version: 66.12
glider: 37
mission: 16
dive: 11
start: 1 7 115 6 19 39
data:
$ID,37
$MISSION,16
$DIVE,11
$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,90
$T_MISSION,100
$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,61
$R_STBD_OVSHOOT,30
$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
$GPS1,070115,061330,4744.1733,-12224.5508,3,0.8,11,16.3,0.0,0.0,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.6
$GPS2,070115,061912,4744.2183,-12224.5938,5,1.0,14,16.3,0.0,0.0,9,9.7
$SPEED_LIMITS,0.067,0.224
$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,160.7,2259,-11.4,-6.667,-16.54,3301
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.74,-146.6,158,2147,932,1032,0.0,0.0,0,165,0.00,0.00,-147.88,0.134,16386,0.000,0.000,158,2147,2632,2631,2634,0,0,0,0,0,0,26.30,28.83,26.32
$GC,168,-0.74,-146.6,158,2147,2631,2634,3.0,-0.9,27,220,11.27,2.53,-34.50,0.144,18692,0.273,0.077,2947,3738,3210,3218,3203,0,0,0,0,0,0,25.72,25.91,25.83
$GC,537,-0.74,-146.6,2947,3738,3218,3204,38.4,-10.2,81,541,0.00,2.33,0.00,0.000,1030,0.000,0.060,2947,2135,3210,3218,3203,0,0,0,0,0,0,26.41,26.36,26.43
$GC,662,-0.74,-146.6,2947,2134,3217,3203,49.6,-8.1,93,666,0.00,2.35,0.00,0.000,516,0.000,0.072,2947,575,3211,3218,3204,0,0,0,0,0,0,26.67,26.40,26.68
$GC,762,-0.74,-146.6,2947,574,3218,3203,59.0,-10.5,102,769,0.00,2.33,0.00,0.000,1030,0.000,0.062,2936,2163,3211,3218,3204,0,0,0,0,0,0,26.53,26.47,26.55
$GC,888,-0.74,-146.6,2935,2163,3218,3203,71.3,-8.3,115,892,0.00,2.38,0.00,0.000,260,0.000,0.077,2923,3726,3211,3218,3204,0,0,0,0,0,0,26.77,26.49,26.79
$GC,947,-0.74,-146.6,2923,3726,3218,3204,75.8,-8.3,120,954,0.12,2.30,0.00,0.000,3078,0.171,0.060,2965,2119,3211,3218,3204,0,0,0,0,0,0,26.42,26.57,26.54
$GC,1074,-0.74,-146.6,2965,2119,3218,3203,84.4,-6.8,133,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2119,3210,3218,3203,0,0,0,0,0,0,26.84,26.86,26.85
$GC,1194,-0.74,-146.6,2965,2119,3218,3203,93.7,-7.4,145,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2119,3210,3218,3203,0,0,0,0,0,0,26.87,26.89,26.89
$GC,1314,-0.74,-146.6,2965,2119,3218,3204,102.3,-7.4,157,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2120,3210,3218,3203,0,0,0,0,0,0,26.90,26.92,26.92
$GC,1434,-0.74,-146.6,2964,2120,3218,3204,110.5,-6.9,169,1443,0.00,2.30,0.00,0.000,516,0.000,0.072,2965,576,3211,3218,3204,0,0,0,0,0,0,26.90,26.65,26.92
$GC,1545,-0.74,-146.6,2965,576,3218,3203,119.0,-7.7,180,1549,0.00,2.28,0.00,0.000,1030,0.000,0.065,2955,2148,3210,3218,3203,0,0,0,0,0,0,26.77,26.70,26.78
$GC,1670,-0.74,-146.6,2955,2148,3218,3203,128.7,-7.1,192,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2148,3210,3218,3203,0,0,0,0,0,0,26.96,26.99,26.98
$GC,1790,-0.74,-146.6,2955,2149,3218,3203,137.9,-8.8,204,1794,0.00,2.35,0.00,0.000,260,0.000,0.077,2943,3724,3210,3218,3203,0,0,0,0,0,0,26.98,26.70,27.01
$GC,1829,-0.74,-146.6,2943,3724,3217,3203,140.7,-8.0,207,1836,0.00,2.25,0.00,0.000,1030,0.000,0.060,2944,2143,3210,3218,3203,0,0,0,0,0,0,26.82,26.77,26.83
$GC,1956,-0.74,-146.6,2943,2143,3218,3203,151.5,-8.3,220,1960,0.00,2.33,0.00,0.000,516,0.000,0.072,2943,575,3210,3218,3202,0,0,0,0,0,0,27.01,26.73,27.03
$GC,2112,-0.74,-146.6,2943,575,3218,3203,164.7,-8.2,235,2116,0.00,2.25,0.00,0.000,1030,0.000,0.062,2932,2142,3210,3217,3203,0,0,0,0,0,0,26.84,26.78,26.86
$GC,2237,-0.74,-146.6,2932,2142,3218,3203,174.5,-7.8,247,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2142,3210,3218,3203,0,0,0,0,0,0,27.04,27.07,27.06
$STATE,2286,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2286,begin apogee
$GC,2289,-0.31,0.0,2932,2142,3218,3203,178.6,-7.9,252,2397,0.47,0.00,101.43,0.909,10246,0.139,0.000,3100,2142,2705,2705,2706,0,0,0,0,0,0,26.67,25.02,24.59
$STATE,2398,end apogee,CONTROL_FINISHED_OK
$STATE,2398,begin climb
$GC,2400,0.74,146.6,3100,2142,2705,2705,181.8,0.0,263,2511,0.85,2.55,103.97,0.874,10500,0.102,0.082,3417,3720,2200,2190,2210,0,0,0,0,0,0,25.33,24.94,24.35
$GC,2546,0.74,146.6,3417,3720,2190,2210,174.2,8.7,277,2553,0.00,2.38,0.00,0.000,1030,0.000,0.060,3430,2147,2200,2190,2210,0,0,0,0,0,0,25.54,25.48,25.56
$GC,2673,0.74,146.6,3429,2147,2190,2210,162.6,9.3,290,2677,0.00,2.42,0.00,0.000,516,0.000,0.074,3441,568,2200,2190,2210,0,0,0,0,0,0,26.17,25.89,26.19
$GC,2820,0.74,146.6,3441,568,2189,2210,150.2,8.5,304,2829,0.00,2.33,0.00,0.000,1030,0.000,0.062,3441,2140,2200,2190,2210,0,0,0,0,0,0,26.24,26.17,26.25
$GC,2949,0.74,146.6,3441,2140,2190,2210,139.4,8.3,317,2953,0.00,2.40,0.00,0.000,516,0.000,0.077,3453,573,2200,2190,2210,0,0,0,0,0,0,26.55,26.26,26.56
$GC,3098,0.74,146.6,3452,573,2189,2210,126.8,9.1,331,3105,0.00,2.30,0.00,0.000,1030,0.000,0.062,3453,2140,2200,2190,2210,0,0,0,0,0,0,26.48,26.41,26.48
$GC,3225,0.74,146.6,3453,2140,2190,2210,114.8,9.7,344,3229,0.00,2.38,0.00,0.000,516,0.000,0.074,3464,578,2200,2190,2210,0,0,0,0,0,0,26.72,26.43,26.74
$GC,3341,0.74,146.6,3464,578,2189,2211,103.9,8.9,355,3345,0.00,2.28,0.00,0.000,1030,0.000,0.062,3464,2140,2199,2189,2210,0,0,0,0,0,0,26.59,26.53,26.60
$GC,3466,0.74,146.6,3464,2140,2189,2210,92.0,9.6,367,3470,0.00,2.38,0.00,0.000,516,0.000,0.077,3476,576,2200,2190,2210,0,0,0,0,0,0,26.82,26.52,26.84
$GC,3625,0.74,146.6,3475,576,2190,2210,77.0,9.6,382,3632,0.15,2.30,0.00,0.000,5126,0.169,0.065,3425,2152,2200,2190,2210,0,0,0,0,0,0,26.49,26.62,26.62
$GC,3752,0.74,146.6,3425,2152,2190,2210,66.8,6.9,395,3756,0.00,2.35,0.00,0.000,260,0.000,0.077,3425,3724,2200,2190,2210,0,0,0,0,0,0,26.89,26.61,26.91
$GC,3881,0.74,146.6,3425,3724,2190,2210,57.7,7.1,407,3888,0.00,2.28,0.00,0.000,1030,0.000,0.060,3436,2135,2200,2190,2210,0,0,0,0,0,0,26.74,26.69,26.76
$GC,4008,0.74,146.6,3435,2135,2190,2210,49.2,6.3,420,4012,0.00,2.35,0.00,0.000,516,0.000,0.077,3447,578,2199,2189,2210,0,0,0,0,0,0,26.95,26.65,26.96
$GC,4263,0.74,146.6,3447,578,2190,2210,32.2,6.9,445,4267,0.00,2.30,0.00,0.000,1030,0.000,0.065,3447,2150,2200,2190,2210,0,0,0,0,0,0,26.81,26.74,26.83
$GC,4388,0.74,146.6,3447,2150,2189,2210,24.3,6.7,457,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2150,2200,2190,2210,0,0,0,0,0,0,27.01,27.03,27.03
$GC,4509,0.74,146.6,3447,2150,2190,2210,15.5,6.7,475,4515,0.00,2.40,0.00,0.000,516,0.000,0.077,3458,570,2200,2190,2210,0,0,0,0,0,0,27.03,26.73,27.04
$STATE,4701,end climb,SURFACE_DEPTH_REACHED
$STATE,4701,begin surface coast
$FINISH,1.1,1.020871
$STATE,4747,end surface coast,CONTROL_FINISHED_OK
$STATE,4747,begin surface
$SM_CCo,4764,231.82,0.770,0,0,983,500.22
$SM_GC,1.69,8.68,2.33,231.82,0.094,0.062,0.770,161,2129,983,-9.45,-1.58,500.22,0,0,0,0,0,0,26.70,26.81,24.49
$IRIDIUM_FIX,4722.92,-12222.38,070115,044743
$TT8_MAMPS,0.021721,0.021721
$HUMID,40.31
$INTERNAL_PRESSURE,9.05497
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,120.3,73.3
$24V_AH,24.35,1.928
$10V_AH,10.57,0.632
$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,21.550,65.650,205.400,231.825,182.375,19.668,37.191,199.571,1.750,0.000,16.001,1258.694,2084.007,630.690,1316.108,67.706,0.000,1202.283,0.000,1026.665,0.000,13.564,0.000
$DEVICE_MAMPS,273.130,81.939,908.778,769.730,144.014,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.141,688.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322920
$DATA_FILE_SIZE,30165,522
$CAP_FILE_SIZE,80176,0
$CFSIZE,1024409600,1020624896
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5244.62,0x238aa6,7,5
$INTR,1,2287.93,0x238aa6,2,5
$GPS,070115,074349,4744.095,-12224.645,4,0.8,17,16.3,0.0,0.0,9,9.4