version: 66.12
glider: 36
mission: 17
dive: 3
start: 1 6 115 20 36 39
data:
$ID,36
$MISSION,17
$DIVE,3
$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,60
$T_MISSION,75
$T_ABORT,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,78118
$MASS_COMP,9146
$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,650
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,208
$PITCH_MAX,3959
$C_PITCH,3365
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,21.5
$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,45
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,273
$VBD_MAX,3978
$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,-971.80823
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,5
$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
$GPS1,060115,203248,4743.9722,-12223.9258,8,1.3,13,18.2,0.0,0.0,7,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.2
$GPS2,060115,203611,4743.9868,-12223.9092,12,1.6,34,18.2,0.2,37.9,7,6.5
$SPEED_LIMITS,0.100,0.260
$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,304.0,1202,-17.5,-10.000,-21.04,2226
$D_GRID,171
$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,-0.86,-146.6,205,2202,155,401,0.0,0.0,0,213,0.00,0.00,-194.95,0.757,16386,0.000,0.000,205,2203,2906,2823,2990,0,0,0,0,0,0,26.28,28.83,26.30
$GC,216,-0.86,-146.6,205,2203,2823,2991,3.3,-4.1,36,241,11.48,2.42,-4.53,1.065,18948,2.361,0.360,3090,649,3007,2916,3098,0,0,0,0,0,0,25.61,25.87,25.80
$GC,435,-0.86,-146.6,3089,649,2915,3098,34.6,-14.6,68,439,0.00,2.35,0.00,0.000,1030,0.000,0.288,3080,2213,3007,2916,3099,0,0,0,0,0,0,26.18,26.12,26.20
$GC,560,-0.86,-146.6,3080,2213,2916,3098,52.1,-13.7,80,561,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2212,3006,2915,3098,0,0,0,0,0,0,26.45,26.47,26.46
$GC,680,-0.86,-146.6,3080,2213,2916,3098,69.2,-14.6,92,681,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2212,3006,2915,3098,0,0,0,0,0,0,26.51,26.53,26.53
$GC,800,-0.86,-146.6,3081,2213,2915,3098,84.1,-12.3,104,809,0.00,2.45,0.00,0.000,260,0.000,0.439,3068,3786,3007,2915,3099,0,0,0,0,0,0,26.55,26.26,26.58
$GC,874,-0.86,-146.6,3068,3786,2916,3098,93.1,-13.0,111,881,0.00,2.38,0.00,0.000,1030,0.000,0.268,3068,2206,3006,2915,3098,0,0,0,0,0,0,26.41,26.35,26.42
$GC,1001,-0.86,-146.6,3068,2206,2916,3098,109.0,-12.1,124,1005,0.00,2.38,0.00,0.000,516,0.000,0.363,3068,628,3006,2915,3098,0,0,0,0,0,0,26.62,26.34,26.63
$GC,1229,-0.86,-146.6,3068,628,2915,3098,138.5,-13.2,146,1237,0.12,2.38,0.00,0.000,3078,1.644,0.291,3094,2206,3006,2915,3098,0,0,0,0,0,0,26.23,26.42,26.38
$GC,1357,-0.86,-146.6,3094,2206,2916,3098,153.9,-10.9,159,1361,0.00,2.45,0.00,0.000,260,0.000,0.444,3083,3786,3007,2916,3098,0,0,0,0,0,0,26.70,26.40,26.71
$GC,1477,-0.86,-146.6,3083,3787,2916,3098,167.0,-10.9,170,1484,0.00,2.35,0.00,0.000,1030,0.000,0.261,3084,2194,3006,2915,3098,0,0,0,0,0,0,26.53,26.48,26.54
$STATE,1511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1511,begin apogee
$GC,1515,-0.23,0.0,3083,2194,2915,3098,171.4,-10.9,174,1624,0.62,0.00,103.97,9.195,10246,1.202,0.000,3291,2194,2500,2423,2577,0,0,0,0,0,0,26.29,24.80,24.13
$STATE,1624,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1626,0.86,146.6,3290,2194,2423,2577,174.8,0.0,185,1735,0.95,0.00,105.47,8.837,10246,0.817,0.000,3620,2194,1995,1914,2076,0,0,0,0,0,0,24.96,24.60,23.97
$GC,1853,0.86,146.6,3620,2194,1914,2076,155.1,11.0,208,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,2194,1995,1914,2076,0,0,0,0,0,0,25.83,25.86,25.85
$GC,1973,0.86,146.6,3620,2194,1914,2076,143.2,10.0,220,1982,0.00,2.50,0.00,0.000,260,0.000,0.439,3620,3775,1995,1914,2076,0,0,0,0,0,0,26.09,25.82,26.10
$GC,2016,0.86,146.6,3620,3775,1914,2076,138.5,11.4,224,2024,0.00,2.40,0.00,0.000,1030,0.000,0.258,3631,2203,1995,1914,2076,0,0,0,0,0,0,25.96,25.94,25.98
$GC,2144,0.86,146.6,3631,2203,1914,2076,123.3,11.4,237,2152,0.00,2.40,0.00,0.000,516,0.000,0.363,3643,631,1995,1914,2076,0,0,0,0,0,0,26.29,26.03,26.31
$GC,2177,0.86,146.6,3643,631,1913,2076,119.7,12.1,240,2184,0.00,2.40,0.00,0.000,1030,0.000,0.286,3642,2203,1995,1914,2076,0,0,0,0,0,0,26.11,26.08,26.13
$GC,2304,0.86,146.6,3643,2203,1914,2076,105.1,12.3,253,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,3643,2203,1995,1914,2076,0,0,0,0,0,0,26.41,26.43,26.42
$GC,2424,0.86,146.6,3643,2203,1914,2076,93.0,10.3,265,2428,0.00,2.40,0.00,0.000,516,0.000,0.367,3655,631,1995,1914,2076,0,0,0,0,0,0,26.47,26.21,26.49
$GC,2482,0.86,146.6,3655,631,1914,2076,87.0,11.0,270,2490,0.00,2.38,0.00,0.000,1030,0.000,0.293,3655,2200,1995,1914,2076,0,0,0,0,0,0,26.29,26.26,26.30
$GC,2610,0.86,146.6,3655,2200,1914,2076,71.3,13.1,283,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,3655,2200,1995,1914,2076,0,0,0,0,0,0,26.55,26.57,26.56
$GC,2730,0.86,146.6,3655,2200,1914,2076,55.4,12.9,295,2734,0.00,2.47,0.00,0.000,260,0.000,0.454,3655,3786,1995,1914,2076,0,0,0,0,0,0,26.59,26.29,26.60
$GC,2796,0.86,146.6,3655,3786,1914,2076,46.6,12.9,301,2800,0.00,2.35,0.00,0.000,1030,0.000,0.248,3667,2192,1995,1914,2076,0,0,0,0,0,0,26.43,26.38,26.44
$GC,2921,0.86,146.6,3667,2192,1914,2076,32.6,10.7,313,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,3667,2192,1995,1914,2076,0,0,0,0,0,0,26.63,26.66,26.65
$GC,3042,0.86,146.6,3667,2192,1914,2076,19.9,10.8,325,3048,0.00,2.33,0.00,0.000,516,0.000,0.358,3679,633,1995,1914,2076,0,0,0,0,0,0,26.63,26.39,26.65
$GC,3130,0.86,146.6,3679,634,1914,2076,9.7,11.0,342,3137,0.12,2.35,0.00,0.000,5126,1.599,0.300,3641,2210,1995,1914,2076,0,0,0,0,0,0,26.26,26.43,26.40
$STATE,3198,end climb,SURFACE_DEPTH_REACHED
$STATE,3198,begin surface coast
$FINISH,0.5,1.018825
$STATE,3224,end surface coast,CONTROL_FINISHED_OK
$STATE,3224,begin surface
$SM_CCo,3239,359.02,7.826,0,0,273,646.92
$SM_CCo,3601,0.00,0.000,0,0,274,646.92
$SM_CCo,3603,2.30,1.107,0,0,273,646.92
$SM_GC,1.49,8.93,0.00,2.30,0.417,0.000,1.107,204,2210,273,-9.79,0.28,646.92,0,0,0,0,0,0,26.41,26.72,24.17
$IRIDIUM_FIX,4722.92,-12225.08,060115,202919
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.83
$INTERNAL_PRESSURE,8.52643
$TCM_TEMP,17.80
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,15.6,16.0
$24V_AH,23.97,12.910
$10V_AH,10.27,2.263
$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,22.225,43.125,209.450,361.325,199.475,0.000,0.000,0.000,3.500,0.000,35.326,827.422,1379.299,770.836,688.708,34.870,0.000,1167.936,0.000,649.506,0.000,8.940,0.000
$DEVICE_MAMPS,2361.333,454.389,9194.549,7826.416,1065.207,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.923,472.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322904
$DATA_FILE_SIZE,20262,360
$CAP_FILE_SIZE,74482,0
$CFSIZE,1024409600,1021132800
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2728.06,0x238aa6,7,5
$INTR,1,1513.10,0x238aa6,2,5
$INTR,2,3227.65,0x238aa6,7,5
$INTR,3,3602.59,0x238aa6,7,5
$GPS,060115,213804,4744.108,-12224.262,30,2.0,45,18.2,0.0,0.0,8,5.1