version: 66.12
glider: 36
mission: 17
dive: 4
start: 1 6 115 22 58 20
data:
$ID,36
$MISSION,17
$DIVE,4
$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,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,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,500
$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,64
$R_STBD_OVSHOOT,43
$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,-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,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,1.7
$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
$GPS1,060115,225434,4743.8877,-12224.1055,10,1.4,43,18.2,0.1,0.0,8,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.2
$GPS2,060115,225753,4743.8916,-12224.1221,11,1.6,15,18.2,0.1,0.0,7,6.2
$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,319.1,1221,-17.5,-10.000,-21.04,2226
$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,14,-0.86,-146.6,204,2211,164,401,0.0,0.0,0,186,0.00,0.00,-168.48,0.760,16386,0.000,0.000,204,2212,2551,2469,2634,0,0,0,0,0,0,26.54,28.83,26.57
$GC,189,-0.86,-146.6,203,2212,2469,2633,3.0,-2.7,31,235,11.38,2.47,-24.58,0.802,19204,2.359,0.439,3075,3776,3006,2913,3099,0,0,0,0,0,0,25.76,25.99,25.91
$GC,679,-0.86,-146.6,3075,3775,2914,3098,63.7,-12.7,95,687,0.00,2.38,0.00,0.000,1030,0.000,0.261,3075,2198,3006,2913,3099,0,0,0,0,0,0,26.34,26.32,26.36
$GC,807,-0.86,-146.6,3075,2198,2913,3098,80.4,-12.4,108,811,0.00,2.38,0.00,0.000,516,0.000,0.353,3075,617,3005,2913,3098,0,0,0,0,0,0,26.59,26.32,26.61
$GC,894,-0.86,-146.6,3075,617,2913,3099,91.0,-11.7,116,903,0.00,2.38,0.00,0.000,1030,0.000,0.291,3063,2212,3005,2913,3098,0,0,0,0,0,0,26.42,26.36,26.44
$GC,1022,-0.86,-146.6,3063,2212,2913,3098,106.7,-11.0,129,1027,0.00,2.42,0.00,0.000,260,0.000,0.454,3051,3785,3005,2913,3098,0,0,0,0,0,0,26.64,26.34,26.65
$GC,1088,-0.86,-146.6,3051,3785,2913,3098,113.7,-10.5,135,1094,0.12,2.35,0.00,0.000,3078,1.574,0.253,3090,2187,3005,2913,3098,0,0,0,0,0,0,26.22,26.42,26.36
$GC,1214,-0.86,-146.6,3089,2187,2913,3098,125.0,-8.1,147,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2187,3005,2913,3098,0,0,0,0,0,0,26.67,26.70,26.70
$GC,1333,-0.86,-146.6,3089,2187,2914,3098,136.6,-10.3,159,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2187,3006,2914,3098,0,0,0,0,0,0,26.70,26.72,26.71
$GC,1453,-0.86,-146.6,3089,2187,2913,3098,147.7,-9.3,171,1458,0.00,2.47,0.00,0.000,260,0.000,0.449,3079,3781,3006,2913,3099,0,0,0,0,0,0,26.72,26.41,26.73
$GC,1541,-0.86,-146.6,3079,3781,2913,3098,156.3,-10.7,179,1550,0.00,2.33,0.00,0.000,1030,0.000,0.256,3079,2198,3005,2913,3098,0,0,0,0,0,0,26.55,26.49,26.55
$GC,1669,-0.86,-146.6,3078,2198,2913,3098,170.1,-10.5,192,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2198,3005,2913,3098,0,0,0,0,0,0,26.74,26.77,26.76
$STATE,1768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1768,begin apogee
$GC,1772,-0.23,0.0,3079,2198,2913,3098,180.3,-10.1,202,1880,0.65,0.00,103.53,9.361,10246,1.232,0.000,3293,2196,2500,2423,2577,0,0,0,0,0,0,26.33,24.77,24.10
$STATE,1881,end apogee,CONTROL_FINISHED_OK
$STATE,1882,begin climb
$GC,1883,0.86,146.6,3293,2197,2422,2577,183.6,0.0,213,2000,0.93,2.47,104.82,8.924,10756,0.742,0.338,3635,638,1994,1913,2076,0,0,0,0,0,0,24.94,24.40,23.91
$GC,2044,0.86,146.6,3634,639,1913,2076,170.6,11.8,229,2053,0.00,2.42,0.00,0.000,1030,0.000,0.291,3635,2204,1994,1913,2076,0,0,0,0,0,0,25.34,25.29,25.36
$GC,2172,0.86,146.6,3634,2204,1913,2076,155.0,12.9,242,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3635,2204,1994,1913,2076,0,0,0,0,0,0,25.94,25.96,25.96
$GC,2292,0.86,146.6,3634,2204,1913,2076,140.6,11.0,254,2297,0.00,2.47,0.00,0.000,260,0.000,0.449,3635,3779,1994,1913,2076,0,0,0,0,0,0,26.13,25.85,26.15
$GC,2401,0.86,146.6,3635,3779,1913,2076,126.9,12.8,264,2408,0.00,2.40,0.00,0.000,1030,0.000,0.248,3647,2197,1994,1913,2076,0,0,0,0,0,0,26.05,26.03,26.06
$GC,2528,0.86,146.6,3646,2197,1913,2076,110.4,12.6,277,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,3647,2196,1994,1913,2076,0,0,0,0,0,0,26.34,26.36,26.36
$GC,2648,0.86,146.6,3647,2196,1912,2076,95.3,12.3,289,2652,0.00,2.35,0.00,0.000,516,0.000,0.358,3659,632,1994,1913,2076,0,0,0,0,0,0,26.41,26.16,26.44
$GC,2756,0.86,146.6,3659,631,1912,2076,81.4,11.9,299,2764,0.00,2.40,0.00,0.000,1030,0.000,0.298,3659,2206,1994,1913,2076,0,0,0,0,0,0,26.25,26.22,26.27
$GC,2884,0.86,146.6,3658,2206,1913,2076,66.6,10.8,312,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,3659,2206,1994,1913,2076,0,0,0,0,0,0,26.51,26.54,26.53
$GC,3004,0.86,146.6,3658,2206,1913,2076,54.2,10.6,324,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,3659,2206,1994,1913,2076,0,0,0,0,0,0,26.55,26.58,26.58
$GC,3124,0.86,146.6,3658,2206,1913,2076,40.6,11.8,336,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,3659,2206,1994,1913,2076,0,0,0,0,0,0,26.59,26.61,26.61
$GC,3244,0.86,146.6,3658,2206,1913,2076,26.2,12.4,348,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,3659,2206,1994,1913,2076,0,0,0,0,0,0,26.62,26.65,26.64
$GC,3364,0.86,146.6,3658,2206,1913,2076,12.4,12.4,366,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,3659,2206,1994,1913,2076,0,0,0,0,0,0,26.65,26.67,26.66
$GC,3432,0.86,146.6,3658,2206,1913,2076,5.5,9.5,379,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,3659,2206,1994,1913,2076,0,0,0,0,0,0,26.66,26.68,26.68
$STATE,3462,end climb,SURFACE_DEPTH_REACHED
$STATE,3463,begin surface coast
$FINISH,1.1,1.020244
$STATE,3499,end surface coast,CONTROL_FINISHED_OK
$STATE,3499,begin surface
$SM_CCo,3514,245.30,7.941,0,0,778,500.22
$SM_GC,1.56,9.20,0.00,245.30,0.564,0.000,7.941,215,2206,778,-9.77,0.17,500.22,0,0,0,0,0,0,26.38,26.70,24.06
$IRIDIUM_FIX,4722.92,-12225.08,060115,225047
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.81
$INTERNAL_PRESSURE,8.55573
$TCM_TEMP,17.80
$XPDR_PINGS,43
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,115.4,71.8
$24V_AH,23.91,14.118
$10V_AH,10.30,2.331
$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,22.275,33.700,208.350,245.300,193.050,0.000,0.000,0.000,12.250,0.000,16.149,904.147,1522.142,625.543,749.854,33.870,0.000,1062.845,0.000,726.671,0.000,11.971,0.000
$DEVICE_MAMPS,2358.850,454.389,9360.910,7940.634,802.009,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.264,514.842,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322928
$DATA_FILE_SIZE,23579,392
$CAP_FILE_SIZE,115505,0
$CFSIZE,1024409600,1021018112
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8500.03,0x238aa6,7,5
$INTR,1,1769.94,0x238aa6,2,5
$INTR,2,3502.22,0x238aa6,7,5
$GPS,070115,000205,4744.059,-12224.348,14,1.5,30,18.2,0.0,0.0,7,6.3