version: 66.12
glider: 37
mission: 16
dive: 7
start: 1 7 115 1 32 12
data:
$ID,37
$MISSION,16
$DIVE,7
$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,50
$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,70
$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,3830
$C_ROLL_CLIMB,3830
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,33
$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
$GPS1,070115,012627,4743.5044,-12224.6543,6,0.9,38,16.3,0.0,0.0,9,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.1
$GPS2,070115,013140,4743.5112,-12224.6621,5,1.1,13,16.3,0.0,0.0,9,9.4
$SPEED_LIMITS,0.100,0.181
$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,151.7,968,-26.1,-10.000,-28.96,1044
$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,15,-1.63,-68.4,131,3827,940,1023,0.0,0.0,0,186,0.00,0.00,-167.45,0.134,16386,0.000,0.000,131,3828,2785,2783,2788,0,0,0,0,0,0,26.34,28.83,26.36
$GC,188,-1.63,-68.4,131,3828,2783,2787,3.1,-2.5,31,213,10.40,0.00,-9.70,0.179,18438,0.281,0.000,2667,3828,2941,2931,2952,0,0,0,0,0,0,25.70,25.96,25.85
$GC,274,-1.63,-68.4,2667,3828,2930,2952,14.2,-16.6,47,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,3828,2941,2931,2952,0,0,0,0,0,0,26.34,26.36,26.36
$GC,342,-1.63,-68.4,2667,3827,2930,2952,26.3,-19.4,57,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,3827,2941,2930,2952,0,0,0,0,0,0,26.44,26.46,26.46
$GC,462,-1.63,-68.4,2667,3828,2931,2952,45.0,-14.7,69,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,3828,2941,2931,2951,0,0,0,0,0,0,26.56,26.58,26.58
$GC,582,-1.63,-68.4,2667,3827,2931,2952,62.7,-14.5,81,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,3828,2941,2931,2952,0,0,0,0,0,0,26.65,26.67,26.67
$GC,702,-1.63,-68.4,2667,3828,2931,2952,80.1,-14.8,93,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,3827,2941,2931,2952,0,0,0,0,0,0,26.72,26.74,26.74
$GC,822,-1.63,-68.4,2667,3828,2930,2952,98.3,-13.6,105,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,3828,2941,2931,2952,0,0,0,0,0,0,26.77,26.79,26.79
$GC,942,-1.63,-68.4,2667,3828,2931,2952,113.1,-11.3,117,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,3828,2941,2930,2952,0,0,0,0,0,0,26.82,26.84,26.84
$GC,1062,-1.63,-68.4,2667,3828,2931,2952,129.4,-14.6,129,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,3828,2941,2930,2952,0,0,0,0,0,0,26.86,26.88,26.88
$GC,1182,-1.63,-68.4,2668,3828,2931,2952,146.4,-14.7,141,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,3828,2941,2931,2952,0,0,0,0,0,0,26.89,26.91,26.91
$STATE,1210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1210,begin apogee
$GC,1214,-0.31,0.0,2667,3828,2931,2952,151.1,-16.1,144,1266,1.40,0.00,47.85,0.889,10246,0.201,0.000,3096,3828,2705,2699,2712,0,0,0,0,0,0,26.42,25.66,25.06
$STATE,1267,end apogee,CONTROL_FINISHED_OK
$STATE,1267,begin climb
$GC,1268,1.63,68.4,3096,3828,2699,2712,154.9,0.0,149,1323,1.65,0.00,49.17,0.859,10246,0.117,0.000,3705,3827,2469,2455,2483,0,0,0,0,0,0,25.72,25.15,24.58
$GC,1442,1.63,68.4,3705,3828,2455,2482,137.5,14.9,167,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,3706,3828,2469,2456,2482,0,0,0,0,0,0,26.15,26.17,26.17
$GC,1562,1.63,68.4,3705,3827,2456,2483,120.2,14.0,179,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,3706,3828,2469,2456,2482,0,0,0,0,0,0,26.38,26.40,26.40
$GC,1682,1.63,68.4,3705,3827,2455,2483,104.3,13.9,191,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,3706,3827,2468,2455,2482,0,0,0,0,0,0,26.53,26.55,26.54
$GC,1802,1.63,68.4,3705,3827,2456,2482,88.6,13.1,203,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,3706,3828,2469,2455,2483,0,0,0,0,0,0,26.63,26.65,26.64
$GC,1922,1.63,68.4,3704,3828,2456,2483,74.4,12.0,215,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3706,3827,2469,2456,2482,0,0,0,0,0,0,26.70,26.72,26.72
$GC,2042,1.63,68.4,3705,3827,2455,2483,58.3,13.6,227,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,3705,3827,2469,2456,2483,0,0,0,0,0,0,26.76,26.79,26.78
$GC,2162,1.63,68.4,3705,3828,2456,2483,42.7,13.0,239,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,3705,3828,2469,2455,2483,0,0,0,0,0,0,26.81,26.83,26.83
$GC,2282,1.63,68.4,3705,3828,2455,2483,27.8,10.9,251,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3706,3827,2468,2455,2482,0,0,0,0,0,0,26.85,26.87,26.87
$GC,2403,1.63,68.4,3705,3827,2456,2483,16.6,8.1,267,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,3705,3828,2469,2456,2483,0,0,0,0,0,0,26.89,26.91,26.91
$GC,2472,1.63,68.4,3705,3828,2455,2482,10.7,9.1,280,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3705,3827,2469,2455,2483,0,0,0,0,0,0,26.91,26.93,26.92
$GC,2539,1.63,68.4,3705,3827,2455,2482,4.1,9.6,293,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,3705,3828,2469,2456,2482,0,0,0,0,0,0,26.92,26.94,26.94
$STATE,2555,end climb,SURFACE_DEPTH_REACHED
$STATE,2555,begin surface coast
$FINISH,0.2,1.008801
$STATE,2586,end surface coast,CONTROL_FINISHED_OK
$STATE,2586,begin surface
$SM_CCo,2602,276.33,0.762,0,0,982,500.22
$SM_GC,1.66,9.60,0.00,276.33,0.109,0.000,0.762,155,3828,982,-9.44,-0.06,500.22,0,0,0,0,0,0,26.63,26.96,24.48
$IRIDIUM_FIX,4722.92,-12225.08,070115,001007
$TT8_MAMPS,0.02247,0.02247
$HUMID,39.76
$INTERNAL_PRESSURE,9.06473
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.7
$ALTIM_BOTTOM_PING,120.9,73.2
$24V_AH,24.48,1.444
$10V_AH,10.57,0.504
$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,23.050,5.550,97.025,276.325,177.150,24.773,36.109,171.231,1.750,0.000,14.553,699.704,1219.589,539.138,703.974,46.022,0.000,819.835,0.000,455.476,0.000,13.561,0.000
$DEVICE_MAMPS,280.579,64.558,888.914,762.281,178.776,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,201.424,397.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322996
$DATA_FILE_SIZE,16909,302
$CAP_FILE_SIZE,47158,0
$CFSIZE,1024409600,1020903424
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1211.59,0x238aa6,2,5
$INTR,1,2589.35,0x238aa6,7,5
$GPS,070115,022051,4743.524,-12224.606,3,1.2,14,16.3,0.0,0.0,9,7.7