version: 66.12
glider: 36
mission: 17
dive: 12
start: 1 7 115 10 11 58
data:
$ID,36
$MISSION,17
$DIVE,12
$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,100
$T_MISSION,110
$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,68
$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
$GPS1,070115,100404,4743.1851,-12224.6123,7,1.8,36,18.2,0.0,0.0,7,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-68.4
$GPS2,070115,101135,4743.1353,-12224.6309,12,1.3,34,18.2,0.3,188.8,7,5.2
$SPEED_LIMITS,0.060,0.215
$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,345.5,2532,-9.9,-6.000,-15.57,3651
$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,-0.50,-146.6,201,2206,660,898,0.0,0.0,0,159,0.00,0.00,-141.40,0.772,16386,0.000,0.000,201,2206,2774,2695,2853,0,0,0,0,0,0,26.00,28.83,26.02
$GC,161,-0.50,-146.6,201,2206,2695,2853,3.2,-4.4,26,190,11.93,0.00,-10.27,0.884,18694,2.319,0.000,3198,2206,3005,2915,3095,0,0,0,0,0,0,25.46,25.67,25.59
$GC,252,-0.50,-146.6,3198,2206,2914,3095,12.5,-7.9,43,258,0.00,2.47,0.00,0.000,260,0.000,0.442,3189,3772,3004,2914,3095,0,0,0,0,0,0,26.06,25.77,26.08
$GC,345,-0.50,-146.6,3189,3772,2914,3095,20.7,-8.6,61,349,0.00,2.35,0.00,0.000,1030,0.000,0.248,3189,2197,3004,2914,3095,0,0,0,0,0,0,25.99,25.95,26.01
$GC,470,-0.50,-146.6,3188,2197,2914,3095,31.6,-8.6,73,471,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2197,3005,2915,3095,0,0,0,0,0,0,26.27,26.29,26.28
$GC,590,-0.50,-146.6,3188,2196,2914,3095,41.6,-9.7,85,591,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2197,3004,2914,3095,0,0,0,0,0,0,26.34,26.36,26.36
$GC,710,-0.50,-146.6,3188,2196,2914,3095,50.6,-6.4,97,714,0.00,2.47,0.00,0.000,260,0.000,0.439,3177,3778,3004,2914,3094,0,0,0,0,0,0,26.41,26.13,26.42
$GC,839,-0.50,-146.6,3177,3778,2915,3095,60.1,-7.2,109,846,0.00,2.33,0.00,0.000,1030,0.000,0.246,3177,2195,3004,2914,3095,0,0,0,0,0,0,26.29,26.24,26.30
$GC,966,-0.50,-146.6,3177,2195,2914,3095,68.3,-6.6,122,967,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2195,3005,2915,3095,0,0,0,0,0,0,26.50,26.52,26.51
$GC,1086,-0.50,-146.6,3177,2195,2914,3095,76.6,-7.8,134,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2195,3004,2914,3095,0,0,0,0,0,0,26.53,26.56,26.55
$GC,1206,-0.50,-146.6,3177,2195,2915,3094,86.1,-8.7,146,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2195,3005,2915,3095,0,0,0,0,0,0,26.34,26.39,26.38
$GC,1326,-0.50,-146.6,3177,2195,2914,3095,95.8,-8.2,158,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2195,3004,2914,3095,0,0,0,0,0,0,26.59,26.61,26.60
$GC,1447,-0.50,-146.6,3177,2195,2915,3095,103.8,-6.6,170,1456,0.00,2.45,0.00,0.000,260,0.000,0.442,3167,3774,3005,2915,3095,0,0,0,0,0,0,26.61,26.32,26.63
$GC,1610,-0.50,-146.6,3167,3774,2915,3095,115.7,-7.4,186,1619,0.10,2.35,0.00,0.000,3078,1.212,0.251,3202,2195,3004,2914,3095,0,0,0,0,0,0,26.27,26.42,26.35
$GC,1738,-0.50,-146.6,3202,2195,2914,3095,124.9,-7.7,199,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2195,3004,2915,3094,0,0,0,0,0,0,26.65,26.68,26.67
$GC,1858,-0.50,-146.6,3202,2195,2915,3095,132.5,-6.0,211,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2195,3004,2914,3095,0,0,0,0,0,0,26.65,26.67,26.67
$GC,1978,-0.50,-146.6,3202,2195,2915,3095,140.2,-6.1,223,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2195,3004,2914,3095,0,0,0,0,0,0,26.69,26.71,26.71
$GC,2098,-0.50,-146.6,3202,2195,2914,3095,147.7,-6.1,235,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2195,3004,2915,3094,0,0,0,0,0,0,26.70,26.73,26.72
$GC,2218,-0.50,-146.6,3202,2195,2915,3095,154.2,-5.7,247,2222,0.00,2.45,0.00,0.000,260,0.000,0.444,3193,3784,3004,2914,3095,0,0,0,0,0,0,26.72,26.44,26.74
$GC,2327,-0.50,-146.6,3192,3785,2915,3095,160.6,-6.3,257,2334,0.00,2.33,0.00,0.000,1030,0.000,0.248,3193,2188,3004,2914,3095,0,0,0,0,0,0,26.56,26.51,26.57
$GC,2454,-0.50,-146.6,3192,2188,2914,3095,167.9,-5.6,270,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2189,3004,2915,3094,0,0,0,0,0,0,26.74,26.77,26.76
$GC,2574,-0.50,-146.6,3192,2188,2914,3095,174.7,-5.5,282,2578,0.00,2.45,0.00,0.000,260,0.000,0.432,3181,3781,3004,2914,3095,0,0,0,0,0,0,26.75,26.47,26.77
$STATE,2599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2599,begin apogee
$GC,2605,-0.23,0.0,3181,2200,2915,3095,176.5,-6.0,284,2711,0.30,0.00,102.50,9.197,10246,1.100,0.000,3290,2199,2499,2423,2576,0,0,0,0,0,0,26.39,24.80,24.14
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2712,begin climb
$GC,2713,0.50,146.6,3289,2199,2424,2576,180.2,0.0,295,2822,0.62,0.00,104.65,8.862,10246,0.827,0.000,3511,2199,1994,1913,2076,0,0,0,0,0,0,24.91,24.51,23.89
$GC,2940,0.50,146.6,3511,2199,1913,2076,169.0,6.1,318,2949,0.00,2.47,0.00,0.000,516,0.000,0.353,3523,600,1994,1913,2076,0,0,0,0,0,0,25.72,25.47,25.73
$GC,3004,0.50,146.6,3523,600,1913,2076,165.1,6.5,324,3011,0.00,2.42,0.00,0.000,1030,0.000,0.271,3523,2196,1994,1913,2076,0,0,0,0,0,0,25.71,25.65,25.72
$GC,3131,0.50,146.6,3522,2196,1913,2076,156.8,6.9,337,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2196,1994,1913,2076,0,0,0,0,0,0,26.08,26.10,26.09
$GC,3251,0.50,146.6,3523,2196,1913,2076,149.2,5.4,349,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2196,1994,1913,2076,0,0,0,0,0,0,26.20,26.22,26.22
$GC,3371,0.50,146.6,3523,2196,1913,2076,143.1,5.4,361,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2196,1994,1913,2076,0,0,0,0,0,0,26.29,26.32,26.31
$GC,3491,0.50,146.6,3523,2196,1913,2076,136.9,5.2,373,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2196,1994,1913,2076,0,0,0,0,0,0,26.36,26.39,26.38
$GC,3611,0.50,146.6,3523,2196,1913,2076,129.7,6.2,385,3615,0.00,2.42,0.00,0.000,516,0.000,0.355,3534,591,1994,1913,2076,0,0,0,0,0,0,26.42,26.17,26.44
$GC,3686,0.50,146.6,3534,591,1913,2077,124.1,7.0,392,3691,0.00,2.40,0.00,0.000,1030,0.000,0.283,3535,2208,1994,1913,2076,0,0,0,0,0,0,26.28,26.22,26.29
$GC,3811,0.50,146.6,3534,2209,1913,2076,115.0,7.8,404,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2208,1994,1913,2076,0,0,0,0,0,0,26.50,26.52,26.51
$GC,3931,0.50,146.6,3534,2208,1913,2076,107.7,5.5,416,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2208,1995,1913,2077,0,0,0,0,0,0,26.53,26.55,26.55
$GC,4052,0.50,146.6,3534,2208,1913,2076,102.6,4.5,428,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2208,1994,1913,2076,0,0,0,0,0,0,26.57,26.59,26.58
$GC,4172,0.50,146.6,3534,2208,1913,2076,97.2,5.2,440,4176,0.00,2.42,0.00,0.000,516,0.000,0.358,3546,595,1994,1913,2076,0,0,0,0,0,0,26.60,26.34,26.61
$GC,4219,0.50,146.6,3546,595,1913,2076,94.7,5.3,444,4227,0.00,2.38,0.00,0.000,1030,0.000,0.286,3546,2206,1994,1913,2076,0,0,0,0,0,0,26.42,26.36,26.44
$GC,4347,0.50,146.6,3546,2206,1913,2076,88.4,5.2,457,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2206,1994,1913,2076,0,0,0,0,0,0,26.63,26.65,26.65
$GC,4467,0.50,146.6,3546,2206,1913,2076,80.9,6.3,469,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2205,1994,1913,2076,0,0,0,0,0,0,26.65,26.67,26.67
$GC,4588,0.50,146.6,3546,2205,1913,2076,73.1,6.5,481,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2206,1994,1913,2076,0,0,0,0,0,0,26.67,26.70,26.69
$GC,4707,0.50,146.6,3546,2206,1913,2076,65.3,6.8,493,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2205,1994,1913,2076,0,0,0,0,0,0,26.69,26.71,26.71
$GC,4827,0.50,146.6,3546,2205,1913,2076,58.2,6.3,505,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2205,1994,1913,2076,0,0,0,0,0,0,26.70,26.73,26.72
$GC,4947,0.50,146.6,3546,2205,1913,2076,52.0,5.2,517,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2206,1994,1913,2076,0,0,0,0,0,0,26.72,26.74,26.73
$GC,5067,0.50,146.6,3546,2206,1913,2076,45.7,5.2,529,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2205,1994,1913,2076,0,0,0,0,0,0,26.72,26.74,26.74
$GC,5188,0.50,146.6,3546,2206,1913,2076,39.4,5.4,541,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2205,1994,1913,2076,0,0,0,0,0,0,26.74,26.76,26.76
$GC,5307,0.50,146.6,3546,2205,1913,2076,33.2,4.3,553,5312,0.00,2.40,0.00,0.000,516,0.000,0.358,3558,599,1994,1913,2076,0,0,0,0,0,0,26.75,26.49,26.77
$GC,5355,0.50,146.6,3557,599,1913,2076,31.1,4.8,557,5364,0.10,2.35,0.00,0.000,5126,1.398,0.286,3524,2204,1994,1913,2076,0,0,0,0,0,0,26.40,26.52,26.51
$GC,5483,0.50,146.6,3523,2204,1913,2076,25.8,4.2,570,5487,0.00,2.40,0.00,0.000,516,0.000,0.360,3533,598,1994,1913,2076,0,0,0,0,0,0,26.76,26.50,26.78
$GC,5570,0.50,146.6,3533,598,1913,2076,22.0,4.3,578,5579,0.00,2.35,0.00,0.000,1030,0.000,0.283,3533,2203,1995,1914,2076,0,0,0,0,0,0,26.59,26.53,26.60
$GC,5701,0.50,146.6,3533,2203,1913,2076,15.2,6.2,600,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2203,1994,1913,2076,0,0,0,0,0,0,26.78,26.80,26.79
$GC,5768,0.50,146.6,3533,2203,1913,2076,11.6,5.2,613,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2203,1994,1913,2076,0,0,0,0,0,0,26.79,26.81,26.80
$GC,5835,0.50,146.6,3533,2203,1913,2076,8.5,4.9,626,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2203,1995,1913,2077,0,0,0,0,0,0,26.79,26.82,26.81
$GC,5902,0.50,146.6,3533,2203,1913,2076,4.8,5.9,639,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2203,1994,1913,2076,0,0,0,0,0,0,26.79,26.82,26.81
$STATE,5938,end climb,SURFACE_DEPTH_REACHED
$STATE,5938,begin surface coast
$FINISH,0.5,0.999714
$STATE,5999,end surface coast,CONTROL_FINISHED_OK
$STATE,6000,begin surface
$SM_CCo,6014,243.12,8.052,0,0,778,500.22
$SM_GC,1.53,8.48,0.00,243.12,0.323,0.000,8.052,198,2203,778,-9.79,0.08,500.22,0,0,0,0,0,0,26.54,26.82,24.01
$IRIDIUM_FIX,4726.11,-12222.38,070115,081932
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.43
$INTERNAL_PRESSURE,8.5362
$TCM_TEMP,17.80
$XPDR_PINGS,28
$ALTIM_TOP_PING,20.0,19.2
$ALTIM_BOTTOM_PING,125.3,66.1
$24V_AH,23.89,23.202
$10V_AH,10.42,2.678
$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,21.525,48.025,207.150,243.125,151.675,23.956,16.889,303.603,9.250,0.000,35.015,1575.508,2947.856,635.722,1493.717,66.740,0.000,1250.808,0.000,1091.723,0.000,18.002,0.000
$DEVICE_MAMPS,2319.122,444.457,9197.032,8052.369,883.948,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.696,866.732,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322884
$DATA_FILE_SIZE,36961,658
$CAP_FILE_SIZE,97657,0
$CFSIZE,1024409600,1020526592
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6360.16,0x238aa6,7,5
$INTR,1,6002.45,0x238aa6,7,5
$GPS,070115,115728,4743.073,-12225.101,10,1.7,38,18.2,0.3,225.1,7,5.9