,26.56,26.59,26.58
$GC,1393,-0.65,-146.6,3162,2195,2915,3095,120.5,-7.9,163,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2195,3005,2915,3096,0,0,0,0,0,0,26.62,26.64,26.64
$GC,1513,-0.65,-146.6,3162,2195,2915,3096,130.6,-8.7,175,1518,0.00,2.45,0.00,0.000,260,0.000,0.449,3152,3778,3005,2915,3096,0,0,0,0,0,0,26.64,26.36,26.65
$GC,1562,-0.65,-146.6,3152,3778,2915,3095,135.2,-10.1,179,1570,0.00,2.35,0.00,0.000,1030,0.000,0.253,3153,2205,3005,2915,3095,0,0,0,0,0,0,26.49,26.43,26.50
$GC,1689,-0.65,-146.6,3152,2205,2915,3096,146.7,-8.7,192,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2205,3005,2915,3096,0,0,0,0,0,0,26.66,26.69,26.68
$GC,1809,-0.65,-146.6,3152,2205,2915,3096,156.3,-8.4,204,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2205,3005,2915,3096,0,0,0,0,0,0,26.68,26.70,26.70
$GC,1930,-0.65,-146.6,3152,2205,2915,3095,166.5,-8.7,216,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2205,3005,2915,3095,0,0,0,0,0,0,26.70,26.72,26.71
$STATE,2038,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2039,begin apogee
$GC,2042,-0.23,0.0,3152,2205,2915,3096,175.2,-8.2,227,2150,0.43,0.00,103.10,9.254,10246,1.152,0.000,3294,2205,2499,2424,2575,0,0,0,0,0,0,26.32,24.77,24.12
$STATE,2151,end apogee,CONTROL_FINISHED_OK
$STATE,2151,begin climb
$GC,2153,0.65,146.6,3294,2205,2424,2575,178.4,0.0,238,2265,0.73,2.50,104.18,8.887,10756,0.775,0.338,3565,637,1995,1913,2077,0,0,0,0,0,0,24.93,24.37,23.89
$GC,2320,0.65,146.6,3565,637,1913,2077,169.3,7.0,254,2327,0.00,2.45,0.00,0.000,1030,0.000,0.291,3565,2201,1995,1913,2077,0,0,0,0,0,0,25.34,25.27,25.35
$GC,2447,0.65,146.6,3565,2201,1913,2077,158.0,8.9,267,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2200,1995,1913,2077,0,0,0,0,0,0,25.91,25.93,25.92
$GC,2567,0.65,146.6,3565,2201,1913,2076,148.2,8.8,279,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2201,1995,1913,2077,0,0,0,0,0,0,26.10,26.13,26.11
$GC,2687,0.65,146.6,3565,2201,1913,2077,138.9,6.7,291,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2200,1994,1913,2076,0,0,0,0,0,0,26.22,26.25,26.24
$GC,2807,0.65,146.6,3565,2201,1913,2077,129.1,8.5,303,2811,0.00,2.40,0.00,0.000,516,0.000,0.353,3577,622,1995,1913,2077,0,0,0,0,0,0,26.32,26.06,26.33
$GC,2863,0.65,146.6,3577,622,1913,2077,124.3,8.9,308,2867,0.00,2.38,0.00,0.000,1030,0.000,0.288,3577,2213,1995,1913,2077,0,0,0,0,0,0,26.17,26.10,26.18
$GC,2988,0.65,146.6,3577,2213,1913,2077,113.3,9.0,320,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2213,1995,1913,2077,0,0,0,0,0,0,26.41,26.44,26.43
$GC,3108,0.65,146.6,3577,2213,1913,2077,103.0,8.8,332,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2213,1995,1913,2077,0,0,0,0,0,0,26.46,26.49,26.48
$GC,3228,0.65,146.6,3577,2213,1913,2077,93.2,8.3,344,3232,0.00,2.42,0.00,0.000,260,0.000,0.457,3577,3779,1995,1913,2077,0,0,0,0,0,0,26.51,26.22,26.53
$GC,3284,0.65,146.6,3577,3779,1913,2077,88.2,9.2,349,3288,0.00,2.33,0.00,0.000,1030,0.000,0.248,3588,2195,1995,1913,2077,0,0,0,0,0,0,26.36,26.30,26.36
$GC,3409,0.65,146.6,3588,2194,1913,2077,76.3,8.7,361,3413,0.00,2.35,0.00,0.000,516,0.000,0.363,3600,622,1995,1913,2077,0,0,0,0,0,0,26.56,26.30,26.58
$GC,3487,0.65,146.6,3600,621,1913,2077,69.4,8.4,368,3495,0.00,2.40,0.00,0.000,1030,0.000,0.288,3600,2209,1995,1913,2077,0,0,0,0,0,0,26.37,26.34,26.39
$GC,3615,0.65,146.6,3599,2209,1913,2077,57.4,9.5,381,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2209,1995,1913,2077,0,0,0,0,0,0,26.61,26.63,26.63
$GC,3734,0.65,146.6,3600,2209,1913,2077,46.4,8.7,393,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2209,1995,1913,2077,0,0,0,0,0,0,26.63,26.65,26.65
$GC,3854,0.65,146.6,3600,2209,1913,2077,35.9,8.5,405,3859,0.00,2.38,0.00,0.000,516,0.000,0.358,3612,625,1994,1913,2076,0,0,0,0,0,0,26.65,26.39,26.67
$GC,3890,0.65,146.6,3611,625,1913,2077,32.6,9.1,408,3895,0.12,2.35,0.00,0.000,5126,1.388,0.288,3572,2208,1995,1913,2077,0,0,0,0,0,0,26.29,26.42,26.41
$GC,4015,0.65,146.6,3571,2208,1913,2077,24.5,6.6,420,4019,0.00,2.38,0.00,0.000,516,0.000,0.358,3581,623,1995,1913,2077,0,0,0,0,0,0,26.68,26.41,26.70
$GC,4112,0.65,146.6,3581,623,1913,2077,17.9,6.8,432,4118,0.00,2.35,0.00,0.000,1030,0.000,0.291,3581,2204,1995,1913,2077,0,0,0,0,0,0,26.51,26.45,26.53
$GC,4180,0.65,146.6,3581,2205,1913,2076,13.0,7.7,445,4186,0.00,2.45,0.00,0.000,260,0.000,0.454,3581,3782,1995,1913,2077,0,0,0,0,0,0,26.70,26.41,26.72
$GC,4238,0.65,146.6,3580,3782,1913,2077,8.6,9.1,456,4245,0.00,2.33,0.00,0.000,1030,0.000,0.248,3590,2198,1994,1913,2076,0,0,0,0,0,0,26.53,26.48,26.55
$GC,4306,0.65,146.6,3590,2197,1913,2077,4.0,5.7,469,4313,0.00,2.33,0.00,0.000,516,0.000,0.360,3602,632,1995,1913,2077,0,0,0,0,0,0,26.71,26.46,26.73
$STATE,4323,end climb,SURFACE_DEPTH_REACHED
$STATE,4323,begin surface coast
$FINISH,2.6,1.021455
$STATE,4329,end surface coast,CONTROL_FINISHED_OK
$STATE,4329,begin surface
$SM_CCo,4346,244.48,7.993,0,0,777,500.22
$SM_GC,1.47,9.05,2.38,244.48,0.574,0.286,7.993,216,2183,777,-9.78,-1.16,500.22,0,0,0,0,0,0,26.41,26.47,24.03
$IRIDIUM_FIX,4726.11,-12159.30,070115,012827
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.98
$INTERNAL_PRESSURE,8.54597
$TCM_TEMP,17.80
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,115.3,74.7
$24V_AH,23.89,17.535
$10V_AH,10.45,2.439
$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,22.375,60.350,207.275,244.475,150.000,26.155,14.416,167.639,5.500,0.000,16.941,1138.414,2044.544,604.716,1066.916,51.581,0.000,1096.596,0.000,821.121,0.000,11.974,0.000
$DEVICE_MAMPS,2391.129,456.872,9254.142,7992.777,821.873,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.557,622.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322848
$DATA_FILE_SIZE,26897,473
$CAP_FILE_SIZE,77547,0
$CFSIZE,1024409600,1020887040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2040.20,0x238aa6,2,5
$GPS,070115,034604,4744.547,-12224.412,8,1.5,36,18.2,0.0,0.0,9,5.0