version: 66.12
glider: 37
mission: 16
dive: 5
start: 1 6 115 22 58 20
data:
$ID,37
$MISSION,16
$DIVE,5
$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,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,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,65
$R_STBD_OVSHOOT,18
$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
$GPS1,060115,225433,4744.2651,-12224.2373,2,1.2,30,16.3,0.0,0.0,8,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.3
$GPS2,060115,225753,4744.2642,-12224.2393,5,1.0,15,16.3,0.0,0.0,9,9.1
$SPEED_LIMITS,0.100,0.260
$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,171.6,2364,-17.5,-10.000,-21.04,2226
$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,-1.12,-146.6,162,2148,936,1030,0.0,0.0,0,204,0.00,0.00,-185.40,0.134,16386,0.000,0.000,162,2148,2920,2921,2920,0,0,0,0,0,0,26.77,28.83,26.79
$GC,207,-1.12,-146.6,162,2148,2921,2919,3.3,-2.9,34,242,10.25,2.50,-15.38,0.161,18692,0.261,0.077,2825,3751,3210,3216,3205,0,0,0,0,0,0,25.95,26.15,26.06
$GC,545,-1.12,-146.6,2825,3751,3217,3206,50.6,-13.8,79,554,0.00,2.33,0.00,0.000,1030,0.000,0.062,2825,2141,3211,3217,3206,0,0,0,0,0,0,26.53,26.48,26.54
$GC,674,-1.12,-146.6,2825,2141,3216,3206,67.3,-13.3,92,678,0.00,2.38,0.00,0.000,516,0.000,0.074,2824,561,3211,3217,3206,0,0,0,0,0,0,26.79,26.51,26.81
$GC,780,-1.12,-146.6,2825,561,3216,3206,80.5,-12.7,102,784,0.00,2.35,0.00,0.000,1030,0.000,0.065,2813,2172,3211,3216,3206,0,0,0,0,0,0,26.65,26.58,26.66
$GC,905,-1.12,-146.6,2812,2172,3216,3206,95.0,-11.0,114,909,0.00,2.40,0.00,0.000,516,0.000,0.072,2813,569,3211,3216,3206,0,0,0,0,0,0,26.88,26.58,26.89
$GC,972,-1.12,-146.6,2813,569,3216,3205,103.7,-12.7,120,982,0.12,2.30,0.00,0.000,3078,0.186,0.065,2842,2155,3211,3216,3206,0,0,0,0,0,0,26.48,26.64,26.63
$GC,1103,-1.12,-146.6,2842,2154,3217,3206,118.5,-10.6,133,1111,0.00,2.33,0.00,0.000,260,0.000,0.079,2831,3712,3211,3216,3206,0,0,0,0,0,0,26.93,26.63,26.95
$GC,1176,-1.12,-146.6,2831,3712,3216,3206,127.1,-11.5,140,1181,0.00,2.25,0.00,0.000,1030,0.000,0.060,2832,2134,3211,3216,3206,0,0,0,0,0,0,26.76,26.70,26.77
$GC,1301,-1.12,-146.6,2831,2135,3216,3206,140.5,-10.3,152,1305,0.00,2.33,0.00,0.000,516,0.000,0.072,2832,572,3211,3216,3206,0,0,0,0,0,0,26.97,26.68,26.98
$GC,1438,-1.12,-146.6,2831,572,3216,3206,155.5,-12.3,165,1447,0.00,2.28,0.00,0.000,1030,0.000,0.065,2820,2147,3210,3216,3205,0,0,0,0,0,0,26.80,26.73,26.82
$GC,1567,-1.12,-146.6,2820,2147,3216,3206,171.7,-11.9,178,1571,0.00,2.35,0.00,0.000,516,0.000,0.072,2820,567,3211,3216,3206,0,0,0,0,0,0,27.01,26.72,27.03
$STATE,1642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1642,begin apogee
$GC,1648,-0.31,0.0,2808,2148,3217,3205,181.3,-13.2,185,1754,0.82,0.00,101.75,0.909,10246,0.161,0.000,3091,2149,2705,2705,2705,0,0,0,0,0,0,26.59,25.15,24.56
$STATE,1755,end apogee,CONTROL_FINISHED_OK
$STATE,1755,begin climb
$GC,1757,1.12,146.6,3091,2148,2704,2705,186.2,0.0,196,1865,1.23,0.00,103.93,0.872,10246,0.104,0.000,3543,2149,2200,2190,2210,0,0,0,0,0,0,25.29,24.94,24.38
$GC,1984,1.12,146.6,3543,2149,2190,2210,162.6,14.5,219,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2149,2200,2190,2210,0,0,0,0,0,0,26.11,26.13,26.13
$GC,2103,1.12,146.6,3543,2148,2190,2210,145.2,14.8,231,2107,0.00,2.45,0.00,0.000,516,0.000,0.074,3555,573,2200,2190,2210,0,0,0,0,0,0,26.37,26.08,26.39
$GC,2462,1.12,146.6,3555,573,2190,2210,94.9,13.7,266,2469,0.00,2.40,0.00,0.000,1030,0.000,0.065,3555,2162,2200,2190,2210,0,0,0,0,0,0,26.49,26.46,26.51
$GC,2589,1.12,146.6,3555,2163,2190,2210,77.1,14.2,279,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2163,2200,2190,2210,0,0,0,0,0,0,26.77,26.79,26.79
$GC,2709,1.12,146.6,3555,2163,2190,2210,60.6,13.3,291,2713,0.00,2.42,0.00,0.000,516,0.000,0.079,3567,576,2200,2190,2210,0,0,0,0,0,0,26.82,26.52,26.84
$GC,3077,1.12,146.6,3567,576,2190,2210,17.6,11.4,329,3084,0.00,2.30,0.00,0.000,1030,0.000,0.065,3567,2150,2200,2190,2210,0,0,0,0,0,0,26.74,26.68,26.76
$GC,3146,1.12,146.6,3567,2150,2190,2210,9.9,10.9,342,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2150,2199,2189,2210,0,0,0,0,0,0,26.95,26.97,26.97
$STATE,3206,end climb,SURFACE_DEPTH_REACHED
$STATE,3207,begin surface coast
$FINISH,0.4,1.021139
$STATE,3233,end surface coast,CONTROL_FINISHED_OK
$STATE,3233,begin surface
$SM_CCo,3248,229.25,0.767,0,0,982,500.22
$SM_GC,1.59,8.68,0.00,229.25,0.074,0.000,0.767,156,2150,982,-9.45,0.28,500.22,0,0,0,0,0,0,26.65,26.98,24.51
$IRIDIUM_FIX,4722.92,-12225.08,060115,225051
$TT8_MAMPS,0.02247,0.02247
$HUMID,40.98
$INTERNAL_PRESSURE,9.05497
$TCM_TEMP,19.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,120.6,70.8
$24V_AH,24.38,1.195
$10V_AH,10.57,0.450
$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,21.100,37.700,205.675,229.250,200.775,0.000,0.000,0.000,2.250,0.000,16.841,837.797,1298.912,619.739,764.285,33.271,0.000,1045.133,0.000,738.784,0.000,14.033,0.000
$DEVICE_MAMPS,260.715,79.456,908.778,767.247,161.395,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.390,472.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323004
$DATA_FILE_SIZE,20301,359
$CAP_FILE_SIZE,68733,0
$CFSIZE,1024409600,1021001728
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,4285.97,0x238aa6,7,5
$INTR,1,3236.01,0x238aa6,7,5
$GPS,060115,235703,4743.734,-12224.459,3,0.8,11,16.3,0.0,0.0,10,9.8