version: 66.12
glider: 36
mission: 17
dive: 8
start: 1 7 115 3 53 16
data:
$ID,36
$MISSION,17
$DIVE,8
$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,80
$T_MISSION,90
$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,63
$R_STBD_OVSHOOT,20
$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
$GPS1,070115,034604,4744.5469,-12224.4121,8,1.5,36,18.2,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.7
$GPS2,070115,035250,4744.5713,-12224.4131,15,1.3,16,18.2,0.0,0.0,8,5.6
$SPEED_LIMITS,0.075,0.235
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,163.9,2912,-13.1,-7.500,-17.71,2947
$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,15,-0.65,-146.6,216,2211,658,898,0.0,0.0,0,144,0.00,0.00,-125.65,0.772,16386,0.000,0.000,216,2212,2553,2473,2634,0,0,0,0,0,0,25.99,28.83,26.01
$GC,146,-0.65,-146.6,216,2212,2473,2635,3.1,-3.5,23,187,11.80,2.50,-22.95,0.814,18948,2.356,0.353,3152,633,3005,2915,3096,0,0,0,0,0,0,25.45,25.69,25.59
$GC,485,-0.65,-146.6,3152,634,2915,3097,39.2,-12.5,73,494,0.00,2.35,0.00,0.000,1030,0.000,0.291,3152,2217,3006,2915,3097,0,0,0,0,0,0,26.08,26.05,26.10
$GC,614,-0.65,-146.6,3152,2217,2915,3097,51.5,-10.7,86,618,0.00,2.45,0.00,0.000,260,0.000,0.452,3147,3788,3006,2915,3097,0,0,0,0,0,0,26.37,26.08,26.39
$GC,689,-0.65,-146.6,3146,3788,2915,3096,58.4,-9.1,93,694,0.00,2.35,0.00,0.000,1030,0.000,0.243,3147,2193,3005,2915,3096,0,0,0,0,0,0,26.24,26.19,26.25
$GC,815,-0.65,-146.6,3147,2193,2915,3096,70.9,-9.7,105,816,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2193,3005,2915,3096,0,0,0,0,0,0,26.46,26.48,26.48
$GC,935,-0.65,-146.6,3147,2192,2915,3096,83.2,-9.8,117,936,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2192,3006,2915,3097,0,0,0,0,0,0,26.51,26.53,26.53
$GC,1055,-0.65,-146.6,3147,2192,2915,3096,94.9,-10.1,129,1064,0.00,2.47,0.00,0.000,260,0.000,0.444,3136,3784,3005,2915,3096,0,0,0,0,0,0,26.54,26.26,26.55
$GC,1127,-0.65,-146.6,3136,3784,2915,3096,102.3,-10.3,136,1131,0.00,2.33,0.00,0.000,1030,0.000,0.248,3136,2197,3005,2914,3096,0,0,0,0,0,0,26.39,26.34,26.40
$GC,1252,-0.65,-146.6,3136,2197,2915,3096,114.6,-9.6,148,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2197,3005,2915,3096,0,0,0,0,0,0,26.59,26.61,26.61
$GC,1372,-0.65,-146.6,3136,2196,2915,3096,125.0,-8.1,160,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2196,3005,2915,3096,0,0,0,0,0,0,26.61,26.64,26.63
$GC,1492,-0.65,-146.6,3136,2197,2915,3096,135.9,-9.7,172,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2197,3005,2915,3096,0,0,0,0,0,0,26.63,26.65,26.65
$GC,1612,-0.65,-146.6,3136,2196,2915,3096,146.7,-9.0,184,1616,0.00,2.45,0.00,0.000,260,0.000,0.447,3125,3781,3005,2915,3096,0,0,0,0,0,0,26.65,26.36,26.66
$GC,1731,-0.65,-146.6,3124,3781,2915,3096,157.5,-9.4,195,1738,0.00,2.33,0.00,0.000,1030,0.000,0.253,3125,2190,3005,2915,3096,0,0,0,0,0,0,26.50,26.44,26.51
$GC,1858,-0.65,-146.6,3124,2189,2914,3096,169.3,-8.8,208,1868,0.08,2.45,0.00,0.000,2308,1.624,0.430,3147,3781,3005,2915,3096,0,0,0,0,0,0,26.34,26.39,26.41
$GC,1932,-0.65,-146.6,3147,3781,2915,3096,175.7,-9.0,215,1939,0.00,2.38,0.00,0.000,1030,0.000,0.251,3147,2191,3005,2915,3096,0,0,0,0,0,0,26.50,26.47,26.51
$STATE,1958,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1958,begin apogee
$GC,1962,-0.23,0.0,3147,2190,2915,3096,178.0,-8.1,218,2070,0.43,0.00,103.10,9.247,10246,1.107,0.000,3290,2189,2500,2424,2576,0,0,0,0,0,0,26.32,24.77,24.10
$STATE,2071,end apogee,CONTROL_FINISHED_OK
$STATE,2071,begin climb
$GC,2073,0.65,146.6,3290,2190,2423,2576,181.5,0.0,229,2181,0.75,0.00,104.85,8.867,10246,0.760,0.000,3559,2190,1995,1913,2077,0,0,0,0,0,0,24.92,24.52,23.90
$GC,2300,0.65,146.6,3559,2190,1913,2077,168.4,7.2,252,2308,0.00,2.40,0.00,0.000,516,0.000,0.355,3570,635,1995,1914,2076,0,0,0,0,0,0,25.73,25.49,25.75
$GC,2340,0.65,146.6,3570,635,1913,2076,165.0,8.0,256,2344,0.00,2.42,0.00,0.000,1030,0.000,0.286,3571,2210,1994,1913,2076,0,0,0,0,0,0,25.67,25.61,25.69
$GC,2465,0.65,146.6,3570,2210,1913,2076,153.7,9.5,268,2469,0.00,2.47,0.00,0.000,260,0.000,0.452,3570,3778,1994,1913,2076,0,0,0,0,0,0,26.06,25.79,26.08
$GC,2512,0.65,146.6,3570,3778,1914,2076,149.0,10.8,272,2521,0.00,2.35,0.00,0.000,1030,0.000,0.243,3582,2201,1995,1914,2077,0,0,0,0,0,0,25.95,25.90,25.96
$GC,2641,0.65,146.6,3581,2201,1914,2076,135.5,9.8,285,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2201,1994,1913,2076,0,0,0,0,0,0,26.22,26.25,26.24
$GC,2761,0.65,146.6,3581,2201,1914,2076,125.4,9.0,297,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,2201,1995,1914,2077,0,0,0,0,0,0,26.32,26.34,26.34
$GC,2881,0.65,146.6,3581,2201,1914,2076,115.3,8.2,309,2885,0.00,2.38,0.00,0.000,516,0.000,0.367,3593,627,1995,1914,2076,0,0,0,0,0,0,26.39,26.13,26.41
$GC,2968,0.65,146.6,3593,627,1914,2076,108.0,9.1,317,2977,0.00,2.35,0.00,0.000,1030,0.000,0.291,3593,2208,1995,1914,2077,0,0,0,0,0,0,26.25,26.20,26.27
$GC,3097,0.65,146.6,3593,2207,1914,2077,95.6,9.6,330,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2208,1995,1914,2077,0,0,0,0,0,0,26.48,26.51,26.50
$GC,3217,0.65,146.6,3593,2208,1914,2077,84.6,9.0,342,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2208,1995,1914,2076,0,0,0,0,0,0,26.53,26.55,26.54
$GC,3337,0.65,146.6,3593,2208,1913,2076,74.2,8.6,354,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2208,1995,1913,2077,0,0,0,0,0,0,26.55,26.58,26.58
$GC,3457,0.65,146.6,3593,2208,1913,2077,64.9,7.5,366,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2208,1995,1914,2077,0,0,0,0,0,0,26.59,26.61,26.60
$GC,3577,0.65,146.6,3593,2208,1914,2076,54.9,8.5,378,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2208,1995,1914,2076,0,0,0,0,0,0,26.62,26.64,26.63
$GC,3697,0.65,146.6,3593,2207,1914,2076,45.7,7.0,390,3701,0.00,2.38,0.00,0.000,516,0.000,0.363,3605,628,1995,1914,2077,0,0,0,0,0,0,26.64,26.38,26.65
$GC,3756,0.65,146.6,3604,628,1914,2076,41.2,7.7,395,3763,0.00,2.38,0.00,0.000,1030,0.000,0.291,3605,2200,1995,1914,2076,0,0,0,0,0,0,26.48,26.41,26.50
$GC,3883,0.65,146.6,3604,2201,1913,2077,31.5,7.0,408,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,2201,1995,1914,2077,0,0,0,0,0,0,26.67,26.69,26.69
$GC,4003,0.65,146.6,3604,2201,1913,2077,22.7,7.3,420,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2201,1995,1914,2076,0,0,0,0,0,0,26.69,26.71,26.71
$GC,4123,0.65,146.6,3604,2201,1914,2076,14.3,6.4,440,4130,0.00,2.38,0.00,0.000,516,0.000,0.358,3616,629,1995,1914,2076,0,0,0,0,0,0,26.70,26.44,26.72
$GC,4217,0.65,146.6,3616,629,1914,2077,6.8,8.8,458,4224,0.15,2.33,0.00,0.000,5126,1.326,0.295,3568,2208,1994,1913,2076,0,0,0,0,0,0,26.34,26.47,26.46
$STATE,4269,end climb,SURFACE_DEPTH_REACHED
$STATE,4269,begin surface coast
$FINISH,1.3,1.021426
$STATE,4316,end surface coast,CONTROL_FINISHED_OK
$STATE,4316,begin surface
$SM_CCo,4331,244.05,7.995,0,0,778,500.22
$SM_GC,1.59,8.85,0.00,244.05,0.504,0.000,7.995,214,2208,778,-9.79,0.23,500.22,0,0,0,0,0,0,26.43,26.74,24.02
$IRIDIUM_FIX,4726.11,-12222.38,070115,022404
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.14
$INTERNAL_PRESSURE,8.5362
$TCM_TEMP,17.70
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,121.1,71.6
$24V_AH,23.90,18.665
$10V_AH,10.44,2.481
$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,22.050,47.875,207.950,244.050,148.600,27.010,37.835,255.819,6.000,0.000,17.494,1142.264,2003.395,618.207,1181.610,53.632,0.000,1098.598,0.000,826.042,0.000,13.537,0.000
$DEVICE_MAMPS,2356.367,451.906,9246.693,7995.260,814.424,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.304,627.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322900
$DATA_FILE_SIZE,26960,477
$CAP_FILE_SIZE,76238,0
$CFSIZE,1024409600,1020821504
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5093.68,0x238aa6,7,5
$INTR,1,1959.34,0x238aa6,2,5
$INTR,2,4318.71,0x238aa6,7,5
$GPS,070115,051019,4744.521,-12224.432,13,1.1,13,18.2,0.0,0.0,7,8.3