version: 66.12
glider: 37
mission: 16
dive: 17
start: 1 7 115 15 57 50
data:
$ID,37
$MISSION,16
$DIVE,17
$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,50
$T_MISSION,60
$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,67
$R_STBD_OVSHOOT,53
$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
$GPS1,070115,155202,4742.8418,-12224.9316,4,0.9,24,16.3,0.0,0.0,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.1
$GPS2,070115,155724,4742.8584,-12224.9355,5,0.9,12,16.3,0.0,0.0,8,9.7
$SPEED_LIMITS,0.120,0.276
$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,353.8,3088,-20.5,-12.000,-23.53,1860
$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,-1.31,-146.6,158,2144,934,1032,0.0,0.0,0,187,0.00,0.00,-169.40,0.134,16386,0.000,0.000,158,2144,2814,2814,2814,0,0,0,0,0,0,26.27,28.83,26.29
$GC,190,-1.31,-146.6,158,2144,2814,2815,3.1,-1.7,31,231,10.05,2.40,-23.23,0.151,18692,0.256,0.074,2766,3715,3210,3218,3203,0,0,0,0,0,0,25.70,25.90,25.82
$GC,370,-1.31,-146.6,2766,3715,3218,3202,30.1,-17.4,60,378,0.00,2.30,0.00,0.000,1030,0.000,0.060,2770,2137,3210,3218,3202,0,0,0,0,0,0,26.25,26.19,26.26
$GC,497,-1.31,-146.6,2771,2137,3218,3203,52.0,-17.5,73,502,0.00,2.38,0.00,0.000,516,0.000,0.072,2771,563,3210,3218,3202,0,0,0,0,0,0,26.54,26.27,26.55
$GC,836,-1.31,-146.6,2771,563,3218,3202,104.8,-14.1,106,844,0.00,2.30,0.00,0.000,1030,0.000,0.062,2761,2146,3210,3218,3202,0,0,0,0,0,0,26.56,26.50,26.58
$GC,963,-1.31,-146.6,2761,2146,3218,3202,123.3,-14.4,119,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2145,3210,3218,3202,0,0,0,0,0,0,26.79,26.81,26.80
$GC,1083,-1.31,-146.6,2761,2146,3218,3202,140.3,-14.2,131,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2145,3210,3218,3203,0,0,0,0,0,0,26.82,26.84,26.84
$GC,1203,-1.31,-146.6,2760,2145,3218,3202,157.2,-13.5,143,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2145,3210,3218,3202,0,0,0,0,0,0,26.86,26.88,26.87
$GC,1323,-1.31,-146.6,2761,2145,3218,3202,173.2,-13.8,155,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2146,3210,3218,3202,0,0,0,0,0,0,26.89,26.91,26.91
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1376,-0.31,0.0,2761,2146,3218,3202,180.4,-14.5,160,1484,1.02,0.00,101.53,0.894,10246,0.169,0.000,3097,2146,2705,2705,2705,0,0,0,0,0,0,26.48,25.14,24.56
$STATE,1485,end apogee,CONTROL_FINISHED_OK
$STATE,1485,begin climb
$GC,1487,1.31,146.6,3097,2146,2705,2705,183.7,0.0,171,1595,1.35,0.00,103.82,0.859,10246,0.102,0.000,3595,2145,2200,2189,2211,0,0,0,0,0,0,25.27,24.89,24.36
$GC,1714,1.31,146.6,3594,2145,2189,2212,159.1,15.6,194,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,2145,2200,2189,2212,0,0,0,0,0,0,26.03,26.05,26.04
$GC,1834,1.31,146.6,3595,2145,2189,2212,138.6,16.9,206,1838,0.00,2.42,0.00,0.000,516,0.000,0.072,3607,568,2200,2189,2211,0,0,0,0,0,0,26.29,26.02,26.31
$GC,2199,1.31,146.6,3607,568,2190,2211,80.5,14.4,242,2204,0.00,2.30,0.00,0.000,1030,0.000,0.062,3607,2136,2200,2189,2211,0,0,0,0,0,0,26.46,26.40,26.48
$GC,2324,1.31,146.6,3607,2136,2189,2212,61.5,14.5,254,2329,0.00,2.38,0.00,0.000,516,0.000,0.077,3619,577,2201,2190,2212,0,0,0,0,0,0,26.70,26.42,26.72
$GC,2363,1.31,146.6,3619,577,2190,2211,57.0,12.9,257,2370,0.00,2.35,0.00,0.000,1030,0.000,0.062,3619,2152,2200,2189,2211,0,0,0,0,0,0,26.51,26.48,26.53
$GC,2490,1.31,146.6,3619,2153,2189,2212,39.4,12.1,270,2495,0.00,2.40,0.00,0.000,516,0.000,0.077,3630,572,2200,2190,2211,0,0,0,0,0,0,26.77,26.48,26.79
$STATE,2765,end climb,SURFACE_DEPTH_REACHED
$STATE,2765,begin surface coast
$FINISH,0.4,1.022039
$STATE,2781,end surface coast,CONTROL_FINISHED_OK
$STATE,2782,begin surface
$SM_CCo,2799,230.90,0.747,0,0,983,500.22
$SM_GC,1.92,8.73,2.35,230.90,0.065,0.060,0.747,163,2117,983,-9.43,-1.30,500.22,0,0,0,0,0,0,26.56,26.63,24.50
$IRIDIUM_FIX,4722.92,-12226.80,070115,142234
$TT8_MAMPS,0.023219,0.023219
$HUMID,39.21
$INTERNAL_PRESSURE,9.0452
$TCM_TEMP,19.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,136.0,62.5
$24V_AH,24.36,2.675
$10V_AH,10.51,0.846
$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,21.150,23.575,205.350,230.900,192.625,24.461,13.896,198.862,3.000,0.000,13.504,717.924,1134.053,597.212,871.147,48.730,0.000,953.579,0.000,608.654,0.000,21.148,0.000
$DEVICE_MAMPS,255.749,76.973,893.880,747.383,151.463,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.839,410.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322984
$DATA_FILE_SIZE,16910,312
$CAP_FILE_SIZE,49141,0
$CFSIZE,1024409600,1020264448
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5388.11,0x238aa6,7,5
$INTR,1,1373.80,0x238aa6,2,5
$GPS,070115,164905,4743.214,-12224.876,3,1.1,10,16.3,1.9,25.5,7,9.1