version: 66.12
glider: 37
mission: 16
dive: 4
start: 1 6 115 21 46 53
data:
$ID,37
$MISSION,16
$DIVE,4
$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,60
$T_MISSION,75
$T_ABORT,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,78094
$MASS_COMP,9226.7002
$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,1
$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,150
$PITCH_MAX,3950
$C_PITCH,3196
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,16.240646
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,265
$ROLL_MAX,3830
$ROLL_DEG,45
$C_ROLL_DIVE,2140
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,280
$VBD_MAX,3960
$C_VBD,2705
$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,-1069.8505
$PRESSURE_SLOPE,0.00091968128
$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,0
$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,1.75
$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,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,060115,213936,4744.1323,-12224.1797,3,1.0,12,16.3,0.0,0.0,10,9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.1
$GPS2,060115,214625,4744.1206,-12224.1572,5,1.0,14,16.3,0.0,0.0,9,9.6
$SPEED_LIMITS,0.100,0.260
$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,312.4,822,-19.6,-10.000,-22.95,1805
$D_GRID,174
$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,-1.24,-118.7,158,2151,935,1030,0.0,0.0,0,209,0.00,0.00,-190.68,0.134,16386,0.000,0.000,159,2151,2970,2971,2970,0,0,0,0,0,0,26.42,28.83,26.44
$GC,212,-1.25,-146.6,158,2152,2971,2970,3.2,-3.4,35,242,10.20,2.50,-13.07,0.166,18948,0.263,0.072,2793,568,3211,3216,3206,0,0,0,0,0,0,25.77,25.99,25.90
$GC,409,-1.25,-146.6,2792,568,3216,3206,35.1,-18.3,65,413,0.00,2.35,0.00,0.000,1030,0.000,0.065,2783,2150,3211,3216,3206,0,0,0,0,0,0,26.36,26.29,26.37
$GC,534,-1.25,-146.6,2782,2150,3215,3206,55.8,-17.0,77,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2150,3210,3215,3205,0,0,0,0,0,0,26.65,26.67,26.67
$GC,654,-1.25,-146.6,2782,2150,3215,3206,75.0,-15.3,89,658,0.00,2.40,0.00,0.000,260,0.000,0.079,2770,3726,3210,3215,3206,0,0,0,0,0,0,26.72,26.44,26.74
$GC,754,-1.25,-146.6,2770,3725,3215,3206,92.6,-20.0,98,761,0.00,2.30,0.00,0.000,1030,0.000,0.062,2771,2132,3210,3215,3206,0,0,0,0,0,0,26.60,26.54,26.61
$GC,881,-1.25,-146.6,2770,2132,3215,3206,115.5,-17.3,111,890,0.00,2.40,0.00,0.000,260,0.000,0.077,2759,3718,3211,3216,3206,0,0,0,0,0,0,26.80,26.53,26.82
$GC,937,-1.25,-146.6,2759,3719,3215,3206,124.4,-15.8,116,944,0.12,2.28,0.00,0.000,3078,0.196,0.060,2797,2130,3211,3216,3206,0,0,0,0,0,0,26.41,26.60,26.57
$GC,1064,-1.25,-146.6,2797,2129,3215,3206,143.2,-14.3,129,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2129,3210,3215,3206,0,0,0,0,0,0,26.89,26.91,26.90
$GC,1184,-1.25,-146.6,2797,2129,3215,3206,159.4,-13.4,141,1188,0.00,2.40,0.00,0.000,260,0.000,0.077,2787,3722,3210,3215,3206,0,0,0,0,0,0,26.92,26.63,26.94
$GC,1293,-1.25,-146.6,2786,3722,3215,3206,173.7,-13.4,151,1300,0.00,2.30,0.00,0.000,1030,0.000,0.060,2786,2132,3210,3215,3206,0,0,0,0,0,0,26.77,26.71,26.77
$STATE,1308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1308,begin apogee
$GC,1312,-0.31,0.0,2787,2132,3215,3206,176.1,-12.9,153,1420,0.93,0.00,101.78,0.896,10246,0.156,0.000,3097,2122,2705,2705,2705,0,0,0,0,0,0,26.52,25.15,24.55
$STATE,1421,end apogee,CONTROL_FINISHED_OK
$STATE,1421,begin climb
$GC,1423,1.25,146.6,3097,2123,2705,2705,179.3,0.0,164,1531,1.33,0.00,104.00,0.862,10246,0.107,0.000,3580,2123,2200,2190,2210,0,0,0,0,0,0,25.30,24.96,24.41
$GC,1650,1.25,146.6,3580,2123,2190,2210,151.7,15.6,187,1659,0.00,2.38,0.00,0.000,516,0.000,0.074,3591,583,2200,2190,2210,0,0,0,0,0,0,26.13,25.86,26.15
$GC,1701,1.25,146.6,3591,583,2190,2210,143.8,15.3,192,1705,0.00,2.35,0.00,0.000,1030,0.000,0.065,3592,2140,2200,2190,2210,0,0,0,0,0,0,26.08,26.02,26.10
$GC,1826,1.25,146.6,3591,2140,2190,2210,125.4,14.3,204,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2140,2200,2190,2210,0,0,0,0,0,0,26.47,26.49,26.48
$GC,1946,1.25,146.6,3591,2140,2190,2210,108.8,13.1,216,1955,0.00,2.40,0.00,0.000,516,0.000,0.079,3603,584,2200,2190,2210,0,0,0,0,0,0,26.60,26.29,26.61
$GC,2066,1.25,146.6,3603,584,2190,2210,93.0,11.9,228,2070,0.00,2.33,0.00,0.000,1030,0.000,0.065,3603,2150,2200,2190,2210,0,0,0,0,0,0,26.50,26.44,26.52
$GC,2191,1.25,146.6,3603,2150,2190,2210,76.4,14.5,240,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2150,2200,2190,2210,0,0,0,0,0,0,26.75,26.78,26.77
$GC,2311,1.25,146.6,3603,2150,2190,2210,59.8,13.1,252,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2150,2200,2190,2210,0,0,0,0,0,0,26.81,26.84,26.83
$GC,2431,1.25,146.6,3603,2150,2189,2210,42.7,14.7,264,2436,0.00,2.40,0.00,0.000,516,0.000,0.079,3615,575,2200,2190,2211,0,0,0,0,0,0,26.86,26.55,26.87
$STATE,2726,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,-0.1,1.000616
$STATE,2747,end surface coast,CONTROL_FINISHED_OK
$STATE,2748,begin surface
$SM_CCo,2765,224.80,0.765,0,0,983,500.22
$SM_GC,1.54,8.82,2.35,224.80,0.077,0.062,0.765,162,2116,983,-9.43,-1.33,500.22,0,0,0,0,0,0,26.62,26.69,24.53
$IRIDIUM_FIX,4726.11,-12219.67,060115,214042
$TT8_MAMPS,0.02247,0.02247
$HUMID,41.29
$INTERNAL_PRESSURE,9.06473
$TCM_TEMP,19.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.0,18.7
$ALTIM_BOTTOM_PING,120.8,68.5
$24V_AH,24.41,1.064
$10V_AH,10.39,0.416
$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,21.400,33.125,205.775,224.800,203.750,48.767,79.278,162.897,2.000,0.000,15.537,708.664,1161.769,611.653,892.192,47.111,0.000,964.924,0.000,569.775,0.000,14.012,0.000
$DEVICE_MAMPS,263.198,79.456,896.363,764.764,166.361,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.245,406.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322944
$DATA_FILE_SIZE,16886,309
$CAP_FILE_SIZE,51247,0
$CFSIZE,1024409600,1021067264
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3773.48,0x238aa6,7,5
$INTR,1,1309.77,0x238aa6,2,5
$GPS,060115,223733,4744.284,-12224.265,3,0.8,16,16.3,0.0,0.0,11,9.7