version: 66.12
glider: 36
mission: 17
dive: 10
start: 1 7 115 6 46 36
data:
$ID,36
$MISSION,17
$DIVE,10
$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,90
$T_MISSION,100
$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,59
$R_STBD_OVSHOOT,40
$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
$GPS1,070115,063922,4744.4893,-12224.5215,6,1.8,40,18.2,0.3,345.5,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.7
$GPS2,070115,064610,4744.5371,-12224.5498,14,1.5,24,18.2,0.2,334.9,8,6.0
$SPEED_LIMITS,0.067,0.224
$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,160.5,2848,-11.4,-6.667,-16.54,3301
$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,-0.57,-146.6,203,2212,659,898,0.0,0.0,0,155,0.00,0.00,-136.98,0.772,16386,0.000,0.000,204,2212,2710,2630,2790,0,0,0,0,0,0,25.99,28.83,26.01
$GC,157,-0.57,-146.6,204,2212,2630,2790,3.4,-5.1,25,192,11.80,2.50,-13.25,0.854,19204,2.314,0.350,3173,629,3005,2914,3097,0,0,0,0,0,0,25.46,25.68,25.59
$GC,534,-0.57,-146.6,3173,629,2914,3097,41.7,-9.2,77,538,0.00,2.35,0.00,0.000,1030,0.000,0.286,3164,2205,3005,2913,3098,0,0,0,0,0,0,26.13,26.07,26.15
$GC,659,-0.57,-146.6,3164,2205,2914,3097,53.0,-9.0,89,663,0.00,2.42,0.00,0.000,516,0.000,0.353,3164,621,3005,2914,3097,0,0,0,0,0,0,26.38,26.12,26.40
$GC,697,-0.57,-146.6,3164,621,2914,3097,56.5,-9.6,92,705,0.00,2.38,0.00,0.000,1030,0.000,0.291,3154,2213,3005,2914,3097,0,0,0,0,0,0,26.22,26.15,26.23
$GC,824,-0.57,-146.6,3153,2213,2914,3097,68.4,-9.3,105,829,0.00,2.42,0.00,0.000,260,0.000,0.449,3147,3777,3005,2914,3097,0,0,0,0,0,0,26.46,26.17,26.47
$GC,951,-0.57,-146.6,3147,3777,2914,3097,81.1,-10.5,117,960,0.10,2.33,0.00,0.000,3078,1.435,0.248,3180,2189,3005,2914,3097,0,0,0,0,0,0,26.14,26.28,26.25
$GC,1080,-0.57,-146.6,3179,2189,2914,3097,92.1,-8.0,130,1084,0.00,2.35,0.00,0.000,516,0.000,0.350,3179,631,3006,2915,3097,0,0,0,0,0,0,26.53,26.28,26.55
$GC,1126,-0.57,-146.6,3179,631,2914,3098,96.0,-8.6,134,1131,0.00,2.33,0.00,0.000,1030,0.000,0.286,3172,2206,3005,2914,3097,0,0,0,0,0,0,26.36,26.31,26.39
$GC,1251,-0.57,-146.6,3172,2206,2914,3097,106.1,-5.9,146,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2205,3005,2914,3097,0,0,0,0,0,0,26.58,26.60,26.60
$GC,1374,-0.57,-146.6,3172,2206,2914,3097,115.7,-8.6,158,1382,0.00,2.40,0.00,0.000,260,0.000,0.452,3161,3771,3005,2914,3097,0,0,0,0,0,0,26.57,26.32,26.59
$GC,1434,-0.57,-146.6,3161,3771,2914,3097,120.6,-8.4,164,1438,0.00,2.30,0.00,0.000,1030,0.000,0.243,3161,2192,3005,2914,3097,0,0,0,0,0,0,26.44,26.40,26.46
$GC,1559,-0.57,-146.6,3161,2193,2914,3097,129.3,-7.1,176,1563,0.00,2.45,0.00,0.000,260,0.000,0.437,3149,3778,3005,2914,3097,0,0,0,0,0,0,26.64,26.36,26.65
$GC,1608,-0.57,-146.6,3149,3778,2914,3097,132.8,-7.9,180,1616,0.10,2.35,0.00,0.000,3078,1.264,0.243,3183,2196,3005,2913,3097,0,0,0,0,0,0,26.27,26.43,26.35
$GC,1735,-0.57,-146.6,3182,2196,2914,3096,141.6,-6.1,193,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2196,3005,2914,3097,0,0,0,0,0,0,26.66,26.69,26.68
$GC,1855,-0.57,-146.6,3182,2196,2914,3097,149.7,-6.2,205,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2196,3005,2914,3097,0,0,0,0,0,0,26.68,26.70,26.70
$GC,1975,-0.57,-146.6,3182,2196,2914,3097,157.8,-6.6,217,1979,0.00,2.45,0.00,0.000,260,0.000,0.442,3174,3785,3005,2914,3097,0,0,0,0,0,0,26.70,26.41,26.72
$GC,2041,-0.57,-146.6,3173,3785,2914,3097,162.3,-7.4,223,2045,0.00,2.30,0.00,0.000,1030,0.000,0.243,3174,2202,3005,2914,3097,0,0,0,0,0,0,26.53,26.48,26.55
$GC,2166,-0.57,-146.6,3173,2201,2914,3097,170.8,-6.9,235,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2201,3005,2914,3097,0,0,0,0,0,0,26.72,26.74,26.74
$STATE,2235,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2235,begin apogee
$GC,2238,-0.23,0.0,3173,2201,2914,3097,175.2,-6.7,242,2347,0.35,0.00,103.00,9.237,10246,1.043,0.000,3295,2201,2499,2424,2575,0,0,0,0,0,0,26.37,24.77,24.11
$STATE,2348,end apogee,CONTROL_FINISHED_OK
$STATE,2348,begin climb
$GC,2349,0.57,146.6,3294,2201,2424,2575,178.5,0.0,253,2461,0.65,2.50,103.95,8.914,10756,0.812,0.338,3540,634,1994,1913,2076,0,0,0,0,0,0,24.91,24.37,23.89
$GC,2504,0.57,146.6,3540,633,1913,2076,171.7,6.7,268,2513,0.00,2.42,0.00,0.000,1030,0.000,0.266,3540,2205,1995,1914,2076,0,0,0,0,0,0,25.26,25.20,25.27
$GC,2633,0.57,146.6,3540,2205,1913,2076,163.4,6.7,281,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2205,1994,1913,2076,0,0,0,0,0,0,25.86,25.89,25.89
$GC,2753,0.57,146.6,3540,2205,1913,2076,155.9,5.9,293,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2205,1994,1913,2076,0,0,0,0,0,0,26.07,26.09,26.08
$GC,2873,0.57,146.6,3540,2205,1914,2076,148.7,5.7,305,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2205,1995,1914,2076,0,0,0,0,0,0,26.20,26.22,26.21
$GC,2993,0.57,146.6,3540,2205,1913,2076,141.2,5.9,317,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2205,1995,1914,2076,0,0,0,0,0,0,26.29,26.32,26.30
$GC,3113,0.57,146.6,3540,2205,1913,2076,133.3,6.5,329,3117,0.00,2.40,0.00,0.000,516,0.000,0.345,3552,637,1995,1913,2077,0,0,0,0,0,0,26.36,26.10,26.38
$GC,3193,0.57,146.6,3552,637,1913,2076,128.7,6.6,336,3199,0.00,2.33,0.00,0.000,1030,0.000,0.278,3552,2202,1995,1914,2076,0,0,0,0,0,0,26.22,26.17,26.25
$GC,3319,0.57,146.6,3552,2202,1914,2076,120.9,5.7,349,3323,0.00,2.47,0.00,0.000,260,0.000,0.447,3552,3782,1994,1913,2076,0,0,0,0,0,0,26.45,26.17,26.47
$GC,3378,0.57,146.6,3552,3782,1913,2076,117.2,7.1,354,3385,0.00,2.38,0.00,0.000,1030,0.000,0.241,3563,2169,1995,1914,2076,0,0,0,0,0,0,26.31,26.26,26.32
$GC,3505,0.57,146.6,3562,2169,1914,2076,108.1,7.0,367,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2169,1995,1914,2076,0,0,0,0,0,0,26.52,26.54,26.53
$GC,3625,0.57,146.6,3563,2169,1914,2076,100.1,6.1,379,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2169,1995,1914,2076,0,0,0,0,0,0,26.55,26.58,26.57
$GC,3745,0.57,146.6,3562,2169,1914,2076,93.1,5.7,391,3749,0.00,2.30,0.00,0.000,516,0.000,0.353,3574,625,1994,1913,2076,0,0,0,0,0,0,26.54,26.32,26.55
$GC,3792,0.57,146.6,3574,625,1914,2076,90.2,6.2,395,3801,0.00,2.35,0.00,0.000,1030,0.000,0.291,3574,2201,1994,1913,2076,0,0,0,0,0,0,26.41,26.35,26.43
$GC,3921,0.57,146.6,3574,2201,1914,2077,82.6,6.2,408,3925,0.00,2.45,0.00,0.000,260,0.000,0.449,3574,3776,1994,1913,2076,0,0,0,0,0,0,26.62,26.34,26.63
$GC,4000,0.57,146.6,3574,3776,1914,2076,77.1,6.8,415,4008,0.10,2.35,0.00,0.000,5126,1.316,0.243,3551,2203,1995,1914,2076,0,0,0,0,0,0,26.25,26.41,26.34
$GC,4127,0.57,146.6,3551,2203,1914,2076,69.8,5.2,428,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2203,1994,1913,2076,0,0,0,0,0,0,26.65,26.67,26.67
$GC,4247,0.57,146.6,3551,2203,1914,2076,63.2,6.6,440,4251,0.00,2.47,0.00,0.000,260,0.000,0.447,3551,3787,1995,1914,2076,0,0,0,0,0,0,26.67,26.39,26.69
$GC,4313,0.57,146.6,3550,3787,1913,2076,59.7,5.3,446,4317,0.00,2.33,0.00,0.000,1030,0.000,0.243,3560,2191,1995,1914,2076,0,0,0,0,0,0,26.51,26.46,26.53
$GC,4438,0.57,146.6,3559,2190,1913,2076,52.7,6.4,458,4442,0.00,2.33,0.00,0.000,516,0.000,0.358,3571,625,1994,1913,2076,0,0,0,0,0,0,26.70,26.44,26.71
$GC,4546,0.57,146.6,3571,625,1913,2076,46.8,5.4,468,4554,0.00,2.38,0.00,0.000,1030,0.000,0.286,3571,2203,1994,1913,2076,0,0,0,0,0,0,26.54,26.46,26.55
$GC,4674,0.59,215.6,3571,2203,1913,2076,39.7,4.5,481,4727,0.00,2.50,47.72,8.385,8452,0.000,0.447,3571,3775,1756,1671,1842,0,0,0,0,0,0,26.72,25.48,24.82
$GC,4771,0.59,215.6,3571,3775,1671,1842,32.8,8.5,490,4779,0.00,2.35,0.00,0.000,1030,0.000,0.241,3581,2199,1756,1671,1842,0,0,0,0,0,0,25.79,25.77,25.81
$GC,4899,0.59,215.6,3581,2199,1671,1842,21.6,8.7,503,4903,0.00,2.40,0.00,0.000,516,0.000,0.353,3592,631,1756,1671,1842,0,0,0,0,0,0,26.18,25.92,26.20
$GC,5005,0.59,215.6,3592,631,1671,1842,12.9,8.2,521,5012,0.12,2.38,0.00,0.000,5126,1.266,0.291,3551,2201,1756,1671,1842,0,0,0,0,0,0,25.93,26.04,26.04
$GC,5074,0.59,215.6,3551,2201,1671,1842,7.9,6.5,534,5080,0.00,2.40,0.00,0.000,516,0.000,0.353,3561,624,1755,1670,1841,0,0,0,0,0,0,26.33,26.07,26.34
$GC,5122,0.59,215.6,3560,624,1671,1841,4.8,6.0,543,5129,0.00,2.38,0.00,0.000,1030,0.000,0.281,3561,2205,1756,1671,1842,0,0,0,0,0,0,26.18,26.13,26.20
$STATE,5153,end climb,SURFACE_DEPTH_REACHED
$STATE,5153,begin surface coast
$FINISH,0.6,0.999761
$STATE,5220,end surface coast,CONTROL_FINISHED_OK
$STATE,5220,begin surface
$SM_CCo,5235,196.80,8.037,0,0,778,500.22
$SM_GC,1.41,8.65,0.00,196.80,0.315,0.000,8.037,206,2205,778,-9.79,0.14,500.22,0,0,0,0,0,0,26.15,26.44,24.00
$IRIDIUM_FIX,4726.11,-12222.38,070115,051124
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.90
$INTERNAL_PRESSURE,8.5362
$TCM_TEMP,17.80
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,115.7,74.2
$24V_AH,23.89,20.948
$10V_AH,10.40,2.574
$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,21.875,81.175,254.675,196.800,150.225,23.370,14.097,271.310,11.750,0.000,25.679,1361.017,2407.384,613.542,1410.223,64.469,0.000,1234.440,0.000,1046.627,0.000,11.972,0.000
$DEVICE_MAMPS,2314.156,451.906,9236.760,8037.471,854.152,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.457,740.380,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322844
$DATA_FILE_SIZE,33596,562
$CAP_FILE_SIZE,95386,0
$CFSIZE,1024409600,1020657664
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5348.00,0x238aa6,7,5
$INTR,1,2236.54,0x238aa6,2,5
$INTR,2,5223.41,0x238aa6,7,5
$GPS,070115,081822,4744.209,-12224.503,11,1.5,39,18.2,0.0,0.0,7,6.1