version: 66.12
glider: 36
mission: 17
dive: 15
start: 1 7 115 15 49 59
data:
$ID,36
$MISSION,17
$DIVE,15
$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,50
$T_MISSION,60
$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,61
$R_STBD_OVSHOOT,45
$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
$GPS1,070115,154058,4743.1294,-12225.5156,30,1.6,40,18.2,0.4,326.8,7,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-68.5
$GPS2,070115,154934,4743.1265,-12225.4971,9,1.5,30,18.2,0.0,0.0,7,5.7
$SPEED_LIMITS,0.120,0.276
$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,82.5,1264,-20.5,-12.000,-23.53,1860
$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,-1.00,-146.6,192,2197,661,897,0.0,0.0,0,160,0.00,0.00,-141.85,0.772,16386,0.000,0.000,192,2198,2775,2693,2857,0,0,0,0,0,0,26.01,28.83,26.03
$GC,162,-1.00,-146.6,192,2197,2693,2857,3.6,-5.6,26,192,11.27,2.42,-10.25,0.884,18948,2.309,0.350,3038,627,3006,2917,3095,0,0,0,0,0,0,25.47,25.70,25.61
$GC,228,-1.00,-146.6,3038,627,2917,3095,13.9,-15.9,38,235,0.00,2.38,0.00,0.000,1030,0.000,0.278,3029,2202,3006,2917,3095,0,0,0,0,0,0,25.85,25.79,25.86
$GC,296,-1.00,-146.6,3028,2201,2917,3095,25.2,-16.5,48,297,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2202,3006,2917,3095,0,0,0,0,0,0,26.11,26.13,26.13
$GC,416,-1.00,-146.6,3028,2202,2917,3095,45.9,-18.0,60,421,0.00,2.42,0.00,0.000,516,0.000,0.350,3029,627,3006,2917,3095,0,0,0,0,0,0,26.22,25.97,26.25
$GC,455,-1.00,-146.6,3028,627,2917,3095,53.0,-19.0,63,462,0.00,2.40,0.00,0.000,1030,0.000,0.278,3017,2199,3006,2917,3095,0,0,0,0,0,0,26.05,26.02,26.07
$GC,582,-1.00,-146.6,3017,2199,2916,3095,73.3,-13.8,76,587,0.00,2.47,0.00,0.000,260,0.000,0.439,3006,3788,3006,2917,3096,0,0,0,0,0,0,26.33,26.06,26.35
$GC,718,-1.00,-146.6,3006,3788,2918,3094,93.8,-15.3,89,728,0.12,2.38,0.00,0.000,3078,1.614,0.251,3043,2190,3006,2917,3095,0,0,0,0,0,0,26.00,26.17,26.14
$GC,849,-1.00,-146.6,3043,2189,2917,3095,111.3,-13.9,102,850,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2189,3006,2917,3095,0,0,0,0,0,0,26.42,26.44,26.44
$GC,968,-1.00,-146.6,3042,2190,2917,3095,127.3,-13.5,114,969,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2189,3005,2916,3095,0,0,0,0,0,0,26.48,26.51,26.51
$GC,1088,-1.00,-146.6,3043,2189,2917,3095,140.7,-10.1,126,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2189,3006,2917,3095,0,0,0,0,0,0,26.53,26.55,26.54
$GC,1209,-1.00,-146.6,3042,2189,2917,3095,152.4,-8.7,138,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2189,3006,2917,3095,0,0,0,0,0,0,26.55,26.58,26.58
$GC,1328,-1.00,-146.6,3042,2189,2917,3095,166.3,-12.3,150,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2189,3006,2917,3095,0,0,0,0,0,0,26.58,26.60,26.60
$GC,1448,-1.00,-146.6,3043,2190,2917,3095,178.6,-10.0,162,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2189,3006,2917,3095,0,0,0,0,0,0,26.60,26.61,26.61
$STATE,1457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1457,begin apogee
$GC,1460,-0.23,0.0,3042,2190,2917,3095,180.0,-10.3,163,1569,0.75,0.00,103.30,9.229,10246,1.214,0.000,3293,2188,2499,2424,2575,0,0,0,0,0,0,26.22,24.72,24.07
$STATE,1570,end apogee,CONTROL_FINISHED_OK
$STATE,1570,begin climb
$GC,1572,1.00,146.6,3292,2188,2424,2575,184.8,0.0,174,1680,1.05,0.00,104.53,9.058,10246,0.703,0.000,3666,2188,1994,1912,2077,0,0,0,0,0,0,24.88,24.49,23.87
$GC,1799,1.00,146.6,3666,2188,1912,2077,161.3,12.5,197,1807,0.00,2.42,0.00,0.000,516,0.000,0.348,3678,636,1994,1912,2077,0,0,0,0,0,0,25.69,25.46,25.71
$GC,1892,1.00,146.6,3678,636,1912,2077,149.2,14.0,206,1899,0.00,2.42,0.00,0.000,1030,0.000,0.281,3678,2196,1994,1912,2077,0,0,0,0,0,0,25.72,25.69,25.74
$GC,2019,1.00,146.6,3677,2196,1912,2077,131.3,12.6,219,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,3677,2196,1994,1912,2077,0,0,0,0,0,0,26.09,26.11,26.11
$GC,2139,1.00,146.6,3677,2196,1912,2077,116.0,13.1,231,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3678,2195,1994,1912,2077,0,0,0,0,0,0,26.21,26.23,26.22
$GC,2259,1.00,146.6,3677,2196,1912,2077,99.6,14.4,243,2263,0.00,2.40,0.00,0.000,516,0.000,0.343,3689,631,1994,1912,2077,0,0,0,0,0,0,26.29,26.04,26.31
$GC,2308,1.00,146.6,3689,630,1912,2077,92.6,15.0,247,2315,0.00,2.40,0.00,0.000,1030,0.000,0.288,3689,2201,1994,1912,2077,0,0,0,0,0,0,26.12,26.08,26.13
$GC,2435,1.00,146.6,3689,2201,1912,2077,74.0,14.0,260,2439,0.00,2.47,0.00,0.000,260,0.000,0.435,3688,3779,1994,1912,2077,0,0,0,0,0,0,26.39,26.11,26.41
$GC,2561,1.00,146.6,3689,3780,1912,2077,54.4,15.0,272,2570,0.00,2.35,0.00,0.000,1030,0.000,0.246,3701,2198,1994,1912,2077,0,0,0,0,0,0,26.27,26.22,26.29
$GC,2691,1.00,146.6,3701,2197,1912,2077,38.4,11.6,285,2695,0.00,2.47,0.00,0.000,260,0.000,0.435,3701,3776,1994,1912,2077,0,0,0,0,0,0,26.48,26.21,26.51
$GC,2738,1.00,146.6,3701,3777,1912,2077,33.1,11.8,289,2747,0.00,2.35,0.00,0.000,1030,0.000,0.241,3713,2187,1995,1913,2077,0,0,0,0,0,0,26.34,26.29,26.35
$GC,2868,1.00,146.6,3713,2187,1911,2077,20.0,10.2,302,2874,0.00,2.33,0.00,0.000,516,0.000,0.338,3724,635,1994,1912,2077,0,0,0,0,0,0,26.51,26.29,26.53
$GC,2891,1.00,146.6,3724,635,1912,2077,17.3,11.6,306,2898,0.15,2.35,0.00,0.000,5126,1.602,0.278,3681,2212,1994,1912,2077,0,0,0,0,0,0,26.14,26.31,26.28
$GC,2960,1.02,203.4,3680,2212,1912,2077,9.5,8.9,319,3004,0.00,0.00,39.33,7.956,8454,0.000,0.000,3680,2212,1798,1713,1883,0,0,0,0,0,0,26.55,25.49,24.89
$STATE,3009,end climb,SURFACE_DEPTH_REACHED
$STATE,3009,begin surface coast
$FINISH,0.7,1.021998
$STATE,3031,end surface coast,CONTROL_FINISHED_OK
$STATE,3031,begin surface
$SM_CCo,3046,205.52,7.985,0,0,778,500.22
$SM_GC,1.47,9.20,0.00,205.52,0.360,0.000,7.985,203,2212,778,-9.79,0.34,500.22,0,0,0,0,0,0,25.72,26.01,23.98
$IRIDIUM_FIX,4722.92,-12225.08,070115,135503
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.15
$INTERNAL_PRESSURE,8.5362
$TCM_TEMP,17.70
$XPDR_PINGS,25
$ALTIM_TOP_PING,20.0,19.3
$ALTIM_BOTTOM_PING,135.6,73.1
$24V_AH,23.87,26.634
$10V_AH,10.41,2.817
$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,22.550,38.450,247.150,205.525,152.100,25.399,36.640,345.155,8.750,0.000,31.587,767.286,1327.024,604.925,1032.613,49.029,0.000,973.663,0.000,578.054,0.000,18.245,0.000
$DEVICE_MAMPS,2309.190,439.491,9229.312,7985.328,883.948,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.206,435.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322928
$DATA_FILE_SIZE,20271,332
$CAP_FILE_SIZE,63473,0
$CFSIZE,1024409600,1020379136
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6492.89,0x238aa6,7,5
$INTR,1,1458.28,0x238aa6,2,5
$INTR,2,3033.94,0x238aa6,7,5
$GPS,070115,164528,4743.059,-12224.994,15,1.4,42,18.2,0.0,0.0,7,5.0