version: 66.12
glider: 36
mission: 20
dive: 7
start: 7 3 115 18 37 7
data:
$ID,36
$MISSION,20
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,5500
$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,120
$T_MISSION,135
$T_ABORT,2880
$T_TURN,290
$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,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2500
$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,-978.67957
$PRESSURE_SLOPE,0.00091862795
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$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,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,030715,183203,3220.8918,-6436.2446,84,1.2,124,-15.5,0.7,148.0,9,8.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.2
$GPS2,030715,183640,3220.9197,-6436.2393,14,1.0,54,-15.5,0.4,325.0,10,4.2
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$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,169.7,22464,-19.7,-10.000,-22.23,2234
$D_GRID,360
$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,-1.01,-146.6,197,1675,1239,1343,0.0,0.0,0,121,0.00,0.00,-101.85,0.099,16390,0.000,0.000,190,1670,3006,2893,3119,0,0,0,0,0,0,26.64,26.36,26.26
$GC,123,-1.01,-146.6,190,1670,2893,3119,4.0,-4.1,10,143,10.95,2.05,0.00,0.000,2308,0.263,0.052,2960,3101,3006,2893,3119,0,0,0,0,0,0,26.01,26.23,26.15
$GC,404,-1.01,-146.6,2960,3102,2893,3119,45.5,-11.7,35,414,0.00,1.98,0.00,0.000,1030,0.000,0.050,2960,1688,3006,2894,3119,0,0,0,0,0,0,26.59,26.58,26.60
$GC,714,-1.01,-146.6,2959,1688,2894,3119,77.2,-9.8,66,724,0.00,2.00,0.00,0.000,516,0.000,0.062,2960,303,3006,2893,3119,0,0,0,0,0,0,26.90,26.61,26.91
$GC,908,-1.01,-146.6,2960,303,2893,3119,98.5,-10.6,83,918,0.00,2.00,0.00,0.000,1030,0.000,0.045,2951,1718,3006,2893,3119,0,0,0,0,0,0,26.73,26.71,26.74
$GC,1217,-1.01,-146.6,2950,1718,2893,3119,131.9,-9.9,114,1228,0.00,1.95,0.00,0.000,260,0.000,0.055,2944,3092,3005,2893,3118,0,0,0,0,0,0,26.96,26.71,26.97
$GC,1322,-1.01,-146.6,2943,3092,2893,3117,143.1,-10.5,123,1333,0.10,1.92,0.00,0.000,3078,0.166,0.050,2975,1689,3005,2893,3117,0,0,0,0,0,0,26.51,26.74,26.60
$GC,1633,-1.01,-146.6,2975,1689,2893,3117,176.2,-10.9,142,1639,0.00,2.00,0.00,0.000,516,0.000,0.062,2975,300,3005,2893,3117,0,0,0,0,0,0,26.98,26.70,26.99
$GC,1695,-1.01,-146.6,2975,301,2893,3117,184.1,-11.9,145,1699,0.00,1.95,0.00,0.000,1030,0.000,0.047,2968,1721,3005,2893,3117,0,0,0,0,0,0,26.81,26.77,26.82
$GC,2018,-1.01,-146.6,2968,1722,2893,3116,222.3,-12.1,161,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1722,3005,2894,3116,0,0,0,0,0,0,26.98,27.01,27.00
$GC,2319,-1.01,-146.6,2968,1722,2893,3116,260.8,-12.6,176,2322,0.00,1.95,0.00,0.000,260,0.000,0.055,2958,3081,3004,2893,3116,0,0,0,0,0,0,26.95,26.73,26.96
$GC,2374,-1.01,-146.6,2958,3082,2893,3115,266.9,-13.3,178,2384,0.00,1.98,0.00,0.000,1030,0.000,0.047,2958,1707,3003,2893,3114,0,0,0,0,0,0,26.77,26.76,26.79
$GC,2686,-1.01,-146.6,2958,1707,2893,3114,310.6,-13.5,193,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1707,3003,2893,3113,0,0,0,0,0,0,26.96,26.99,26.98
$GC,2984,-1.01,-146.6,2958,1707,2893,3112,350.5,-12.7,203,2990,0.00,2.00,0.00,0.000,516,0.000,0.062,2958,318,3002,2893,3112,0,0,0,0,0,0,26.95,26.70,26.97
$GC,3057,-1.01,-146.6,2958,317,2893,3112,359.3,-13.8,205,3061,0.00,1.92,0.00,0.000,1030,0.000,0.045,2950,1701,3002,2893,3112,0,0,0,0,0,0,26.79,26.78,26.81
$STATE,3077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3077,begin apogee
$GC,3080,-0.24,0.0,2949,1702,2893,3112,363.6,-14.2,206,3185,0.80,0.00,100.95,1.142,10246,0.144,0.000,3221,1704,2499,2395,2604,0,0,0,0,0,0,26.51,25.21,24.42
$STATE,3185,end apogee,CONTROL_FINISHED_OK
$STATE,3186,begin climb
$GC,3187,1.01,146.6,3221,1705,2390,2604,367.6,0.0,209,3287,1.02,0.00,95.70,1.117,10246,0.084,0.000,3610,1705,1994,1865,2124,0,0,0,0,0,0,25.43,25.10,24.37
$GC,3586,1.01,146.6,3609,1704,1864,2123,324.4,12.5,223,3591,0.00,2.05,0.00,0.000,516,0.000,0.060,3620,311,1994,1865,2123,0,0,0,0,0,0,26.62,26.36,26.63
$GC,3669,1.01,146.6,3620,311,1863,2123,316.2,13.0,225,3678,0.00,1.95,0.00,0.000,1030,0.000,0.045,3620,1717,1993,1863,2123,0,0,0,0,0,0,26.51,26.48,26.51
$GC,3978,1.01,146.6,3620,1717,1863,2123,276.0,12.6,239,3984,0.00,2.03,0.00,0.000,516,0.000,0.060,3630,318,1993,1863,2123,0,0,0,0,0,0,26.82,26.56,26.84
$GC,4062,1.01,146.6,3630,317,1863,2123,265.2,13.0,243,4067,0.00,1.85,0.00,0.000,1030,0.000,0.045,3630,1693,1992,1863,2122,0,0,0,0,0,0,26.69,26.65,26.70
$GC,4383,1.01,146.6,3630,1693,1863,2121,227.0,12.0,259,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,1693,1992,1863,2121,0,0,0,0,0,0,26.91,26.93,26.92
$GC,4683,1.01,146.6,3630,1693,1863,2121,190.2,13.0,274,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,1693,1992,1863,2121,0,0,0,0,0,0,26.94,26.96,26.96
$GC,4983,1.01,146.6,3630,1693,1863,2121,151.6,13.4,289,4989,0.00,2.00,0.00,0.000,516,0.000,0.060,3639,311,1992,1863,2121,0,0,0,0,0,0,26.96,26.68,26.97
$GC,5083,1.01,146.6,3639,312,1863,2121,138.4,13.1,297,5092,0.00,1.92,0.00,0.000,1030,0.000,0.045,3640,1709,1992,1863,2121,0,0,0,0,0,0,26.76,26.75,26.77
$GC,5393,1.01,146.6,3639,1709,1863,2120,98.0,12.2,328,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,3639,1708,1992,1863,2121,0,0,0,0,0,0,26.96,26.98,26.98
$GC,5704,1.01,146.6,3639,1709,1863,2120,64.1,10.7,359,5714,0.00,2.03,0.00,0.000,516,0.000,0.060,3649,307,1991,1863,2120,0,0,0,0,0,0,26.98,26.68,26.99
$GC,6042,1.01,146.6,3649,307,1861,2120,32.2,8.9,389,6053,0.00,1.88,0.00,0.000,1030,0.000,0.047,3649,1704,1990,1861,2120,0,0,0,0,0,0,26.81,26.78,26.82
$GC,6353,1.08,377.3,3649,1704,1861,2120,15.0,-0.6,420,6513,0.00,0.00,156.95,0.874,8450,0.000,0.000,3649,1704,1312,1289,1335,0,0,0,0,0,0,26.98,28.83,27.01
$STATE,6515,end climb,SURFACE_DEPTH_REACHED
$STATE,6515,begin surface coast
$FINISH,0.4,1.023713
$STATE,6533,end surface coast,CONTROL_FINISHED_OK
$STATE,6533,begin surface
$SM_CCo,6548,5.05,0.603,0,0,1294,350.04
$SM_GC,3.01,8.88,0.00,5.05,0.052,0.000,0.603,190,1715,1294,-9.60,0.42,350.04,0,0,0,0,0,0,25.77,25.92,24.89
$IRIDIUM_FIX,3205.87,-6436.80,290408,063635
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.18
$INTERNAL_PRESSURE,9.15146
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,24.37,8.445
$10V_AH,10.23,5.787
$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,21.750,42.725,353.600,5.050,101.850,24.657,15.137,125.450,7.250,0.000,54.980,1101.831,3293.010,409.232,2003.790,46.438,0.000,1009.400,0.000,1749.584,0.000,43.841,0.000
$DEVICE_MAMPS,263.198,62.075,1142.180,603.369,99.320,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.011,1426.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330328
$DATA_FILE_SIZE,26894,438
$CAP_FILE_SIZE,67246,0
$CFSIZE,1024409600,1019265024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030715,202745,3220.329,-6436.026,9,1.1,50,-15.5,0.4,20.7,9,4.3