version: 66.12
glider: 37
mission: 17
dive: 90
start: 7 5 117 19 51 33
data:
$ID,37
$MISSION,17
$DIVE,90
$N_DIVES,0
$STOP_T,7051720
$D_SURF,5
$D_FLARE,3
$D_TGT,540
$D_ABORT,6000
$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,180
$T_MISSION,210
$T_ABORT,240
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79136.703
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,1
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2645
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,1614
$C_ROLL_CLIMB,1625
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.159239
$PRESSURE_SLOPE,0
$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,0
$ALTIM_PING_DEPTH,3700
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,050717,194507,2558.8494,-7549.5708,3,0.9,37,-9.0,0.0,0.0,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-42.6
$GPS2,050717,195105,2558.8867,-7549.6143,4,0.9,21,-9.0,0.0,0.0,8,4.9
$SPEED_LIMITS,0.173,0.230
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$TGT_RADIUS,10000.000
$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,329.1,107683,-20.9,-10.000,-23.52,2226
$D_GRID,540
$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,int_press,humidity
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.09,-146.0,133,1642,41,251,0.0,0.0,0,201,0.00,0.00,-183.23,0.102,16386,0.000,0.000,134,1642,2675,2609,2742,0,0,0,0,0,0,27.15,28.83,27.17,9.15,15.30
$GC,204,-1.09,-146.0,134,1643,2609,2742,4.2,-5.0,18,225,8.23,2.28,-6.05,0.134,18692,0.256,0.060,2280,3189,2844,2783,2906,0,0,0,0,0,0,26.00,26.61,26.36,9.43,14.28
$GC,540,-1.09,-146.0,2279,3190,2783,2906,58.1,-12.0,51,544,0.00,2.17,0.00,0.000,1030,0.000,0.055,2280,1597,2844,2783,2906,0,0,0,0,0,0,26.89,26.84,26.91,9.44,14.99
$GC,852,-1.09,-146.0,2279,1597,2783,2904,97.3,-12.5,82,855,0.00,1.98,0.00,0.000,516,0.000,0.065,2280,209,2843,2783,2904,0,0,0,0,0,0,27.18,26.76,27.20,9.41,15.15
$GC,1086,-1.03,-146.0,2279,203,2783,2902,127.4,-12.4,105,1096,0.12,1.92,0.00,0.000,3078,0.194,0.055,2309,1643,2842,2783,2901,0,0,0,0,0,0,26.46,26.86,26.61,9.39,15.03
$GC,1404,-1.03,-146.0,2308,1644,2783,2902,162.2,-10.0,131,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,1643,2842,2783,2901,0,0,0,0,0,0,27.19,27.20,27.20,9.36,15.03
$GC,1704,-1.03,-146.0,2308,1643,2783,2900,194.7,-11.1,146,1707,0.00,2.17,0.00,0.000,260,0.000,0.065,2300,3174,2841,2783,2900,0,0,0,0,0,0,27.19,26.76,27.20,9.34,15.15
$GC,1773,-1.03,-146.0,2299,3175,2782,2900,201.8,-11.5,149,1778,0.00,2.17,0.00,0.000,1030,0.000,0.055,2300,1602,2841,2782,2900,0,0,0,0,0,0,26.90,26.84,26.92,9.34,15.19
$GC,2081,-1.03,-146.0,2299,1602,2782,2898,237.3,-11.3,164,2084,0.00,2.00,0.00,0.000,516,0.000,0.067,2300,210,2840,2782,2898,0,0,0,0,0,0,27.18,26.73,27.20,9.31,15.62
$GC,2130,-1.03,-146.0,2300,202,2782,2897,242.5,-11.7,166,2134,0.00,1.90,0.00,0.000,1030,0.000,0.055,2293,1612,2839,2782,2897,0,0,0,0,0,0,26.91,26.86,26.94,9.31,15.26
$GC,2442,-1.03,-146.0,2292,1612,2781,2895,281.1,-12.0,182,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1611,2838,2781,2896,0,0,0,0,0,0,27.18,27.20,27.20,9.28,15.93
$GC,2752,-1.03,-146.0,2292,1611,2779,2894,320.2,-12.7,195,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1611,2836,2779,2894,0,0,0,0,0,0,27.18,27.20,27.20,9.27,16.05
$GC,3052,-1.03,-146.0,2292,1612,2778,2893,358.7,-12.6,205,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1612,2835,2778,2893,0,0,0,0,0,0,27.18,27.20,27.20,9.23,15.74
$GC,3352,-1.03,-146.0,2292,1612,2777,2892,395.7,-12.2,215,3356,0.00,2.08,0.00,0.000,516,0.000,0.067,2293,223,2834,2777,2892,0,0,0,0,0,0,27.17,26.71,27.19,9.22,15.89
$GC,3416,-1.03,-146.0,2292,196,2777,2891,403.8,-12.4,217,3420,0.00,1.95,0.00,0.000,1030,0.000,0.055,2285,1604,2834,2777,2891,0,0,0,0,0,0,26.91,26.85,26.93,9.23,15.82
$GC,3744,-1.03,-146.0,2284,1605,2776,2890,445.5,-12.9,228,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1604,2832,2775,2890,0,0,0,0,0,0,27.17,27.20,27.19,9.20,15.78
$GC,4044,-1.03,-146.0,2284,1605,2774,2887,485.5,-13.3,238,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1604,2830,2774,2887,0,0,0,0,0,0,27.17,27.20,27.19,9.18,16.01
$GC,4344,-1.03,-146.0,2284,1605,2773,2886,524.4,-12.8,248,4348,0.00,2.08,0.00,0.000,516,0.000,0.067,2285,229,2829,2773,2886,0,0,0,0,0,0,27.17,26.69,27.19,9.17,16.68
$GC,4388,-1.03,-146.0,2284,202,2774,2885,528.6,-13.0,249,4393,0.12,1.95,0.00,0.000,3078,0.189,0.055,2313,1622,2829,2773,2885,0,0,0,0,0,0,26.41,26.83,26.56,9.16,16.25
$STATE,4493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4498,-0.25,0.0,2312,1622,2773,2885,542.5,-11.5,253,4606,0.73,0.00,104.68,0.998,10246,0.149,0.000,2564,1621,2340,2280,2401,0,0,0,0,0,0,26.23,25.75,24.94,9.16,16.13
$STATE,4607,end apogee,CONTROL_FINISHED_OK
$STATE,4607,begin climb
$GC,4609,1.09,146.0,2564,1621,2280,2401,545.1,0.0,256,4723,1.08,2.17,106.00,0.991,10756,0.099,0.072,3000,209,1837,1760,1914,0,0,0,0,0,0,25.98,25.78,25.01,9.11,15.38
$GC,5150,0.95,194.2,2999,208,1761,1910,521.7,7.8,274,5191,0.15,1.98,34.97,0.951,13318,0.221,0.055,2958,1636,1671,1589,1753,0,0,0,0,0,0,26.25,26.78,25.37,9.03,15.89
$GC,5518,0.89,194.2,2956,1636,1587,1753,484.7,10.0,287,5525,0.00,2.15,0.00,0.000,516,0.000,0.072,2968,207,1670,1588,1753,0,0,0,0,0,0,27.08,26.65,27.09,9.00,16.21
$GC,5688,0.81,194.2,2967,207,1588,1751,468.8,10.9,292,5693,0.20,2.00,0.00,0.000,5126,0.216,0.060,2911,1632,1669,1587,1751,0,0,0,0,0,0,26.19,26.80,26.45,9.00,16.56
$GC,5994,0.81,194.2,2910,1632,1587,1751,441.0,8.0,302,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1632,1669,1587,1751,0,0,0,0,0,0,27.15,27.17,27.16,8.99,16.64
$GC,6295,0.82,242.1,2910,1632,1586,1751,416.9,7.8,312,6331,0.00,0.00,34.30,0.901,8710,0.000,0.000,2911,1632,1506,1420,1593,0,0,0,0,0,0,27.15,26.17,25.45,8.99,16.29
$GC,6650,0.82,242.1,2910,1632,1418,1593,382.8,10.0,324,6656,0.00,2.15,0.00,0.000,516,0.000,0.074,2920,209,1505,1418,1593,0,0,0,0,0,0,27.08,26.62,27.09,8.98,16.09
$GC,6727,0.82,242.1,2920,208,1418,1592,376.5,10.2,326,6731,0.00,2.00,0.00,0.000,1030,0.000,0.060,2920,1621,1505,1418,1592,0,0,0,0,0,0,26.84,26.77,26.85,8.98,16.21
$GC,7040,0.82,242.1,2919,1621,1418,1592,341.5,10.8,337,7046,0.00,2.15,0.00,0.000,516,0.000,0.074,2930,201,1505,1418,1592,0,0,0,0,0,0,27.15,26.65,27.16,8.98,16.17
$GC,7137,0.82,242.1,2930,201,1418,1591,331.3,11.1,340,7141,0.00,2.03,0.00,0.000,1030,0.000,0.060,2930,1625,1504,1418,1591,0,0,0,0,0,0,26.86,26.80,26.89,8.98,16.17
$GC,7450,0.82,242.1,2929,1625,1417,1591,296.7,10.7,351,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1625,1505,1418,1592,0,0,0,0,0,0,27.15,27.17,27.17,8.98,16.41
$GC,7750,0.82,242.1,2929,1625,1417,1591,263.3,11.2,366,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1625,1504,1417,1591,0,0,0,0,0,0,27.16,27.18,27.17,8.99,15.70
$GC,8050,0.82,242.1,2929,1625,1417,1591,230.7,10.7,381,8053,0.00,2.12,0.00,0.000,516,0.000,0.074,2939,206,1504,1417,1591,0,0,0,0,0,0,27.16,26.62,27.17,8.99,15.97
$GC,8164,0.82,242.1,2938,206,1417,1591,219.5,11.1,386,8171,0.00,2.03,0.00,0.000,1030,0.000,0.060,2937,1634,1504,1417,1591,0,0,0,0,0,0,26.85,26.78,26.87,8.99,16.33
$GC,8471,0.82,242.1,2937,1633,1417,1591,185.4,10.2,402,8477,0.00,2.15,0.00,0.000,516,0.000,0.072,2946,206,1504,1417,1591,0,0,0,0,0,0,27.16,26.60,27.17,9.00,16.25
$GC,8539,0.82,242.1,2946,206,1417,1591,179.2,10.2,405,8544,0.12,2.00,0.00,0.000,5126,0.199,0.057,2909,1629,1504,1417,1591,0,0,0,0,0,0,26.32,26.78,26.48,9.00,16.25
$GC,8853,0.89,242.1,2908,1630,1417,1591,149.3,9.1,421,8857,0.00,2.30,0.00,0.000,260,0.000,0.065,2908,3184,1504,1417,1591,0,0,0,0,0,0,27.16,26.63,27.17,9.01,15.58
$GC,8957,0.89,242.1,2908,3196,1416,1591,138.5,10.8,431,8965,0.00,2.25,0.00,0.000,1030,0.000,0.057,2919,1641,1504,1417,1591,0,0,0,0,0,0,26.79,26.69,26.82,9.02,16.41
$GC,9266,0.95,242.1,2919,1642,1417,1591,108.7,9.7,462,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1642,1503,1416,1591,0,0,0,0,0,0,27.16,27.17,27.17,9.03,16.29
$GC,9566,1.02,242.1,2919,1642,1417,1591,81.2,9.5,492,9577,0.10,2.10,0.00,0.000,2564,0.139,0.070,2994,189,1504,1417,1591,0,0,0,0,0,0,26.82,26.59,26.84,9.04,15.70
$GC,9884,1.02,242.1,2994,189,1418,1591,46.4,11.8,523,9893,0.00,2.03,0.00,0.000,1030,0.000,0.057,2994,1634,1504,1417,1591,0,0,0,0,0,0,26.84,26.77,26.86,9.07,16.13
$GC,10195,1.04,297.7,2993,1634,1418,1591,19.7,7.4,554,10243,0.00,2.20,39.40,0.638,8708,0.000,0.077,3004,179,1315,1223,1407,0,0,0,0,0,0,27.14,26.28,25.62,9.10,15.54
$GC,10349,1.04,297.7,3004,179,1224,1405,6.6,8.7,569,10357,0.00,2.08,0.00,0.000,1030,0.000,0.057,3005,1631,1314,1224,1405,0,0,0,0,0,0,26.63,26.60,26.65,9.09,15.62
$STATE,10365,end climb,SURFACE_DEPTH_REACHED
$STATE,10365,begin surface coast
$FINISH,0.7,1.023305
$STATE,10417,end surface coast,CONTROL_FINISHED_OK
$STATE,10417,begin surface
$SM_CCo,10433,69.80,0.621,0,0,963,400.00
$SM_GC,0.29,7.95,0.00,69.80,0.122,0.000,0.621,141,1631,963,-7.76,0.48,400.00,0,0,0,0,0,0,26.44,27.01,25.46
$IRIDIUM_FIX,2548.58,-7549.68,050717,194543
$TT8_MAMPS,0.021721,0.180509
$HUMID,14.99
$INTERNAL_PRESSURE,9.02257
$TCM_TEMP,31.90
$XPDR_PINGS,3986
$ALTIM_TOP_PING,19.7,19.6
$24V_AH,24.94,47.859
$10V_AH,10.57,19.060
$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,18.800,62.525,319.350,69.800,189.275,0.000,0.000,0.000,996.750,0.000,22.471,1779.698,6747.052,587.360,1387.572,87.095,0.000,1310.103,0.000,1348.576,0.000,2.663,0.000
$DEVICE_MAMPS,255.749,76.973,998.166,620.750,134.082,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.125,761.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284740
$DATA_FILE_SIZE,41795,576
$CAP_FILE_SIZE,1991138,0
$CFSIZE,2047311872,2021392384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,208.80,1
$GPS,050717,224758,2559.728,-7550.572,38,0.8,45,-9.0,0.5,337.7,10,4.8