version: 66.12
glider: 36
mission: 17
dive: 6
start: 1 7 115 1 33 37
data:
$ID,36
$MISSION,17
$DIVE,6
$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,50
$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,70
$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,3990
$C_ROLL_CLIMB,3990
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,48
$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
$GPS1,070115,012723,4743.7993,-12224.4639,10,1.3,44,18.2,0.0,0.0,8,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.3
$GPS2,070115,013305,4743.8047,-12224.4658,14,1.8,18,18.2,0.0,0.0,7,8.2
$SPEED_LIMITS,0.100,0.181
$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,339.9,1288,-26.1,-10.000,-28.96,1044
$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,-1.24,-68.4,175,4000,653,903,0.0,0.0,0,153,0.00,0.00,-134.95,0.772,16386,0.000,0.000,175,4001,2661,2585,2738,0,0,0,0,0,0,26.02,28.83,26.04
$GC,155,-1.24,-68.4,175,4001,2585,2738,3.0,-3.0,25,173,11.75,0.00,-3.95,1.088,18438,2.523,0.000,2964,4001,2736,2656,2817,0,0,0,0,0,0,25.44,25.73,25.58
$GC,235,-1.24,-68.4,2964,4001,2656,2817,13.1,-12.6,40,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2736,2656,2817,0,0,0,0,0,0,26.08,26.10,26.09
$GC,302,-1.24,-68.4,2964,4001,2656,2818,24.0,-16.8,51,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2736,2656,2817,0,0,0,0,0,0,26.16,26.18,26.18
$GC,422,-1.24,-68.4,2963,4001,2656,2818,40.8,-13.8,63,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2737,2656,2818,0,0,0,0,0,0,26.27,26.29,26.29
$GC,542,-1.24,-68.4,2964,4001,2656,2818,58.6,-14.6,75,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2736,2656,2817,0,0,0,0,0,0,26.35,26.38,26.37
$GC,662,-1.24,-68.4,2964,4001,2657,2817,75.0,-14.6,87,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2736,2656,2817,0,0,0,0,0,0,26.42,26.44,26.44
$GC,782,-1.24,-68.4,2964,4001,2657,2817,89.0,-11.4,99,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2736,2656,2817,0,0,0,0,0,0,26.47,26.50,26.48
$GC,902,-1.24,-68.4,2964,4001,2656,2818,102.6,-11.5,111,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2737,2656,2818,0,0,0,0,0,0,26.51,26.53,26.53
$GC,1025,-1.24,-68.4,2964,4001,2656,2817,116.0,-10.9,123,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2737,2656,2818,0,0,0,0,0,0,26.52,26.54,26.53
$GC,1152,-1.24,-68.4,2964,4001,2656,2818,129.9,-10.8,136,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2737,2656,2818,0,0,0,0,0,0,26.58,26.60,26.60
$GC,1272,-1.24,-68.4,2964,4001,2656,2817,143.1,-10.8,148,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,4001,2737,2656,2818,0,0,0,0,0,0,26.61,26.64,26.63
$STATE,1341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1344,-0.23,0.0,2964,4001,2656,2817,150.1,-9.9,155,1397,1.10,0.00,48.92,8.921,10246,1.760,0.000,3289,4001,2500,2438,2562,0,0,0,0,0,0,26.15,25.29,24.63
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1399,1.24,68.4,3289,4001,2438,2562,151.9,0.0,160,1453,1.30,0.00,49.67,8.666,10246,0.874,0.000,3740,4001,2264,2198,2330,0,0,0,0,0,0,25.38,24.77,24.14
$GC,1572,1.24,68.4,3740,4001,2198,2330,131.9,14.0,178,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,3741,4001,2264,2198,2330,0,0,0,0,0,0,25.82,25.84,25.83
$GC,1692,1.24,68.4,3740,4001,2198,2330,112.8,15.9,190,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,3741,4000,2264,2198,2330,0,0,0,0,0,0,26.06,26.08,26.07
$GC,1813,1.24,68.4,3740,4001,2198,2330,96.4,14.4,202,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,4001,2264,2198,2330,0,0,0,0,0,0,26.20,26.22,26.22
$GC,1932,1.24,68.4,3740,4001,2198,2330,79.0,14.8,214,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,3741,4001,2264,2198,2330,0,0,0,0,0,0,26.29,26.32,26.32
$GC,2052,1.24,68.4,3740,4001,2198,2330,63.1,11.8,226,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,3741,4001,2264,2198,2330,0,0,0,0,0,0,26.37,26.40,26.39
$GC,2172,1.24,68.4,3740,4001,2198,2329,48.3,12.9,238,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,4001,2263,2198,2329,0,0,0,0,0,0,26.44,26.46,26.46
$GC,2292,1.24,68.4,3740,4001,2198,2329,33.1,12.1,250,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,3741,4001,2264,2198,2330,0,0,0,0,0,0,26.48,26.51,26.50
$GC,2413,1.24,68.4,3740,4001,2197,2329,19.7,11.6,262,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,4001,2264,2198,2330,0,0,0,0,0,0,26.50,26.52,26.51
$GC,2481,1.24,68.4,3740,4001,2198,2330,11.7,11.1,275,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,4001,2264,2198,2330,0,0,0,0,0,0,26.55,26.57,26.57
$GC,2548,1.24,68.4,3740,4001,2198,2329,4.0,11.3,288,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,4001,2264,2198,2330,0,0,0,0,0,0,26.57,26.59,26.58
$STATE,2558,end climb,SURFACE_DEPTH_REACHED
$STATE,2558,begin surface coast
$FINISH,0.7,1.021207
$STATE,2580,end surface coast,CONTROL_FINISHED_OK
$STATE,2580,begin surface
$SM_CCo,2596,299.17,8.003,0,0,777,500.22
$SM_GC,1.62,9.77,0.00,299.17,0.740,0.000,8.003,216,4001,777,-9.79,0.31,500.22,0,0,0,0,0,0,26.26,26.60,23.99
$IRIDIUM_FIX,4722.92,-12222.38,070115,001353
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.94
$INTERNAL_PRESSURE,8.54597
$TCM_TEMP,17.70
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.7,18.8
$ALTIM_BOTTOM_PING,116.0,73.4
$24V_AH,23.99,16.410
$10V_AH,10.47,2.399
$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,23.925,6.000,98.600,299.175,138.900,24.681,13.872,220.628,5.250,0.000,18.886,692.072,1260.311,538.251,727.310,37.774,0.000,808.503,0.000,443.626,0.000,11.967,0.000
$DEVICE_MAMPS,2522.728,312.858,8921.419,8002.709,1087.554,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,196.165,386.381,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322920
$DATA_FILE_SIZE,16849,294
$CAP_FILE_SIZE,49338,0
$CFSIZE,1024409600,1020952576
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1342.47,0x238aa6,2,5
$INTR,1,2582.98,0x238aa6,7,5
$GPS,070115,022304,4743.800,-12224.384,12,1.3,45,18.2,0.0,94.8,9,5.8