version: 66.12
glider: 36
mission: 17
dive: 5
start: 1 7 115 0 17 49
data:
$ID,36
$MISSION,17
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,65
$T_MISSION,70
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,187
$C_ROLL_CLIMB,187
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,41
$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,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,1.7
$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
$GPS1,070115,001317,4744.0430,-12224.3975,9,1.2,20,18.2,0.2,177.8,7,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.5
$GPS2,070115,001723,4744.0371,-12224.4082,12,1.4,34,18.2,0.0,0.0,7,5.3
$SPEED_LIMITS,0.287,0.293
$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,334.2,865,-9.9,-7.692,-15.00,4515
$D_GRID,150
$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,-0.53,-231.9,213,192,659,897,0.0,0.0,0,155,0.00,0.00,-136.85,0.765,16386,0.000,0.000,214,192,2687,2602,2773,0,0,0,0,0,0,26.32,28.83,26.34
$GC,157,-0.53,-244.3,214,192,2602,2773,3.2,-3.7,25,202,11.75,0.00,-30.67,0.795,18438,2.337,0.000,3185,190,3343,3236,3451,0,0,0,0,0,0,25.63,25.91,25.78
$GC,264,-0.53,-244.3,3185,190,3235,3451,14.3,-10.9,45,270,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,189,3343,3236,3451,0,0,0,0,0,0,26.23,26.25,26.25
$GC,336,-0.53,-244.3,3185,190,3235,3451,22.3,-10.9,57,337,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,190,3343,3235,3451,0,0,0,0,0,0,26.29,26.32,26.31
$GC,456,-0.53,-244.3,3185,190,3235,3451,35.1,-10.8,69,457,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,190,3343,3236,3451,0,0,0,0,0,0,26.37,26.40,26.39
$GC,576,-0.53,-244.3,3185,190,3235,3451,46.3,-8.7,81,577,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,190,3343,3235,3451,0,0,0,0,0,0,26.44,26.46,26.46
$GC,696,-0.53,-244.3,3185,190,3235,3451,56.3,-8.1,93,697,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,190,3343,3236,3451,0,0,0,0,0,0,26.49,26.51,26.51
$GC,816,-0.53,-244.3,3185,190,3235,3451,66.2,-8.9,105,817,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,190,3343,3236,3451,0,0,0,0,0,0,26.53,26.55,26.55
$GC,936,-0.53,-244.3,3185,190,3235,3451,76.6,-9.1,117,937,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,190,3343,3236,3451,0,0,0,0,0,0,26.57,26.59,26.59
$GC,1056,-0.53,-244.3,3185,190,3235,3451,87.2,-8.6,129,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,189,3343,3235,3452,0,0,0,0,0,0,26.60,26.62,26.61
$GC,1176,-0.53,-244.3,3185,190,3236,3451,97.8,-9.8,141,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,190,3343,3235,3451,0,0,0,0,0,0,26.52,26.55,26.54
$GC,1296,-0.53,-244.3,3185,190,3235,3451,109.1,-9.3,153,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,190,3343,3235,3451,0,0,0,0,0,0,26.53,26.56,26.55
$GC,1420,-0.53,-244.3,3185,190,3236,3451,120.8,-9.6,165,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,190,3343,3235,3451,0,0,0,0,0,0,26.65,26.67,26.66
$GC,1546,-0.53,-244.3,3185,190,3235,3451,132.7,-9.4,178,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,190,3343,3235,3451,0,0,0,0,0,0,26.69,26.71,26.71
$GC,1666,-0.53,-244.3,3185,190,3235,3451,143.6,-8.7,190,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,190,3343,3235,3451,0,0,0,0,0,0,26.70,26.73,26.72
$STATE,1735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1735,begin apogee
$GC,1738,-0.23,0.0,3185,190,3235,3451,150.4,-9.4,197,1917,0.30,0.00,171.93,8.979,10246,1.125,0.000,3290,190,2500,2405,2595,0,0,0,0,0,0,26.34,24.58,23.94
$STATE,1918,end apogee,CONTROL_FINISHED_OK
$STATE,1918,begin climb
$GC,1919,0.53,244.3,3289,189,2404,2595,158.2,0.0,215,2097,0.70,0.00,173.55,8.758,10246,0.963,0.000,3522,189,1657,1554,1761,0,0,0,0,0,0,24.74,24.49,23.88
$GC,2216,0.53,244.3,3521,189,1555,1761,142.9,6.9,245,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1658,1555,1761,0,0,0,0,0,0,25.71,25.72,25.72
$GC,2336,0.53,244.3,3521,189,1554,1761,134.5,6.6,257,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1657,1554,1761,0,0,0,0,0,0,25.97,26.00,25.99
$GC,2456,0.53,244.3,3522,189,1554,1761,125.8,7.7,269,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1658,1555,1761,0,0,0,0,0,0,26.13,26.16,26.15
$GC,2576,0.53,244.3,3521,189,1554,1761,117.3,6.9,281,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1657,1555,1760,0,0,0,0,0,0,26.25,26.27,26.27
$GC,2696,0.53,244.3,3521,189,1555,1760,109.1,6.6,293,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1657,1554,1761,0,0,0,0,0,0,26.33,26.36,26.35
$GC,2816,0.56,348.7,3522,190,1555,1760,101.9,5.3,305,2896,0.00,0.00,73.62,8.564,8198,0.000,0.000,3522,189,1297,1184,1411,0,0,0,0,0,0,26.40,24.72,24.29
$GC,3016,0.56,348.7,3521,189,1184,1411,88.0,7.9,325,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1297,1184,1411,0,0,0,0,0,0,25.86,25.88,25.88
$GC,3136,0.56,348.7,3521,189,1184,1411,78.5,8.2,337,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1297,1184,1411,0,0,0,0,0,0,26.08,26.10,26.10
$GC,3256,0.56,348.7,3521,189,1184,1412,68.1,8.4,349,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1297,1184,1411,0,0,0,0,0,0,26.22,26.24,26.23
$GC,3376,0.56,348.7,3521,189,1185,1411,57.1,9.8,361,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1297,1184,1411,0,0,0,0,0,0,26.31,26.34,26.33
$GC,3496,0.56,348.7,3521,189,1184,1412,45.6,9.2,373,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1297,1184,1411,0,0,0,0,0,0,26.39,26.41,26.41
$GC,3616,0.56,348.7,3522,189,1184,1411,34.0,9.5,385,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,190,1297,1184,1411,0,0,0,0,0,0,26.39,26.46,26.46
$GC,3736,0.56,348.7,3521,189,1184,1411,23.2,9.1,397,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1297,1183,1411,0,0,0,0,0,0,26.49,26.51,26.51
$GC,3856,0.56,348.7,3521,190,1184,1411,12.6,9.5,417,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1297,1184,1411,0,0,0,0,0,0,26.53,26.55,26.55
$GC,3923,0.56,348.7,3521,189,1184,1411,5.7,10.8,430,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,189,1297,1184,1411,0,0,0,0,0,0,26.55,26.58,26.57
$STATE,3954,end climb,SURFACE_DEPTH_REACHED
$STATE,3954,begin surface coast
$FINISH,0.6,1.021412
$STATE,3986,end surface coast,CONTROL_FINISHED_OK
$STATE,3986,begin surface
$SM_CCo,4000,104.30,7.938,0,0,778,500.22
$SM_GC,1.61,8.52,0.00,104.30,0.335,0.000,7.938,203,189,778,-9.80,0.06,500.22,0,0,0,0,0,0,26.32,26.60,24.27
$IRIDIUM_FIX,4722.92,-12225.08,070115,000942
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.99
$INTERNAL_PRESSURE,8.5362
$TCM_TEMP,17.70
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,125.4,63.5
$24V_AH,23.88,15.447
$10V_AH,10.44,2.372
$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,21.275,0.000,419.100,104.300,167.525,0.000,0.000,0.000,7.500,0.000,35.226,959.403,1862.693,635.829,696.113,35.463,0.000,1035.450,0.000,656.551,0.000,20.902,0.000
$DEVICE_MAMPS,2336.503,0.000,8978.528,7938.151,794.560,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,293.238,580.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322948
$DATA_FILE_SIZE,26880,442
$CAP_FILE_SIZE,70420,0
$CFSIZE,1024409600,1021001728
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4768.21,0x238aa6,7,5
$INTR,1,1736.58,0x238aa6,2,5
$INTR,2,3988.90,0x238aa6,7,5
$GPS,070115,012723,4743.799,-12224.464,10,1.3,44,18.2,0.0,0.0,8,6.6