version: 66.12
glider: 37
mission: 16
dive: 15
start: 1 7 115 12 47 39
data:
$ID,37
$MISSION,16
$DIVE,15
$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,45
$R_STBD_OVSHOOT,52
$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
$GPS1,070115,123836,4743.1333,-12225.0938,3,1.1,13,16.3,0.0,0.0,8,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-65.8
$GPS2,070115,124715,4743.0835,-12225.1475,6,1.1,15,16.3,0.0,0.0,8,9.9
$SPEED_LIMITS,0.060,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-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,0.8,2744,-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,15,-0.65,-146.6,140,2121,933,1033,0.0,0.0,0,188,0.00,0.00,-170.00,0.134,16386,0.000,0.000,141,2122,2829,2829,2830,0,0,0,0,0,0,26.36,28.83,26.38
$GC,190,-0.65,-146.6,140,2122,2829,2830,3.1,-1.4,31,231,11.02,2.38,-22.12,0.151,18948,0.261,0.070,2981,556,3209,3216,3203,0,0,0,0,0,0,25.75,25.92,25.84
$GC,273,-0.65,-146.6,2981,556,3217,3202,9.4,-7.2,46,280,0.00,2.35,0.00,0.000,1030,0.000,0.062,2972,2136,3209,3217,3202,0,0,0,0,0,0,26.13,26.06,26.15
$GC,342,-0.65,-146.6,2972,2137,3216,3203,15.0,-7.6,59,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2137,3210,3217,3203,0,0,0,0,0,0,26.40,26.42,26.41
$GC,409,-0.65,-146.6,2972,2137,3217,3203,20.1,-7.3,72,413,0.00,2.40,0.00,0.000,516,0.000,0.072,2972,559,3209,3216,3202,0,0,0,0,0,0,26.48,26.20,26.49
$GC,505,-0.65,-146.6,2971,560,3217,3202,29.3,-9.7,81,509,0.00,2.33,0.00,0.000,1030,0.000,0.062,2961,2143,3209,3216,3202,0,0,0,0,0,0,26.38,26.32,26.39
$GC,630,-0.65,-146.6,2960,2143,3217,3202,39.8,-8.3,93,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2143,3210,3217,3203,0,0,0,0,0,0,26.65,26.67,26.66
$GC,750,-0.65,-146.6,2960,2142,3216,3202,47.9,-5.9,105,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2143,3209,3216,3203,0,0,0,0,0,0,26.70,26.73,26.72
$GC,870,-0.65,-146.6,2961,2143,3217,3202,57.2,-7.2,117,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2143,3209,3217,3202,0,0,0,0,0,0,26.76,26.78,26.78
$GC,990,-0.65,-146.6,2960,2143,3217,3202,67.0,-8.1,129,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2143,3209,3217,3202,0,0,0,0,0,0,26.81,26.83,26.82
$GC,1110,-0.65,-146.6,2961,2143,3216,3202,77.4,-9.0,141,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2143,3209,3216,3202,0,0,0,0,0,0,26.84,26.86,26.86
$GC,1230,-0.65,-146.6,2961,2143,3216,3202,86.4,-6.9,153,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2143,3209,3216,3203,0,0,0,0,0,0,26.88,26.90,26.89
$GC,1350,-0.65,-146.6,2961,2143,3216,3202,95.1,-7.5,165,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2143,3209,3217,3202,0,0,0,0,0,0,26.90,26.93,26.92
$GC,1470,-0.65,-146.6,2961,2143,3216,3202,104.7,-8.5,177,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2143,3209,3217,3202,0,0,0,0,0,0,26.93,26.95,26.95
$GC,1590,-0.65,-146.6,2961,2143,3216,3202,114.2,-7.4,189,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2143,3209,3217,3202,0,0,0,0,0,0,26.96,26.98,26.97
$GC,1710,-0.65,-146.6,2961,2143,3217,3202,123.3,-7.1,201,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2143,3209,3216,3202,0,0,0,0,0,0,26.97,26.99,26.99
$GC,1830,-0.65,-146.6,2960,2143,3216,3202,133.6,-8.3,213,1834,0.00,2.38,0.00,0.000,516,0.000,0.072,2961,557,3209,3217,3202,0,0,0,0,0,0,26.99,26.72,27.01
$GC,1941,-0.65,-146.6,2960,557,3216,3202,142.2,-8.5,223,1949,0.12,2.30,0.00,0.000,3078,0.166,0.062,2993,2149,3209,3217,3202,0,0,0,0,0,0,26.65,26.76,26.77
$GC,2068,-0.65,-146.6,2993,2148,3216,3202,149.3,-5.2,236,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2148,3209,3216,3202,0,0,0,0,0,0,27.02,27.04,27.04
$GC,2188,-0.65,-146.6,2993,2148,3217,3202,155.5,-5.3,248,2192,0.00,2.38,0.00,0.000,516,0.000,0.070,2993,543,3209,3216,3202,0,0,0,0,0,0,27.03,26.77,27.05
$GC,2244,-0.65,-146.6,2993,543,3217,3202,159.1,-6.5,253,2248,0.00,2.30,0.00,0.000,1030,0.000,0.062,2984,2141,3209,3217,3202,0,0,0,0,0,0,26.86,26.79,26.87
$GC,2369,-0.65,-146.6,2983,2142,3216,3202,165.9,-5.8,265,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2141,3209,3217,3202,0,0,0,0,0,0,27.05,27.08,27.07
$GC,2489,-0.65,-146.6,2983,2141,3216,3202,173.5,-6.5,277,2493,0.00,2.35,0.00,0.000,516,0.000,0.072,2984,553,3209,3217,3202,0,0,0,0,0,0,27.06,26.79,27.08
$GC,2547,-0.65,-146.6,2983,552,3216,3202,177.7,-7.1,282,2555,0.00,2.33,0.00,0.000,1030,0.000,0.062,2973,2139,3208,3216,3201,0,0,0,0,0,0,26.85,26.83,26.87
$STATE,2585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2585,begin apogee
$GC,2588,-0.31,0.0,2972,2139,3216,3202,180.4,-6.4,286,2696,0.32,0.00,100.97,0.906,10246,0.137,0.000,3097,2139,2704,2704,2705,0,0,0,0,0,0,26.72,25.21,24.62
$STATE,2697,end apogee,CONTROL_FINISHED_OK
$STATE,2697,begin climb
$GC,2698,0.65,146.6,3096,2139,2704,2705,184.7,0.0,297,2806,0.77,0.00,103.93,0.874,10246,0.104,0.000,3385,2139,2200,2190,2210,0,0,0,0,0,0,25.33,24.91,24.36
$GC,2925,0.65,146.6,3384,2138,2190,2210,174.2,6.8,320,2934,0.00,2.45,0.00,0.000,516,0.000,0.072,3397,558,2200,2190,2211,0,0,0,0,0,0,26.05,25.79,26.06
$GC,3166,0.65,146.6,3396,558,2190,2210,156.1,7.6,344,3170,0.00,2.35,0.00,0.000,1030,0.000,0.065,3397,2142,2200,2190,2211,0,0,0,0,0,0,26.28,26.22,26.30
$GC,3291,0.65,146.6,3396,2141,2190,2211,145.0,10.4,356,3295,0.00,2.42,0.00,0.000,516,0.000,0.074,3407,557,2200,2190,2211,0,0,0,0,0,0,26.57,26.29,26.59
$GC,3400,0.65,146.6,3407,557,2190,2211,135.0,9.7,366,3407,0.00,2.33,0.00,0.000,1030,0.000,0.062,3407,2139,2200,2190,2211,0,0,0,0,0,0,26.46,26.40,26.48
$GC,3527,0.65,146.6,3407,2139,2189,2211,122.8,7.9,379,3531,0.00,2.40,0.00,0.000,516,0.000,0.074,3418,561,2201,2191,2211,0,0,0,0,0,0,26.71,26.43,26.72
$GC,3643,0.65,146.6,3418,561,2190,2211,113.0,9.1,390,3647,0.00,2.30,0.00,0.000,1030,0.000,0.065,3418,2142,2200,2190,2211,0,0,0,0,0,0,26.58,26.52,26.60
$GC,3768,0.65,146.6,3418,2141,2190,2210,102.9,7.1,402,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2141,2200,2190,2210,0,0,0,0,0,0,26.81,26.83,26.83
$GC,3888,0.65,146.6,3418,2141,2190,2211,95.0,6.4,414,3892,0.00,2.40,0.00,0.000,516,0.000,0.077,3429,555,2200,2190,2211,0,0,0,0,0,0,26.84,26.55,26.86
$GC,4067,0.65,146.6,3430,555,2190,2211,83.5,6.6,431,4074,0.00,2.30,0.00,0.000,1030,0.000,0.062,3430,2140,2200,2190,2211,0,0,0,0,0,0,26.72,26.65,26.73
$GC,4194,0.65,146.6,3429,2141,2190,2211,73.1,8.5,444,4198,0.00,2.38,0.00,0.000,516,0.000,0.074,3441,562,2200,2190,2211,0,0,0,0,0,0,26.92,26.63,26.94
$GC,4320,0.65,146.6,3441,563,2190,2211,62.1,8.7,456,4330,0.12,2.30,0.00,0.000,5126,0.164,0.062,3398,2152,2200,2190,2211,0,0,0,0,0,0,26.58,26.70,26.70
$GC,4450,0.65,146.6,3398,2152,2190,2211,52.5,7.0,469,4454,0.00,2.40,0.00,0.000,516,0.000,0.074,3409,558,2200,2190,2210,0,0,0,0,0,0,26.97,26.67,26.98
$GC,4506,0.65,146.6,3409,558,2190,2211,48.8,7.2,474,4515,0.00,2.30,0.00,0.000,1030,0.000,0.062,3408,2148,2200,2190,2211,0,0,0,0,0,0,26.79,26.73,26.82
$GC,4636,0.65,146.6,3408,2148,2190,2211,40.8,5.9,487,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2148,2200,2190,2211,0,0,0,0,0,0,27.00,27.02,27.01
$GC,4756,0.65,146.6,3408,2148,2190,2211,34.3,5.4,499,4760,0.00,2.38,0.00,0.000,516,0.000,0.074,3419,563,2200,2190,2211,0,0,0,0,0,0,27.01,26.72,27.03
$GC,5038,0.65,146.6,3419,563,2190,2211,18.4,5.8,529,5044,0.00,2.28,0.00,0.000,1030,0.000,0.062,3419,2141,2200,2189,2211,0,0,0,0,0,0,26.86,26.80,26.89
$GC,5106,0.65,146.6,3419,2141,2190,2211,14.0,6.1,542,5113,0.00,2.38,0.00,0.000,516,0.000,0.077,3429,558,2200,2190,2211,0,0,0,0,0,0,27.05,26.76,27.07
$GC,5209,0.65,146.6,3428,558,2190,2210,6.6,6.4,562,5216,0.00,2.30,0.00,0.000,1030,0.000,0.065,3428,2153,2200,2190,2211,0,0,0,0,0,0,26.88,26.82,26.90
$STATE,5261,end climb,SURFACE_DEPTH_REACHED
$STATE,5261,begin surface coast
$FINISH,0.3,1.021809
$STATE,5303,end surface coast,CONTROL_FINISHED_OK
$STATE,5303,begin surface
$SM_CCo,5318,230.82,0.767,0,0,982,500.22
$SM_GC,1.82,8.15,0.00,230.82,0.065,0.000,0.767,158,2153,982,-9.44,0.37,500.22,0,0,0,0,0,0,26.78,27.09,24.49
$IRIDIUM_FIX,4722.92,-12227.78,070115,123955
$TT8_MAMPS,0.02247,0.02247
$HUMID,39.88
$INTERNAL_PRESSURE,9.0452
$TCM_TEMP,19.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,135.5,72.6
$24V_AH,24.36,2.430
$10V_AH,10.40,0.785
$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,20.525,61.125,204.900,230.825,192.125,52.132,55.564,276.749,2.750,0.000,16.822,1388.762,2467.746,642.805,1504.661,76.820,0.000,1249.823,0.000,1073.320,0.000,18.283,0.000
$DEVICE_MAMPS,260.715,76.973,906.295,767.247,151.463,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.453,764.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322876
$DATA_FILE_SIZE,33587,580
$CAP_FILE_SIZE,90335,0
$CFSIZE,1024409600,1020329984
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6180.47,0x238aa6,7,5
$INTR,1,2586.46,0x238aa6,2,5
$INTR,2,5306.68,0x238aa6,7,5
$GPS,070115,142122,4743.070,-12225.428,4,1.0,39,16.3,0.0,0.0,7,9.3