version: 66.12
glider: 37
mission: 20
dive: 6
start: 4 15 115 18 35 34
data:
$ID,37
$MISSION,20
$DIVE,6
$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,78
$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
$GPS1,150415,183058,3219.1775,-6436.1172,37,0.9,38,-14.9,1.0,64.9,7,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-64.6
$GPS2,150415,183511,3219.2087,-6436.0996,4,0.9,11,-14.9,0.0,0.0,7,9.3
$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,165.6,19552,-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,-146.6,155,2003,419,524,0.0,0.0,0,171,0.00,0.00,-153.52,0.139,16386,0.000,0.000,154,2003,2525,2528,2522,0,0,0,0,0,0,26.70,28.83,26.72
$GC,174,-0.94,-146.6,154,2009,2527,2522,3.1,-1.1,15,201,11.32,0.00,-9.12,0.184,18950,0.288,0.000,2891,2003,2686,2677,2695,0,0,0,0,0,0,26.06,26.27,26.19
$GC,500,-0.94,-146.6,2890,2002,2677,2696,36.7,-10.6,48,510,0.00,2.22,0.00,0.000,260,0.000,0.065,2881,3562,2686,2677,2696,0,0,0,0,0,0,26.94,26.68,26.95
$GC,614,-0.94,-146.6,2880,3562,2677,2696,49.5,-12.3,58,624,0.00,2.22,0.00,0.000,1030,0.000,0.052,2881,1935,2686,2677,2695,0,0,0,0,0,0,26.80,26.78,26.81
$GC,926,-0.94,-146.6,2881,1935,2677,2695,84.6,-11.2,89,936,0.00,2.33,0.00,0.000,260,0.000,0.065,2868,3561,2686,2677,2695,0,0,0,0,0,0,27.10,26.84,27.11
$GC,1028,-0.94,-146.6,2868,3561,2676,2695,97.1,-11.9,98,1038,0.00,2.20,0.00,0.000,1030,0.000,0.052,2868,1933,2686,2677,2695,0,0,0,0,0,0,26.94,26.91,26.94
$GC,1338,-0.94,-146.6,2868,1932,2677,2695,133.8,-11.7,129,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1933,2685,2676,2695,0,0,0,0,0,0,27.17,27.20,27.19
$GC,1650,-0.94,-146.6,2869,1933,2676,2695,169.7,-11.7,152,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1933,2686,2677,2695,0,0,0,0,0,0,27.21,27.23,27.22
$GC,1948,-0.94,-146.6,2868,1933,2677,2695,205.6,-11.0,167,1954,0.00,2.17,0.00,0.000,516,0.000,0.065,2873,374,2685,2676,2695,0,0,0,0,0,0,27.23,26.96,27.25
$GC,2033,-0.94,-146.6,2873,373,2677,2695,215.5,-11.8,171,2039,0.10,2.22,0.00,0.000,3078,0.174,0.052,2897,2020,2686,2677,2695,0,0,0,0,0,0,26.82,27.02,26.91
$GC,2353,-0.94,-146.6,2897,2020,2676,2695,245.5,-8.6,187,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2020,2686,2677,2695,0,0,0,0,0,0,27.25,27.27,27.27
$GC,2653,-0.94,-146.6,2897,2020,2676,2695,272.2,-9.2,202,2658,0.00,2.35,0.00,0.000,516,0.000,0.065,2897,374,2686,2677,2695,0,0,0,0,0,0,27.27,26.99,27.28
$GC,2823,-0.94,-146.6,2897,373,2676,2695,290.5,-10.9,210,2828,0.00,2.20,0.00,0.000,1030,0.000,0.052,2887,2011,2685,2676,2695,0,0,0,0,0,0,27.06,27.04,27.09
$GC,3132,-0.94,-146.6,2886,2011,2676,2695,323.3,-10.4,222,3138,0.00,2.20,0.00,0.000,260,0.000,0.065,2875,3558,2685,2676,2695,0,0,0,0,0,0,27.27,27.01,27.29
$GC,3195,-0.94,-146.6,2875,3559,2676,2695,329.7,-10.4,224,3200,0.00,2.28,0.00,0.000,1030,0.000,0.050,2875,1925,2685,2675,2695,0,0,0,0,0,0,27.08,27.05,27.10
$STATE,3524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3524,begin apogee
$GC,3528,-0.23,0.0,2875,1925,2676,2695,362.1,-9.6,235,3633,0.73,0.00,100.62,1.038,10246,0.142,0.000,3131,1920,2181,2169,2194,0,0,0,0,0,0,26.84,25.46,24.84
$STATE,3633,end apogee,CONTROL_FINISHED_OK
$STATE,3634,begin climb
$GC,3635,0.94,146.6,3131,1922,2169,2194,364.5,0.0,238,3747,0.90,2.55,101.75,1.008,10500,0.092,0.070,3491,3556,1676,1653,1699,0,0,0,0,0,0,25.63,25.32,24.69
$GC,3798,0.94,146.6,3491,3555,1653,1699,347.5,12.2,244,3803,0.00,2.28,0.00,0.000,1030,0.000,0.052,3504,1945,1676,1653,1699,0,0,0,0,0,0,26.06,26.03,26.08
$GC,4127,0.94,146.6,3504,1945,1653,1698,298.5,15.0,255,4132,0.00,2.25,0.00,0.000,516,0.000,0.065,3515,379,1676,1653,1699,0,0,0,0,0,0,26.86,26.60,26.88
$GC,4196,0.94,146.6,3515,378,1653,1699,289.1,14.8,258,4201,0.00,2.25,0.00,0.000,1030,0.000,0.052,3516,2000,1676,1654,1698,0,0,0,0,0,0,26.74,26.70,26.75
$GC,4510,0.94,146.6,3515,2000,1653,1699,242.3,15.1,274,4516,0.00,2.35,0.00,0.000,516,0.000,0.065,3528,378,1676,1653,1699,0,0,0,0,0,0,27.05,26.79,27.07
$GC,4742,0.94,146.6,3528,378,1653,1699,207.5,14.5,285,4748,0.00,2.20,0.00,0.000,1030,0.000,0.052,3528,2000,1676,1653,1699,0,0,0,0,0,0,26.92,26.90,26.94
$GC,5063,0.94,146.6,3528,2001,1653,1698,163.0,14.1,301,5068,0.00,2.33,0.00,0.000,516,0.000,0.065,3540,387,1676,1654,1699,0,0,0,0,0,0,27.17,26.90,27.20
$GC,5192,0.94,146.6,3540,386,1653,1699,144.2,14.9,308,5202,0.10,2.25,0.00,0.000,5126,0.181,0.052,3506,2004,1676,1653,1699,0,0,0,0,0,0,26.77,26.98,26.86
$GC,5501,0.94,146.6,3506,2004,1653,1698,102.5,14.1,339,5512,0.00,2.33,0.00,0.000,516,0.000,0.065,3518,376,1676,1653,1699,0,0,0,0,0,0,27.22,26.95,27.24
$GC,5595,0.94,146.6,3517,375,1653,1699,89.7,14.2,347,5604,0.00,2.25,0.00,0.000,1030,0.000,0.052,3517,1994,1675,1653,1698,0,0,0,0,0,0,27.03,27.00,27.05
$GC,5904,0.94,146.6,3517,1994,1653,1699,46.1,14.1,378,5915,0.00,2.28,0.00,0.000,516,0.000,0.065,3530,382,1675,1653,1698,0,0,0,0,0,0,27.25,26.96,27.27
$GC,5962,0.94,146.6,3529,382,1653,1699,37.4,15.7,383,5972,0.00,2.17,0.00,0.000,1030,0.000,0.052,3530,1994,1675,1653,1698,0,0,0,0,0,0,27.05,27.03,27.06
$STATE,6211,end climb,SURFACE_DEPTH_REACHED
$STATE,6211,begin surface coast
$FINISH,0.4,1.025790
$STATE,6223,end surface coast,CONTROL_FINISHED_OK
$STATE,6223,begin surface
$SM_CCo,6238,232.65,0.782,0,0,459,500.22
$SM_GC,1.89,8.27,0.00,232.65,0.065,0.000,0.782,151,1995,459,-9.46,-0.14,500.22,0,0,0,0,0,0,26.94,27.28,24.94
$IRIDIUM_FIX,3203.33,-6436.80,100208,075815
$TT8_MAMPS,0.02247,0.02247
$HUMID,37.91
$INTERNAL_PRESSURE,9.38701
$TCM_TEMP,22.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,17.7
$24V_AH,24.69,3.982
$10V_AH,10.61,1.346
$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,21.425,49.875,202.375,232.650,162.650,28.263,38.287,111.022,7.250,0.000,12.476,1063.355,3162.686,559.151,1893.129,61.116,0.000,1131.383,0.000,1678.557,0.000,45.186,0.000
$DEVICE_MAMPS,288.028,69.524,1037.894,782.145,183.742,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.315,1333.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,23599,409
$CAP_FILE_SIZE,69426,0
$CFSIZE,1024409600,1017954304
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6959.21,0x238a9a,7,5
$INTR,1,1987.02,0x267642,0,24
$INTR,2,3526.05,0x238a9a,2,5
$INTR,3,6226.17,0x238a9a,7,5
$GPS,150415,202435,3218.672,-6435.696,33,1.1,35,-14.9,1.1,315.4,7,8.8