version: 66.12
glider: 37
mission: 20
dive: 5
start: 4 15 115 16 39 34
data:
$ID,37
$MISSION,20
$DIVE,5
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,5500
$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,120
$T_MISSION,130
$T_ABORT,2880
$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,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78758
$MASS_COMP,9226.7002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,265
$ROLL_MAX,3830
$ROLL_DEG,45
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,280
$VBD_MAX,3960
$C_VBD,2181
$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,-1071.2393
$PRESSURE_SLOPE,0.00091968128
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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,1.75
$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,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,150415,163338,3219.9204,-6436.3169,3,1.3,43,-14.9,0.0,0.0,5,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-61.7
$GPS2,150415,163908,3219.9351,-6436.3105,4,1.3,44,-14.9,0.0,0.0,5,3.4
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$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,166.6,20891,-19.7,-10.000,-22.23,2234
$D_GRID,360
$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,-0.94,-146.6,146,1905,419,535,0.0,0.0,0,171,0.00,0.00,-153.88,0.139,16386,0.000,0.000,146,1904,2536,2533,2539,0,0,0,0,0,0,26.75,28.83,26.77
$GC,174,-0.94,-146.6,146,1904,2533,2539,3.1,-0.9,15,201,11.52,0.00,-8.80,0.181,18438,0.293,0.000,2894,1900,2685,2676,2695,0,0,0,0,0,0,26.08,26.29,26.21
$GC,500,-0.94,-146.6,2894,1900,2676,2695,34.6,-11.0,48,511,0.00,2.40,0.00,0.000,260,0.000,0.065,2883,3573,2685,2676,2695,0,0,0,0,0,0,26.95,26.69,26.96
$GC,569,-0.94,-146.6,2882,3572,2676,2695,42.3,-11.2,54,579,0.00,2.22,0.00,0.000,1030,0.000,0.052,2883,1943,2685,2676,2695,0,0,0,0,0,0,26.79,26.77,26.80
$GC,880,-0.94,-146.6,2882,1943,2676,2695,75.5,-11.3,85,890,0.00,2.35,0.00,0.000,260,0.000,0.065,2871,3574,2685,2675,2695,0,0,0,0,0,0,27.10,26.84,27.11
$GC,1005,-0.94,-146.6,2871,3574,2675,2695,89.7,-11.6,96,1015,0.00,2.22,0.00,0.000,1030,0.000,0.052,2870,1936,2685,2676,2695,0,0,0,0,0,0,26.93,26.90,26.94
$GC,1315,-0.94,-146.6,2870,1937,2676,2695,124.3,-10.5,127,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1937,2685,2676,2695,0,0,0,0,0,0,27.18,27.20,27.20
$GC,1615,-0.94,-146.6,2871,1937,2675,2695,157.0,-10.8,154,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1937,2685,2675,2695,0,0,0,0,0,0,27.22,27.23,27.23
$GC,1916,-0.94,-146.6,2870,1936,2675,2695,188.2,-9.9,169,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1937,2685,2676,2695,0,0,0,0,0,0,27.24,27.26,27.25
$GC,2215,-0.94,-146.6,2870,1937,2675,2695,217.8,-10.1,184,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1937,2685,2675,2695,0,0,0,0,0,0,27.25,27.27,27.27
$GC,2515,-0.94,-146.6,2871,1937,2675,2694,247.0,-9.6,199,2520,0.00,2.20,0.00,0.000,516,0.000,0.065,2877,376,2685,2676,2694,0,0,0,0,0,0,27.27,26.99,27.28
$GC,2606,-0.94,-146.6,2876,375,2675,2694,256.1,-10.8,203,2611,0.10,2.25,0.00,0.000,3078,0.189,0.052,2899,2027,2684,2675,2694,0,0,0,0,0,0,26.84,27.03,26.98
$GC,2921,-0.94,-146.6,2899,2027,2675,2694,287.0,-10.2,219,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2027,2684,2675,2694,0,0,0,0,0,0,27.27,27.29,27.29
$GC,3240,-0.94,-146.6,2899,2027,2675,2694,318.7,-9.6,232,3246,0.00,2.33,0.00,0.000,516,0.000,0.065,2900,385,2684,2674,2694,0,0,0,0,0,0,27.28,27.00,27.30
$GC,3315,-0.94,-146.6,2899,385,2675,2694,324.9,-9.8,234,3319,0.00,2.20,0.00,0.000,1030,0.000,0.052,2889,2007,2684,2675,2694,0,0,0,0,0,0,27.10,27.05,27.11
$GC,3634,-0.94,-146.6,2889,2008,2675,2694,358.7,-10.1,245,3639,0.00,2.17,0.00,0.000,260,0.000,0.065,2877,3550,2683,2673,2693,0,0,0,0,0,0,27.29,27.02,27.30
$STATE,3663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3663,begin apogee
$GC,3669,-0.23,0.0,2877,1932,2673,2694,361.6,-10.0,246,3773,0.73,0.00,100.30,1.040,10246,0.146,0.000,3131,1932,2181,2168,2195,0,0,0,0,0,0,26.83,25.47,24.84
$STATE,3774,end apogee,CONTROL_FINISHED_OK
$STATE,3774,begin climb
$GC,3775,0.94,146.6,3131,1931,2168,2195,364.0,0.0,249,3886,0.93,2.38,101.68,1.008,10756,0.092,0.070,3507,390,1676,1653,1699,0,0,0,0,0,0,25.64,25.32,24.69
$GC,3953,0.94,146.6,3507,389,1653,1699,346.4,12.7,255,3957,0.00,2.28,0.00,0.000,1030,0.000,0.052,3507,1994,1676,1653,1699,0,0,0,0,0,0,26.15,26.10,26.16
$GC,4267,0.94,146.6,3507,1994,1653,1699,296.4,15.2,266,4272,0.00,2.35,0.00,0.000,516,0.000,0.065,3519,386,1676,1654,1699,0,0,0,0,0,0,26.86,26.60,26.88
$GC,4315,0.94,146.6,3519,385,1653,1699,289.9,15.9,268,4320,0.00,2.28,0.00,0.000,1030,0.000,0.052,3519,2007,1676,1653,1699,0,0,0,0,0,0,26.73,26.68,26.74
$GC,4631,0.94,146.6,3519,2007,1653,1699,241.2,14.9,284,4636,0.00,2.35,0.00,0.000,516,0.000,0.065,3531,385,1676,1653,1699,0,0,0,0,0,0,27.05,26.78,27.07
$GC,4798,0.94,146.6,3531,384,1653,1699,216.0,15.0,292,4803,0.00,2.20,0.00,0.000,1030,0.000,0.052,3531,2003,1676,1653,1699,0,0,0,0,0,0,26.90,26.88,26.92
$GC,5118,0.94,146.6,3531,2004,1653,1699,168.7,14.4,308,5124,0.00,2.33,0.00,0.000,516,0.000,0.065,3543,377,1676,1653,1699,0,0,0,0,0,0,27.16,26.89,27.18
$GC,5209,0.94,146.6,3543,377,1653,1699,156.1,15.2,312,5214,0.12,2.28,0.00,0.000,5126,0.184,0.055,3503,2010,1676,1653,1699,0,0,0,0,0,0,26.74,26.95,26.84
$GC,5523,0.94,146.6,3503,2010,1653,1699,112.8,12.9,341,5533,0.00,2.33,0.00,0.000,516,0.000,0.065,3515,380,1676,1654,1699,0,0,0,0,0,0,27.22,26.94,27.23
$GC,5592,0.94,146.6,3514,379,1653,1699,103.6,13.5,347,5602,0.00,2.17,0.00,0.000,1030,0.000,0.052,3514,1990,1676,1653,1699,0,0,0,0,0,0,27.02,26.99,27.03
$GC,5902,0.94,146.6,3514,1991,1653,1699,62.8,13.0,378,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1990,1676,1653,1699,0,0,0,0,0,0,27.24,27.26,27.26
$GC,6204,0.94,146.6,3514,1990,1654,1699,21.3,14.0,408,6215,0.00,2.28,0.00,0.000,516,0.000,0.065,3527,385,1676,1653,1699,0,0,0,0,0,0,27.26,26.98,27.27
$GC,6242,0.94,146.6,3526,385,1653,1699,16.4,12.8,411,6252,0.00,2.25,0.00,0.000,1030,0.000,0.052,3527,1998,1676,1653,1699,0,0,0,0,0,0,27.06,27.04,27.07
$STATE,6350,end climb,SURFACE_DEPTH_REACHED
$STATE,6350,begin surface coast
$FINISH,0.6,1.025554
$STATE,6361,end surface coast,CONTROL_FINISHED_OK
$STATE,6361,begin surface
$SM_CCo,6376,234.30,0.782,0,0,459,500.22
$SM_GC,1.99,8.25,0.00,234.30,0.065,0.000,0.782,160,2002,459,-9.44,0.03,500.22,0,0,0,0,0,0,26.91,27.29,24.94
$IRIDIUM_FIX,3208.42,-6435.71,100208,060059
$TT8_MAMPS,0.02247,0.02247
$HUMID,37.83
$INTERNAL_PRESSURE,9.38701
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$24V_AH,24.69,3.856
$10V_AH,10.61,1.300
$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,21.650,52.750,201.975,234.300,162.675,34.802,43.038,140.915,7.000,0.000,45.836,1092.355,3290.179,564.353,1955.461,62.024,0.000,1113.151,0.000,1663.017,0.000,45.183,0.000
$DEVICE_MAMPS,292.994,69.524,1040.377,782.145,181.259,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,281.954,1379.585,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330404
$DATA_FILE_SIZE,23617,423
$CAP_FILE_SIZE,69208,0
$CFSIZE,1024409600,1018019840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6364.71,0x238a9a,7,5
$GPS,150415,183058,3219.177,-6436.117,37,0.9,38,-14.9,1.0,64.9,7,7.4