version: 66.12
glider: 37
mission: 16
dive: 8
start: 1 7 115 2 25 33
data:
$ID,37
$MISSION,16
$DIVE,8
$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,80
$T_MISSION,90
$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,66
$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
$GPS1,070115,022051,4743.5239,-12224.6064,3,1.2,14,16.3,0.0,0.0,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.9
$GPS2,070115,022503,4743.5381,-12224.5898,5,1.2,14,16.3,0.0,0.0,9,9.5
$SPEED_LIMITS,0.075,0.235
$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,157.3,1003,-15.4,-7.500,-19.75,2256
$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,-0.98,-111.8,155,2100,930,1035,0.0,0.0,0,202,0.00,0.00,-183.65,0.134,16386,0.000,0.000,155,2100,2961,2962,2961,0,0,0,0,0,0,26.28,28.83,26.30
$GC,205,-0.99,-146.6,155,2100,2962,2961,3.5,-3.3,34,235,9.93,2.30,-12.40,0.169,18948,0.238,0.070,2876,580,3210,3215,3205,0,0,0,0,0,0,25.75,25.91,25.83
$GC,411,-0.99,-146.6,2875,579,3215,3205,31.5,-13.2,66,416,0.00,2.33,0.00,0.000,1030,0.000,0.065,2865,2156,3210,3215,3205,0,0,0,0,0,0,26.29,26.23,26.32
$GC,536,-0.99,-146.6,2865,2156,3215,3205,45.3,-10.8,78,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2156,3210,3215,3205,0,0,0,0,0,0,26.59,26.61,26.60
$GC,657,-0.99,-146.6,2865,2156,3215,3204,58.3,-10.9,90,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2156,3210,3214,3206,0,0,0,0,0,0,26.67,26.69,26.69
$GC,776,-0.99,-146.6,2865,2156,3215,3205,71.4,-9.9,102,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2157,3210,3215,3205,0,0,0,0,0,0,26.73,26.76,26.75
$GC,897,-0.99,-146.6,2865,2156,3215,3205,84.5,-11.2,114,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2156,3210,3215,3205,0,0,0,0,0,0,26.79,26.81,26.80
$GC,1017,-0.99,-146.6,2865,2156,3215,3204,97.5,-11.6,126,1021,0.00,2.38,0.00,0.000,516,0.000,0.072,2865,571,3210,3215,3205,0,0,0,0,0,0,26.83,26.55,26.84
$GC,1104,-0.99,-146.6,2866,571,3215,3204,108.0,-12.5,134,1113,0.00,2.30,0.00,0.000,1030,0.000,0.065,2854,2151,3210,3215,3205,0,0,0,0,0,0,26.67,26.60,26.68
$GC,1233,-0.99,-146.6,2854,2151,3215,3205,124.1,-12.1,147,1237,0.00,2.35,0.00,0.000,260,0.000,0.079,2842,3715,3210,3215,3205,0,0,0,0,0,0,26.89,26.60,26.91
$GC,1319,-0.99,-146.6,2841,3715,3215,3205,134.9,-12.4,155,1324,0.12,2.28,0.00,0.000,3078,0.181,0.060,2883,2125,3210,3216,3205,0,0,0,0,0,0,26.51,26.67,26.65
$GC,1445,-0.99,-146.6,2883,2125,3215,3205,147.6,-9.9,167,1454,0.00,2.28,0.00,0.000,516,0.000,0.072,2883,586,3210,3215,3205,0,0,0,0,0,0,26.94,26.65,26.96
$GC,1548,-0.99,-146.6,2883,585,3215,3205,158.2,-9.9,177,1555,0.00,2.30,0.00,0.000,1030,0.000,0.062,2873,2140,3210,3215,3205,0,0,0,0,0,0,26.73,26.70,26.75
$GC,1675,-0.99,-146.6,2873,2140,3215,3205,171.7,-9.8,190,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2140,3210,3215,3205,0,0,0,0,0,0,26.97,27.00,26.99
$STATE,1734,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1734,begin apogee
$GC,1738,-0.31,0.0,2873,2140,3215,3205,177.6,-9.5,196,1846,0.65,0.00,101.05,0.901,10246,0.139,0.000,3101,2140,2706,2707,2706,0,0,0,0,0,0,26.61,25.01,24.58
$STATE,1847,end apogee,CONTROL_FINISHED_OK
$STATE,1847,begin climb
$GC,1848,0.99,146.6,3101,2140,2707,2706,181.2,0.0,207,1957,1.08,0.00,104.25,0.869,10246,0.104,0.000,3497,2140,2200,2190,2210,0,0,0,0,0,0,25.30,24.90,24.37
$GC,2076,0.99,146.6,3495,2139,2190,2210,162.1,11.4,230,2085,0.00,2.42,0.00,0.000,516,0.000,0.074,3509,583,2200,2190,2210,0,0,0,0,0,0,26.07,25.80,26.09
$GC,2336,0.99,146.6,3508,583,2190,2210,132.8,10.7,256,2341,0.00,2.33,0.00,0.000,1030,0.000,0.065,3508,2140,2200,2190,2210,0,0,0,0,0,0,26.33,26.27,26.34
$GC,2461,0.99,146.6,3508,2140,2190,2210,119.4,11.1,268,2465,0.00,2.42,0.00,0.000,260,0.000,0.079,3509,3725,2200,2190,2210,0,0,0,0,0,0,26.61,26.33,26.63
$GC,2497,0.99,146.6,3508,3725,2190,2210,115.1,11.2,271,2502,0.00,2.30,0.00,0.000,1030,0.000,0.062,3520,2149,2200,2190,2211,0,0,0,0,0,0,26.46,26.39,26.47
$GC,2622,0.99,146.6,3520,2148,2189,2210,101.6,10.7,283,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2148,2200,2190,2211,0,0,0,0,0,0,26.70,26.73,26.72
$GC,2742,0.99,146.6,3520,2149,2190,2210,87.9,11.5,295,2746,0.00,2.38,0.00,0.000,516,0.000,0.079,3533,578,2199,2189,2210,0,0,0,0,0,0,26.77,26.46,26.78
$GC,3038,0.99,146.6,3532,577,2190,2210,50.9,12.1,324,3042,0.00,2.30,0.00,0.000,1030,0.000,0.065,3532,2146,2200,2190,2210,0,0,0,0,0,0,26.68,26.62,26.70
$GC,3164,0.99,146.6,3532,2146,2190,2210,34.9,12.7,336,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2146,2200,2190,2210,0,0,0,0,0,0,26.90,26.92,26.92
$GC,3283,0.99,146.6,3532,2146,2190,2210,22.1,10.1,348,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2145,2200,2190,2210,0,0,0,0,0,0,26.93,26.95,26.94
$GC,3405,0.99,146.6,3532,2146,2190,2210,10.6,9.5,369,3411,0.00,2.40,0.00,0.000,516,0.000,0.079,3545,564,2200,2190,2210,0,0,0,0,0,0,26.96,26.65,26.97
$STATE,3476,end climb,SURFACE_DEPTH_REACHED
$STATE,3476,begin surface coast
$FINISH,0.2,1.021227
$STATE,3503,end surface coast,CONTROL_FINISHED_OK
$STATE,3503,begin surface
$SM_CCo,3520,229.20,0.767,0,0,983,500.22
$SM_GC,1.69,8.57,2.35,229.20,0.072,0.062,0.767,158,2113,983,-9.44,-1.44,500.22,0,0,0,0,0,0,26.67,26.72,24.49
$IRIDIUM_FIX,4726.11,-12201.00,070115,012735
$TT8_MAMPS,0.02247,0.02247
$HUMID,40.07
$INTERNAL_PRESSURE,9.05497
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.8
$ALTIM_BOTTOM_PING,120.5,71.2
$24V_AH,24.37,1.562
$10V_AH,10.57,0.531
$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,20.350,40.025,205.300,229.200,196.050,24.074,14.494,135.955,1.750,0.000,15.545,912.268,1525.248,613.384,926.981,50.020,0.000,1038.548,0.000,723.949,0.000,13.562,0.000
$DEVICE_MAMPS,238.368,79.456,901.329,767.247,168.844,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.610,510.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322940
$DATA_FILE_SIZE,20294,388
$CAP_FILE_SIZE,59904,0
$CFSIZE,1024409600,1020837888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1735.77,0x238aa6,2,5
$GPS,070115,032851,4743.295,-12224.454,3,0.9,14,16.3,0.7,255.6,9,7.8