version: 66.12
glider: 37
mission: 16
dive: 16
start: 1 7 115 14 28 1
data:
$ID,37
$MISSION,16
$DIVE,16
$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,54
$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
$GPS1,070115,142122,4743.0703,-12225.4277,4,1.0,39,16.3,0.0,0.0,7,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.0
$GPS2,070115,142738,4743.0503,-12225.4307,5,1.1,11,16.3,0.0,0.0,7,9.7
$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,78.3,1163,-11.9,-6.000,-17.19,2849
$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,-0.76,-113.8,157,2154,933,1032,0.0,0.0,0,182,0.00,0.00,-163.90,0.134,16386,0.000,0.000,157,2155,2764,2765,2763,0,0,0,0,0,0,26.31,28.83,26.33
$GC,184,-0.77,-146.6,158,2155,2764,2763,3.0,-2.0,30,230,10.55,0.00,-29.23,0.146,18950,0.253,0.000,2943,2156,3211,3219,3203,0,0,0,0,0,0,25.75,25.94,25.83
$GC,291,-0.77,-146.6,2943,2156,3218,3203,10.6,-9.2,50,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2156,3210,3218,3203,0,0,0,0,0,0,26.32,26.34,26.33
$GC,359,-0.77,-146.6,2943,2156,3218,3203,16.8,-9.3,63,365,0.00,2.45,0.00,0.000,516,0.000,0.070,2943,558,3210,3218,3202,0,0,0,0,0,0,26.41,26.15,26.43
$GC,472,-0.77,-146.6,2943,558,3219,3203,28.2,-10.1,77,476,0.00,2.33,0.00,0.000,1030,0.000,0.062,2934,2139,3211,3219,3203,0,0,0,0,0,0,26.34,26.28,26.36
$GC,597,-0.77,-146.6,2934,2139,3218,3203,39.9,-9.0,89,601,0.00,2.40,0.00,0.000,260,0.000,0.077,2922,3724,3210,3218,3202,0,0,0,0,0,0,26.62,26.34,26.63
$GC,773,-0.77,-146.6,2922,3724,3218,3203,57.3,-10.4,106,777,0.00,2.33,0.00,0.000,1030,0.000,0.057,2922,2117,3210,3218,3203,0,0,0,0,0,0,26.54,26.49,26.55
$GC,898,-0.77,-146.6,2922,2117,3218,3203,70.1,-9.8,118,902,0.00,2.42,0.00,0.000,260,0.000,0.077,2910,3714,3210,3218,3203,0,0,0,0,0,0,26.77,26.48,26.78
$GC,974,-0.77,-146.6,2910,3714,3218,3203,78.4,-11.0,125,979,0.12,2.25,0.00,0.000,3078,0.169,0.057,2952,2134,3210,3218,3203,0,0,0,0,0,0,26.43,26.57,26.55
$GC,1099,-0.77,-146.6,2952,2134,3218,3203,90.2,-9.9,137,1103,0.00,2.30,0.00,0.000,516,0.000,0.070,2952,576,3210,3218,3203,0,0,0,0,0,0,26.83,26.56,26.85
$GC,1198,-0.77,-146.6,2952,576,3218,3202,99.7,-10.3,146,1208,0.00,2.30,0.00,0.000,1030,0.000,0.062,2942,2142,3210,3218,3203,0,0,0,0,0,0,26.67,26.61,26.70
$GC,1325,-0.77,-146.6,2942,2143,3218,3203,112.9,-9.6,159,1329,0.00,2.35,0.00,0.000,260,0.000,0.077,2930,3716,3210,3218,3203,0,0,0,0,0,0,26.89,26.61,26.91
$GC,1374,-0.77,-146.6,2930,3717,3218,3203,117.6,-9.8,163,1381,0.00,2.25,0.00,0.000,1030,0.000,0.060,2930,2141,3210,3218,3203,0,0,0,0,0,0,26.72,26.67,26.74
$GC,1502,-0.77,-146.6,2930,2141,3218,3203,129.5,-7.4,176,1512,0.00,2.33,0.00,0.000,516,0.000,0.070,2931,573,3210,3218,3203,0,0,0,0,0,0,26.93,26.65,26.94
$GC,1543,-0.77,-146.6,2930,573,3218,3202,133.1,-8.6,180,1548,0.00,2.28,0.00,0.000,1030,0.000,0.062,2919,2150,3210,3218,3202,0,0,0,0,0,0,26.75,26.69,26.77
$GC,1669,-0.77,-146.6,2918,2150,3218,3203,143.8,-9.1,192,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2150,3210,3218,3202,0,0,0,0,0,0,26.96,26.98,26.97
$GC,1789,-0.77,-146.6,2919,2150,3218,3202,153.2,-7.5,204,1793,0.00,2.38,0.00,0.000,516,0.000,0.070,2919,566,3210,3218,3202,0,0,0,0,0,0,26.97,26.70,26.99
$GC,1845,-0.77,-146.6,2919,566,3218,3202,159.1,-10.9,209,1854,0.12,2.28,0.00,0.000,3078,0.166,0.062,2951,2148,3210,3218,3202,0,0,0,0,0,0,26.62,26.74,26.74
$GC,1974,-0.77,-146.6,2950,2148,3218,3202,170.8,-7.3,222,1979,0.00,2.35,0.00,0.000,516,0.000,0.072,2950,575,3210,3218,3203,0,0,0,0,0,0,27.00,26.73,27.01
$STATE,2100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2100,begin apogee
$GC,2106,-0.31,0.0,2940,2150,3218,3203,180.3,-8.2,234,2211,0.43,0.00,101.55,0.901,10246,0.142,0.000,3097,2151,2705,2705,2705,0,0,0,0,0,0,26.65,25.19,24.60
$STATE,2212,end apogee,CONTROL_FINISHED_OK
$STATE,2212,begin climb
$GC,2214,0.77,146.6,3096,2150,2706,2705,184.3,0.0,245,2322,0.90,0.00,103.78,0.869,10502,0.102,0.000,3434,2150,2200,2190,2210,0,0,0,0,0,0,25.30,24.90,24.35
$GC,2440,0.77,146.6,3434,2150,2190,2210,168.7,9.3,268,2444,0.00,2.45,0.00,0.000,516,0.000,0.072,3446,585,2200,2190,2210,0,0,0,0,0,0,26.03,25.77,26.06
$GC,2726,0.77,146.6,3446,585,2190,2210,145.8,10.0,296,2731,0.00,2.33,0.00,0.000,1030,0.000,0.065,3446,2149,2200,2190,2210,0,0,0,0,0,0,26.32,26.26,26.34
$GC,2851,0.77,146.6,3446,2149,2190,2210,135.6,6.0,308,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2149,2200,2190,2210,0,0,0,0,0,0,26.60,26.62,26.62
$GC,2971,0.77,146.6,3446,2149,2190,2210,126.6,7.4,320,2975,0.00,2.40,0.00,0.000,516,0.000,0.074,3458,586,2200,2190,2210,0,0,0,0,0,0,26.67,26.39,26.69
$GC,3247,0.77,146.6,3458,585,2190,2210,108.3,6.0,347,3251,0.00,2.30,0.00,0.000,1030,0.000,0.062,3458,2147,2200,2190,2210,0,0,0,0,0,0,26.62,26.55,26.63
$GC,3372,0.77,146.6,3458,2148,2190,2210,100.6,6.1,359,3376,0.00,2.40,0.00,0.000,516,0.000,0.077,3470,577,2200,2190,2210,0,0,0,0,0,0,26.84,26.55,26.85
$GC,3541,0.77,146.6,3470,576,2190,2210,90.1,5.9,375,3548,0.00,2.33,0.00,0.000,1030,0.000,0.062,3470,2139,2200,2190,2210,0,0,0,0,0,0,26.67,26.65,26.70
$GC,3668,0.77,146.6,3470,2139,2189,2210,81.2,7.0,388,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2139,2200,2190,2210,0,0,0,0,0,0,26.91,26.94,26.93
$GC,3788,0.77,146.6,3470,2139,2190,2210,72.7,7.6,400,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2139,2200,2190,2210,0,0,0,0,0,0,26.94,26.96,26.96
$GC,3908,0.77,146.6,3469,2139,2190,2210,64.2,7.2,412,3912,0.00,2.38,0.00,0.000,516,0.000,0.077,3481,578,2200,2190,2210,0,0,0,0,0,0,26.96,26.67,26.98
$GC,3967,0.77,146.6,3481,579,2190,2210,60.0,8.0,417,3975,0.12,2.28,0.00,0.000,5126,0.171,0.062,3439,2148,2199,2189,2210,0,0,0,0,0,0,26.60,26.72,26.72
$GC,4094,0.77,146.6,3440,2148,2189,2210,50.5,7.5,430,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2148,2200,2190,2210,0,0,0,0,0,0,26.98,27.01,27.00
$GC,4214,0.77,146.6,3439,2148,2190,2210,42.1,7.0,442,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2148,2200,2190,2210,0,0,0,0,0,0,27.01,27.03,27.02
$GC,4334,0.77,146.6,3439,2148,2190,2210,32.5,8.2,454,4338,0.00,2.35,0.00,0.000,516,0.000,0.074,3449,581,2200,2190,2210,0,0,0,0,0,0,27.02,26.74,27.04
$GC,4572,0.77,146.6,3449,581,2190,2210,12.2,8.0,486,4578,0.00,2.25,0.00,0.000,1030,0.000,0.065,3449,2142,2200,2190,2210,0,0,0,0,0,0,26.87,26.81,26.88
$GC,4640,0.77,146.6,3449,2142,2190,2211,7.2,7.5,499,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2142,2200,2190,2210,0,0,0,0,0,0,27.05,27.08,27.07
$STATE,4696,end climb,SURFACE_DEPTH_REACHED
$STATE,4697,begin surface coast
$FINISH,0.1,0.999705
$STATE,4732,end surface coast,CONTROL_FINISHED_OK
$STATE,4733,begin surface
$SM_CCo,4747,229.75,0.765,0,0,983,500.22
$SM_GC,1.78,8.23,0.00,229.75,0.067,0.000,0.765,158,2142,983,-9.44,0.06,500.22,0,0,0,0,0,0,26.77,27.09,24.51
$IRIDIUM_FIX,4726.11,-12224.09,070115,124449
$TT8_MAMPS,0.021721,0.021721
$HUMID,39.01
$INTERNAL_PRESSURE,9.0452
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.1
$ALTIM_BOTTOM_PING,135.9,70.2
$24V_AH,24.35,2.555
$10V_AH,10.57,0.822
$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,20.475,60.750,205.325,229.750,193.125,22.918,34.412,232.997,2.500,0.000,12.519,1240.484,2081.357,629.128,1343.563,71.139,0.000,1211.949,0.000,1023.962,0.000,18.253,0.000
$DEVICE_MAMPS,253.266,76.973,901.329,764.764,146.497,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.541,681.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323024
$DATA_FILE_SIZE,30232,517
$CAP_FILE_SIZE,81634,0
$CFSIZE,1024409600,1020297216
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6020.98,0x238aa6,7,5
$INTR,1,4735.88,0x238aa6,7,5
$GPS,070115,155202,4742.842,-12224.932,4,0.9,24,16.3,0.0,0.0,7,4.6