version: 66.12
glider: 36
mission: 18
dive: 5
start: 3 9 115 0 6 51
data:
$ID,36
$MISSION,18
$DIVE,5
$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,150
$T_ABORT,3720
$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,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,30
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$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,3220
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,24
$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,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2300
$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,-978.6759
$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,20
$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
$GPS1,090315,000306,3218.8420,-6436.6196,27,1.5,27,-15.5,0.4,296.4,5,11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.9
$GPS2,090315,000625,3218.8340,-6436.6514,13,1.2,13,-15.5,0.8,207.6,7,9.3
$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,163.0,19401,-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,15,-0.87,-146.6,206,1881,995,1195,0.0,0.0,0,121,0.00,0.00,-103.78,0.099,16390,0.000,0.000,204,1876,2805,2704,2906,0,0,0,0,0,0,26.41,26.19,26.09
$GC,123,-0.87,-146.6,204,1876,2704,2906,2.4,-1.4,10,139,10.70,2.42,0.00,0.000,2308,0.261,0.057,2931,3494,2806,2704,2908,0,0,0,0,0,0,25.87,26.14,26.08
$GC,293,-0.87,-146.6,2930,3494,2704,2908,26.0,-14.4,25,303,0.00,2.30,0.00,0.000,1030,0.000,0.050,2931,1887,2806,2705,2908,0,0,0,0,0,0,26.39,26.37,26.40
$GC,603,-0.87,-146.6,2930,1887,2705,2908,65.4,-12.7,56,613,0.00,2.30,0.00,0.000,516,0.000,0.065,2931,331,2806,2704,2908,0,0,0,0,0,0,26.77,26.50,26.78
$GC,807,-0.87,-146.6,2931,331,2704,2908,91.5,-13.1,74,817,0.00,2.22,0.00,0.000,1030,0.000,0.050,2920,1939,2806,2704,2909,0,0,0,0,0,0,26.63,26.62,26.65
$GC,1117,-0.87,-146.6,2920,1939,2704,2908,130.7,-13.0,105,1128,0.00,2.38,0.00,0.000,516,0.000,0.062,2920,333,2806,2704,2909,0,0,0,0,0,0,26.85,26.61,26.86
$GC,1434,-0.87,-146.6,2920,333,2704,2908,174.0,-13.8,125,1439,0.10,2.22,0.00,0.000,3078,0.184,0.047,2939,1898,2806,2704,2908,0,0,0,0,0,0,26.49,26.72,26.66
$GC,1749,-0.87,-146.6,2939,1900,2704,2908,210.6,-11.1,141,1755,0.00,2.33,0.00,0.000,516,0.000,0.065,2939,332,2806,2704,2908,0,0,0,0,0,0,26.91,26.67,26.93
$GC,2185,-0.87,-146.6,2939,332,2704,2908,264.0,-13.0,161,2189,0.00,2.25,0.00,0.000,1030,0.000,0.047,2930,1912,2806,2704,2908,0,0,0,0,0,0,26.78,26.76,26.79
$GC,2509,-0.87,-146.6,2930,1913,2705,2908,303.1,-10.8,177,2514,0.00,2.33,0.00,0.000,516,0.000,0.062,2930,339,2806,2704,2908,0,0,0,0,0,0,26.98,26.70,27.00
$GC,2905,-0.87,-146.6,2930,339,2704,2908,348.0,-11.4,189,2910,0.00,2.20,0.00,0.000,1030,0.000,0.050,2920,1890,2806,2704,2908,0,0,0,0,0,0,26.79,26.78,26.81
$STATE,3010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3010,begin apogee
$GC,3014,-0.21,0.0,2920,1890,2704,2908,362.0,-11.4,193,3119,0.70,0.00,101.50,1.063,10246,0.146,0.000,3158,1890,2300,2222,2378,0,0,0,0,0,0,26.57,25.15,24.46
$STATE,3119,end apogee,CONTROL_FINISHED_OK
$STATE,3120,begin climb
$GC,3121,0.87,146.6,3158,1890,2222,2378,364.9,0.0,196,3231,0.88,2.47,102.00,1.033,10500,0.099,0.065,3484,3444,1794,1716,1873,0,0,0,0,0,0,25.32,25.03,24.32
$GC,3361,0.87,146.6,3484,3444,1716,1873,344.0,12.3,204,3365,0.00,2.33,0.00,0.000,1030,0.000,0.050,3496,1894,1794,1716,1873,0,0,0,0,0,0,26.10,26.04,26.11
$GC,3675,0.87,146.6,3495,1894,1716,1873,305.7,11.2,215,3681,0.00,2.33,0.00,0.000,260,0.000,0.060,3496,3449,1795,1717,1873,0,0,0,0,0,0,26.64,26.39,26.65
$GC,3845,0.87,146.6,3495,3449,1717,1873,285.2,12.2,222,3850,0.00,2.25,0.00,0.000,1030,0.000,0.050,3505,1887,1794,1716,1873,0,0,0,0,0,0,26.55,26.51,26.56
$GC,4159,0.87,146.6,3504,1887,1716,1873,254.0,8.3,238,4164,0.00,2.33,0.00,0.000,260,0.000,0.060,3505,3448,1794,1716,1873,0,0,0,0,0,0,26.83,26.56,26.84
$GC,4250,0.87,146.6,3505,3447,1717,1873,247.2,8.2,242,4254,0.00,2.28,0.00,0.000,1030,0.000,0.050,3516,1897,1794,1716,1873,0,0,0,0,0,0,26.65,26.63,26.66
$GC,4563,0.87,146.6,3516,1897,1716,1873,215.6,10.9,258,4569,0.00,2.28,0.00,0.000,516,0.000,0.062,3528,333,1795,1716,1874,0,0,0,0,0,0,26.90,26.63,26.91
$GC,4638,0.87,146.6,3528,333,1716,1874,208.6,10.9,261,4647,0.00,2.25,0.00,0.000,1030,0.000,0.050,3528,1911,1794,1716,1873,0,0,0,0,0,0,26.72,26.70,26.73
$GC,4947,0.87,146.6,3528,1912,1716,1873,173.7,10.8,277,4952,0.00,2.25,0.00,0.000,260,0.000,0.060,3528,3451,1794,1716,1873,0,0,0,0,0,0,26.94,26.67,26.95
$GC,5206,0.87,146.6,3528,3451,1716,1873,141.6,12.8,292,5216,0.12,2.28,0.00,0.000,5126,0.174,0.050,3499,1887,1794,1716,1873,0,0,0,0,0,0,26.52,26.72,26.61
$GC,5515,0.87,146.6,3499,1887,1716,1873,107.9,10.2,323,5526,0.00,2.30,0.00,0.000,260,0.000,0.060,3498,3448,1794,1716,1873,0,0,0,0,0,0,26.97,26.70,26.98
$GC,5699,0.87,146.6,3497,3448,1716,1873,90.1,9.7,339,5708,0.00,2.25,0.00,0.000,1030,0.000,0.050,3506,1905,1794,1716,1873,0,0,0,0,0,0,26.77,26.74,26.79
$GC,6009,0.87,146.6,3506,1905,1716,1873,58.8,10.8,370,6019,0.00,2.28,0.00,0.000,260,0.000,0.060,3506,3442,1794,1716,1873,0,0,0,0,0,0,26.98,26.72,27.00
$GC,6374,0.87,146.6,3506,3442,1716,1873,14.1,12.7,402,6384,0.00,2.25,0.00,0.000,1030,0.000,0.050,3517,1901,1794,1716,1873,0,0,0,0,0,0,26.79,26.76,26.80
$STATE,6472,end climb,SURFACE_DEPTH_REACHED
$STATE,6473,begin surface coast
$FINISH,0.4,0.998207
$STATE,6493,end surface coast,CONTROL_FINISHED_OK
$STATE,6493,begin surface
$SM_CCo,6508,134.98,0.827,0,0,1094,350.04
$SM_GC,1.36,8.30,0.00,134.98,0.057,0.000,0.827,197,1901,1094,-9.34,0.03,350.04,0,0,0,0,0,0,26.73,27.01,24.66
$IRIDIUM_FIX,3205.87,-6439.11,030108,123457
$TT8_MAMPS,0.023219,0.023219
$HUMID,39.40
$INTERNAL_PRESSURE,9.0245
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,17.3
$24V_AH,24.32,3.930
$10V_AH,10.60,3.313
$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,20.800,57.875,203.500,134.975,103.775,22.745,14.070,86.351,7.000,0.000,13.848,1136.850,3103.628,429.563,2143.715,50.101,0.000,1096.283,0.000,1962.111,0.000,45.445,0.000
$DEVICE_MAMPS,260.715,64.558,1062.724,826.839,99.320,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.669,1349.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330376
$DATA_FILE_SIZE,23544,414
$CAP_FILE_SIZE,76194,0
$CFSIZE,1024409600,1019019264
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,119.50,0x212ae8,0,24
$INTR,1,3011.52,0x238a9a,2,5
$INTR,2,6496.21,0x238a9a,7,5
$GPS,090315,015836,3218.047,-6436.128,26,1.9,27,-15.5,0.2,336.7,5,14.3