version: 66.12
glider: 37
mission: 16
dive: 12
start: 1 7 115 7 50 51
data:
$ID,37
$MISSION,16
$DIVE,12
$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,100
$T_MISSION,110
$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,64
$R_STBD_OVSHOOT,39
$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
$GPS1,070115,074349,4744.0947,-12224.6445,4,0.8,17,16.3,0.0,0.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.1
$GPS2,070115,075027,4744.1895,-12224.6455,6,0.8,37,16.3,0.7,104.2,9,7.8
$SPEED_LIMITS,0.060,0.215
$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,159.0,2210,-9.9,-6.000,-15.57,3651
$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,14,-0.65,-146.6,161,2143,934,1031,0.0,0.0,0,100,0.00,0.00,-83.55,0.139,16386,0.000,0.000,161,2143,2025,2017,2033,0,0,0,0,0,0,26.34,28.83,26.36
$GC,103,-0.65,-146.6,161,2143,2017,2032,3.1,-2.1,15,208,10.52,2.40,-86.50,0.137,19204,0.246,0.070,2985,575,3209,3217,3202,0,0,0,0,0,0,25.79,25.94,25.86
$GC,618,-0.65,-146.6,2984,575,3216,3202,41.9,-10.4,92,625,0.00,2.38,0.00,0.000,1030,0.000,0.062,2975,2150,3209,3217,3202,0,0,0,0,0,0,26.44,26.41,26.46
$GC,745,-0.65,-146.6,2975,2151,3217,3202,54.3,-8.7,105,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2151,3209,3217,3202,0,0,0,0,0,0,26.72,26.74,26.74
$GC,865,-0.65,-146.6,2975,2151,3217,3202,64.0,-7.9,117,869,0.00,2.38,0.00,0.000,516,0.000,0.072,2975,571,3209,3217,3202,0,0,0,0,0,0,26.77,26.50,26.79
$GC,944,-0.65,-146.6,2974,571,3217,3202,70.1,-8.2,124,951,0.00,2.35,0.00,0.000,1030,0.000,0.062,2964,2150,3209,3217,3202,0,0,0,0,0,0,26.59,26.56,26.61
$GC,1071,-0.65,-146.6,2964,2150,3217,3202,81.1,-7.3,137,1080,0.00,2.35,0.00,0.000,260,0.000,0.077,2952,3715,3209,3217,3202,0,0,0,0,0,0,26.84,26.55,26.86
$GC,1192,-0.65,-146.6,2952,3715,3217,3202,91.6,-8.9,149,1197,0.12,2.28,0.00,0.000,3078,0.166,0.060,2995,2133,3209,3217,3202,0,0,0,0,0,0,26.51,26.65,26.63
$GC,1318,-0.65,-146.6,2994,2133,3217,3202,100.4,-6.5,161,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2133,3209,3217,3202,0,0,0,0,0,0,26.88,26.90,26.89
$GC,1437,-0.65,-146.6,2995,2134,3217,3202,108.9,-6.4,173,1441,0.00,2.30,0.00,0.000,516,0.000,0.072,2995,573,3209,3217,3202,0,0,0,0,0,0,26.93,26.65,26.95
$GC,1526,-0.65,-146.6,2994,572,3216,3202,114.7,-6.7,181,1538,0.00,2.28,0.00,0.000,1030,0.000,0.062,2985,2141,3209,3217,3202,0,0,0,0,0,0,26.76,26.70,26.78
$GC,1654,-0.65,-146.6,2985,2141,3216,3202,122.8,-6.4,194,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2141,3209,3216,3202,0,0,0,0,0,0,26.96,26.99,26.98
$GC,1774,-0.65,-146.6,2985,2141,3217,3202,130.7,-6.8,206,1778,0.00,2.33,0.00,0.000,516,0.000,0.072,2985,576,3209,3216,3202,0,0,0,0,0,0,26.98,26.71,27.01
$GC,1901,-0.65,-146.6,2985,576,3216,3202,139.6,-6.8,218,1910,0.00,2.28,0.00,0.000,1030,0.000,0.062,2974,2151,3209,3217,3202,0,0,0,0,0,0,26.82,26.75,26.84
$GC,2030,-0.65,-146.6,2973,2151,3217,3202,148.3,-8.2,231,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2151,3209,3217,3202,0,0,0,0,0,0,27.02,27.04,27.04
$GC,2150,-0.65,-146.6,2974,2151,3217,3202,156.3,-7.1,243,2154,0.00,2.35,0.00,0.000,516,0.000,0.072,2974,582,3209,3216,3202,0,0,0,0,0,0,27.03,26.76,27.05
$GC,2219,-0.65,-146.6,2974,582,3217,3202,161.1,-7.7,249,2226,0.00,2.30,0.00,0.000,1030,0.000,0.062,2963,2136,3209,3217,3202,0,0,0,0,0,0,26.82,26.79,26.85
$GC,2346,-0.65,-146.6,2963,2136,3216,3202,169.8,-6.6,262,2350,0.00,2.38,0.00,0.000,260,0.000,0.077,2951,3734,3209,3217,3202,0,0,0,0,0,0,27.05,26.77,27.07
$STATE,2401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2401,begin apogee
$GC,2407,-0.31,0.0,2950,2134,3215,3202,174.1,-7.6,267,2513,0.40,0.00,101.20,0.904,10246,0.142,0.000,3099,2133,2704,2704,2705,0,0,0,0,0,0,26.69,25.20,24.61
$STATE,2514,end apogee,CONTROL_FINISHED_OK
$STATE,2514,begin climb
$GC,2515,0.65,146.6,3099,2133,2704,2705,177.2,0.0,278,2623,0.77,0.00,103.72,0.867,10502,0.109,0.000,3389,2133,2200,2190,2210,0,0,0,0,0,0,25.31,24.91,24.36
$GC,2742,0.65,146.6,3389,2133,2190,2210,164.7,7.4,301,2746,0.00,2.42,0.00,0.000,516,0.000,0.072,3401,553,2200,2190,2210,0,0,0,0,0,0,26.05,25.79,26.07
$GC,2808,0.65,146.6,3400,553,2189,2210,159.9,7.3,307,2812,0.00,2.40,0.00,0.000,1030,0.000,0.062,3401,2149,2200,2190,2210,0,0,0,0,0,0,26.05,25.98,26.06
$GC,2933,0.65,146.6,3400,2149,2190,2210,150.6,7.4,319,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2150,2200,2190,2210,0,0,0,0,0,0,26.41,26.44,26.43
$GC,3053,0.65,146.6,3400,2149,2190,2211,141.7,7.1,331,3062,0.00,2.45,0.00,0.000,516,0.000,0.077,3412,557,2200,2190,2210,0,0,0,0,0,0,26.53,26.25,26.55
$GC,3304,0.65,146.6,3411,557,2190,2210,123.8,7.3,356,3308,0.00,2.35,0.00,0.000,1030,0.000,0.065,3412,2153,2200,2190,2210,0,0,0,0,0,0,26.52,26.46,26.53
$GC,3429,0.65,146.6,3412,2154,2190,2210,114.7,7.5,368,3433,0.00,2.42,0.00,0.000,516,0.000,0.077,3422,564,2200,2190,2210,0,0,0,0,0,0,26.76,26.46,26.77
$GC,3528,0.65,146.6,3422,564,2190,2210,107.7,7.8,377,3535,0.00,2.30,0.00,0.000,1030,0.000,0.062,3422,2142,2199,2189,2210,0,0,0,0,0,0,26.61,26.55,26.63
$GC,3655,0.65,146.6,3421,2142,2190,2210,97.4,8.0,390,3659,0.00,2.40,0.00,0.000,516,0.000,0.074,3432,560,2200,2190,2210,0,0,0,0,0,0,26.84,26.55,26.85
$GC,3723,0.65,146.6,3433,560,2190,2210,91.7,8.8,396,3731,0.00,2.33,0.00,0.000,1030,0.000,0.062,3433,2150,2200,2190,2210,0,0,0,0,0,0,26.67,26.61,26.68
$GC,3851,0.65,146.6,3433,2150,2190,2210,81.1,7.8,409,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2150,2200,2190,2210,0,0,0,0,0,0,26.89,26.91,26.91
$GC,3971,0.65,146.6,3433,2150,2190,2210,72.0,7.9,421,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2150,2200,2190,2210,0,0,0,0,0,0,26.91,26.94,26.94
$GC,4091,0.65,146.6,3433,2150,2190,2210,63.0,7.3,433,4095,0.00,2.40,0.00,0.000,516,0.000,0.077,3444,563,2200,2190,2210,0,0,0,0,0,0,26.94,26.65,26.96
$GC,4276,0.65,146.6,3443,563,2190,2210,49.0,7.0,451,4282,0.12,2.33,0.00,0.000,5126,0.169,0.062,3402,2149,2200,2190,2210,0,0,0,0,0,0,26.60,26.73,26.73
$GC,4402,0.65,146.6,3401,2149,2190,2210,42.5,5.0,463,4406,0.00,2.40,0.00,0.000,516,0.000,0.077,3413,554,2200,2190,2210,0,0,0,0,0,0,26.99,26.70,27.01
$GC,4498,0.65,146.6,3412,554,2190,2210,37.0,6.1,472,4502,0.00,2.33,0.00,0.000,1030,0.000,0.065,3413,2141,2200,2190,2210,0,0,0,0,0,0,26.82,26.77,26.84
$GC,4623,0.65,146.6,3412,2142,2190,2210,28.3,7.4,484,4627,0.00,2.38,0.00,0.000,516,0.000,0.074,3422,562,2200,2190,2210,0,0,0,0,0,0,27.03,26.73,27.04
$GC,4871,0.65,146.6,3422,563,2190,2210,11.2,6.5,520,4877,0.00,2.33,0.00,0.000,1030,0.000,0.065,3422,2154,2200,2190,2210,0,0,0,0,0,0,26.87,26.80,26.89
$GC,4939,0.65,146.6,3422,2154,2190,2210,6.6,6.2,533,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2154,2200,2190,2210,0,0,0,0,0,0,27.05,27.08,27.08
$GC,5006,0.65,146.6,3422,2154,2190,2210,3.2,5.1,546,5013,0.00,2.33,0.00,0.000,260,0.000,0.077,3422,3717,2200,2190,2210,0,0,0,0,0,0,27.06,26.78,27.08
$STATE,5018,end climb,SURFACE_DEPTH_REACHED
$STATE,5018,begin surface coast
$FINISH,1.0,1.021158
$STATE,5059,end surface coast,CONTROL_FINISHED_OK
$STATE,5060,begin surface
$SM_CCo,5077,231.00,0.770,0,0,983,500.22
$SM_GC,1.73,8.57,2.35,231.00,0.094,0.057,0.770,161,2127,983,-9.45,1.05,500.22,0,0,0,0,0,0,26.72,26.84,24.49
$IRIDIUM_FIX,4722.92,-12222.38,070115,061437
$TT8_MAMPS,0.02247,0.02247
$HUMID,39.68
$INTERNAL_PRESSURE,9.0452
$TCM_TEMP,19.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.4
$ALTIM_BOTTOM_PING,115.3,73.2
$24V_AH,24.36,2.052
$10V_AH,10.53,0.670
$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,20.525,70.550,204.925,231.000,170.050,25.143,36.113,222.338,1.750,0.000,39.113,1340.585,2255.764,623.409,1434.046,67.352,0.000,1236.774,0.000,1085.946,0.000,12.622,0.000
$DEVICE_MAMPS,245.817,76.973,903.812,769.730,139.048,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.447,733.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322916
$DATA_FILE_SIZE,33552,556
$CAP_FILE_SIZE,86024,0
$CFSIZE,1024409600,1020526592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5471.00,0x238aa6,7,5
$GPS,070115,092013,4743.436,-12224.542,17,1.1,19,16.3,0.0,0.0,7,8.2