version: 66.12
glider: 37
mission: 16
dive: 6
start: 1 7 115 0 13 55
data:
$ID,37
$MISSION,16
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,65
$T_MISSION,70
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,265
$C_ROLL_CLIMB,265
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,47
$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,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,1.75
$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
$GPS1,070115,000927,4743.7329,-12224.4512,2,0.9,15,16.3,0.0,0.0,8,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.7
$GPS2,070115,001327,4743.7310,-12224.4893,5,0.9,18,16.3,0.0,0.0,8,7.8
$SPEED_LIMITS,0.287,0.293
$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,164.3,1354,-9.5,-7.692,-14.70,4751
$D_GRID,150
$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,14,-0.66,-244.3,168,250,935,1030,0.0,0.0,0,175,0.00,0.00,-157.50,0.134,16386,0.000,0.000,168,251,2708,2711,2705,0,0,0,0,0,0,26.70,28.83,26.72
$GC,178,-0.66,-244.3,168,251,2711,2705,3.1,-2.7,29,240,10.82,0.00,-47.85,0.142,18438,0.263,0.000,2980,250,3547,3560,3535,0,0,0,0,0,0,25.94,26.13,26.01
$GC,302,-0.66,-244.3,2979,251,3559,3536,12.3,-9.5,52,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3547,3559,3536,0,0,0,0,0,0,26.48,26.51,26.50
$GC,369,-0.66,-244.3,2980,251,3560,3536,18.3,-8.9,65,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3548,3560,3536,0,0,0,0,0,0,26.55,26.58,26.58
$GC,442,-0.66,-244.3,2980,250,3560,3536,24.5,-8.7,74,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3547,3559,3536,0,0,0,0,0,0,26.63,26.64,26.63
$GC,562,-0.66,-244.3,2980,251,3559,3536,34.4,-8.4,86,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3548,3560,3536,0,0,0,0,0,0,26.70,26.72,26.72
$GC,682,-0.66,-244.3,2980,251,3560,3536,44.7,-8.5,98,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3548,3560,3536,0,0,0,0,0,0,26.77,26.79,26.78
$GC,802,-0.66,-244.3,2980,251,3560,3536,57.1,-10.8,110,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,251,3548,3560,3536,0,0,0,0,0,0,26.82,26.84,26.83
$GC,922,-0.66,-244.3,2980,251,3559,3536,68.3,-10.0,122,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3548,3560,3536,0,0,0,0,0,0,26.86,26.88,26.87
$GC,1042,-0.66,-244.3,2980,251,3559,3536,78.8,-8.7,134,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,250,3548,3560,3536,0,0,0,0,0,0,26.89,26.91,26.91
$GC,1162,-0.66,-244.3,2980,251,3560,3536,89.6,-9.2,146,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3547,3559,3536,0,0,0,0,0,0,26.92,26.95,26.94
$GC,1282,-0.66,-244.3,2980,251,3560,3535,100.0,-8.6,158,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3548,3560,3536,0,0,0,0,0,0,26.92,26.94,26.94
$GC,1402,-0.66,-244.3,2980,250,3560,3535,109.8,-8.1,170,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3547,3559,3536,0,0,0,0,0,0,26.97,26.99,26.99
$GC,1523,-0.66,-244.3,2980,250,3559,3536,119.4,-8.1,182,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,250,3547,3559,3536,0,0,0,0,0,0,26.99,27.01,27.01
$GC,1642,-0.66,-244.3,2980,251,3559,3536,129.8,-9.2,194,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3548,3560,3536,0,0,0,0,0,0,27.01,27.03,27.03
$GC,1762,-0.66,-244.3,2980,251,3560,3535,137.4,-6.4,206,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,251,3548,3560,3536,0,0,0,0,0,0,27.03,27.05,27.05
$GC,1882,-0.66,-244.3,2980,251,3560,3536,147.5,-7.2,218,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,251,3547,3559,3536,0,0,0,0,0,0,27.04,27.07,27.06
$STATE,1910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1910,begin apogee
$GC,1914,-0.31,0.0,2980,251,3560,3535,150.4,-9.2,221,2091,0.32,0.00,169.18,0.876,10246,0.134,0.000,3101,251,2705,2712,2699,0,0,0,0,0,0,26.69,24.98,24.41
$STATE,2092,end apogee,CONTROL_FINISHED_OK
$STATE,2092,begin climb
$GC,2094,0.66,244.3,3101,250,2711,2699,153.6,0.0,239,2272,0.82,0.00,172.23,0.842,10246,0.112,0.000,3393,250,1862,1861,1864,0,0,0,0,0,0,25.15,24.89,24.36
$GC,2392,0.66,244.3,3393,251,1861,1864,135.0,8.5,269,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,250,1862,1861,1864,0,0,0,0,0,0,26.06,26.08,26.07
$GC,2512,0.66,244.3,3393,250,1861,1865,125.3,7.9,281,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,250,1863,1861,1865,0,0,0,0,0,0,26.32,26.34,26.34
$GC,2632,0.66,244.3,3393,250,1861,1864,115.1,9.1,293,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,250,1862,1861,1864,0,0,0,0,0,0,26.47,26.50,26.49
$GC,2752,0.66,244.3,3393,250,1861,1864,105.7,7.1,305,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,251,1862,1861,1864,0,0,0,0,0,0,26.58,26.60,26.60
$GC,2872,0.66,244.3,3393,250,1861,1865,95.7,8.1,317,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,251,1862,1861,1864,0,0,0,0,0,0,26.66,26.69,26.68
$GC,2992,0.66,244.3,3393,250,1862,1864,85.9,9.2,329,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,250,1863,1862,1865,0,0,0,0,0,0,26.72,26.75,26.74
$GC,3112,0.66,244.3,3393,250,1861,1865,76.3,8.0,341,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,250,1863,1861,1865,0,0,0,0,0,0,26.78,26.81,26.80
$GC,3232,0.66,244.3,3393,250,1862,1865,66.4,8.9,353,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,250,1862,1861,1864,0,0,0,0,0,0,26.83,26.85,26.84
$GC,3352,0.66,244.3,3393,250,1861,1864,56.7,8.1,365,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,250,1863,1861,1865,0,0,0,0,0,0,26.86,26.89,26.89
$GC,3472,0.66,244.3,3393,250,1861,1865,46.5,8.2,377,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,250,1863,1861,1865,0,0,0,0,0,0,26.90,26.93,26.92
$GC,3592,0.66,244.3,3393,250,1861,1864,37.0,7.6,389,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,250,1863,1861,1865,0,0,0,0,0,0,26.94,26.96,26.95
$GC,3712,0.66,244.3,3393,250,1861,1865,27.9,7.6,401,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,250,1863,1861,1865,0,0,0,0,0,0,26.96,26.98,26.97
$GC,3833,0.66,244.3,3393,250,1862,1864,19.1,7.7,414,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,250,1863,1861,1865,0,0,0,0,0,0,26.98,27.00,26.99
$GC,3900,0.66,244.3,3393,251,1861,1864,14.1,6.5,427,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,250,1862,1861,1864,0,0,0,0,0,0,26.99,27.02,27.01
$GC,3968,0.66,244.3,3393,250,1861,1864,9.6,6.6,440,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,250,1863,1861,1865,0,0,0,0,0,0,27.00,27.03,27.02
$GC,4035,0.66,244.3,3393,250,1861,1865,5.0,6.2,453,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,250,1863,1861,1865,0,0,0,0,0,0,27.01,27.03,27.03
$STATE,4065,end climb,SURFACE_DEPTH_REACHED
$STATE,4065,begin surface coast
$FINISH,0.3,1.020960
$STATE,4107,end surface coast,CONTROL_FINISHED_OK
$STATE,4107,begin surface
$SM_CCo,4121,166.12,0.772,0,0,982,500.22
$SM_GC,1.54,8.07,0.00,166.12,0.065,0.000,0.772,159,250,982,-9.43,-0.42,500.22,0,0,0,0,0,0,26.73,27.05,24.56
$IRIDIUM_FIX,4722.92,-12225.08,070115,000620
$TT8_MAMPS,0.02247,0.02247
$HUMID,41.49
$INTERNAL_PRESSURE,9.05497
$TCM_TEMP,19.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.7
$ALTIM_BOTTOM_PING,120.2,70.6
$24V_AH,24.36,1.341
$10V_AH,10.53,0.483
$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,20.050,0.050,341.400,166.125,205.350,0.000,0.000,0.000,2.250,0.000,19.756,1020.559,1919.523,665.487,714.864,38.271,0.000,1084.724,0.000,693.078,0.000,13.556,0.000
$DEVICE_MAMPS,263.198,196.157,876.499,772.213,141.531,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.984,614.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323008
$DATA_FILE_SIZE,26908,467
$CAP_FILE_SIZE,72530,0
$CFSIZE,1024409600,1020936192
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1912.06,0x238aa6,2,5
$INTR,1,4110.81,0x238aa6,7,5
$GPS,070115,012627,4743.504,-12224.654,6,0.9,38,16.3,0.0,0.0,9,6.2