version: 66.12
glider: 37
mission: 16
dive: 9
start: 1 7 115 3 34 19
data:
$ID,37
$MISSION,16
$DIVE,9
$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,78094
$MASS_COMP,9226.7002
$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,1
$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,150
$PITCH_MAX,3950
$C_PITCH,3196
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,16.240646
$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,2140
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,280
$VBD_MAX,3960
$C_VBD,2705
$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,-1069.8505
$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,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,1.75
$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
$GPS1,070115,032851,4743.2954,-12224.4541,3,0.9,14,16.3,0.7,255.6,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.1
$GPS2,070115,033352,4743.3252,-12224.4756,5,0.9,17,16.3,1.6,135.3,9,7.8
$SPEED_LIMITS,0.075,0.235
$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,342.9,2176,-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,-0.85,-146.6,158,2144,932,1032,0.0,0.0,0,166,0.00,0.00,-147.85,0.134,16386,0.000,0.000,158,2145,2622,2621,2623,0,0,0,0,0,0,26.31,28.83,26.33
$GC,169,-0.85,-146.6,158,2145,2621,2623,3.0,-2.4,27,220,10.95,2.47,-33.40,0.146,18692,0.268,0.074,2909,3753,3210,3216,3204,0,0,0,0,0,0,25.73,25.91,25.84
$GC,452,-0.85,-146.6,2909,3753,3215,3204,31.7,-10.6,72,456,0.00,2.38,0.00,0.000,1030,0.000,0.062,2909,2127,3210,3215,3205,0,0,0,0,0,0,26.36,26.30,26.37
$GC,577,-0.85,-146.6,2909,2127,3216,3204,44.0,-9.5,84,581,0.00,2.35,0.00,0.000,516,0.000,0.072,2909,573,3209,3214,3204,0,0,0,0,0,0,26.63,26.34,26.65
$GC,725,-0.85,-146.6,2909,573,3216,3204,59.9,-10.3,98,733,0.00,2.40,0.00,0.000,1030,0.000,0.062,2899,2173,3209,3215,3204,0,0,0,0,0,0,26.50,26.46,26.52
$GC,853,-0.85,-146.6,2899,2173,3215,3204,73.2,-9.9,111,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2173,3210,3216,3204,0,0,0,0,0,0,26.77,26.79,26.78
$GC,973,-0.85,-146.6,2899,2173,3215,3204,84.8,-9.7,123,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2173,3209,3215,3204,0,0,0,0,0,0,26.82,26.84,26.83
$GC,1093,-0.85,-146.6,2899,2173,3215,3204,96.1,-9.7,135,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2173,3209,3215,3204,0,0,0,0,0,0,26.85,26.88,26.87
$GC,1215,-0.85,-146.6,2899,2173,3216,3204,108.0,-9.6,147,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2173,3209,3215,3204,0,0,0,0,0,0,26.89,26.91,26.90
$GC,1333,-0.85,-146.6,2899,2173,3216,3204,119.3,-8.9,159,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2173,3209,3215,3204,0,0,0,0,0,0,26.91,26.94,26.94
$GC,1453,-0.85,-146.6,2899,2173,3215,3204,130.3,-9.3,171,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2174,3209,3215,3204,0,0,0,0,0,0,26.94,26.96,26.96
$GC,1573,-0.85,-146.6,2899,2173,3215,3204,141.9,-9.5,183,1577,0.00,2.40,0.00,0.000,516,0.000,0.072,2898,565,3209,3215,3204,0,0,0,0,0,0,26.96,26.68,26.98
$GC,1669,-0.85,-146.6,2899,565,3215,3204,151.4,-10.0,192,1674,0.12,2.30,0.00,0.000,3078,0.169,0.062,2931,2155,3209,3215,3204,0,0,0,0,0,0,26.61,26.72,26.72
$GC,1794,-0.85,-146.6,2930,2154,3215,3204,161.6,-8.0,204,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2154,3209,3215,3204,0,0,0,0,0,0,26.99,27.02,27.01
$GC,1914,-0.85,-146.6,2930,2155,3215,3205,171.3,-7.9,216,1918,0.00,2.33,0.00,0.000,260,0.000,0.077,2921,3715,3209,3215,3204,0,0,0,0,0,0,27.01,26.73,27.03
$STATE,1959,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1959,begin apogee
$GC,1965,-0.31,0.0,2920,2123,3215,3204,175.2,-8.9,220,2071,0.47,0.00,101.22,0.904,10246,0.142,0.000,3093,2122,2705,2705,2705,0,0,0,0,0,0,26.64,25.18,24.60
$STATE,2072,end apogee,CONTROL_FINISHED_OK
$STATE,2072,begin climb
$GC,2073,0.85,146.6,3093,2122,2705,2705,179.4,0.0,231,2181,0.98,0.00,103.88,0.867,10246,0.107,0.000,3450,2122,2200,2190,2210,0,0,0,0,0,0,25.29,24.91,24.37
$GC,2301,0.85,146.6,3450,2122,2190,2210,163.1,9.5,254,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2122,2200,2190,2210,0,0,0,0,0,0,26.07,26.09,26.08
$GC,2420,0.85,146.6,3450,2122,2190,2210,151.8,9.7,266,2424,0.00,2.38,0.00,0.000,516,0.000,0.074,3462,562,2200,2190,2210,0,0,0,0,0,0,26.33,26.05,26.34
$GC,2719,0.85,146.6,3462,562,2190,2210,120.8,10.3,295,2726,0.00,2.33,0.00,0.000,1030,0.000,0.065,3462,2139,2200,2190,2211,0,0,0,0,0,0,26.45,26.39,26.46
$GC,2846,0.85,146.6,3462,2139,2189,2210,107.7,10.1,308,2850,0.00,2.42,0.00,0.000,260,0.000,0.077,3462,3728,2200,2190,2210,0,0,0,0,0,0,26.70,26.42,26.72
$GC,2892,0.85,146.6,3462,3728,2190,2210,103.3,9.9,312,2896,0.00,2.33,0.00,0.000,1030,0.000,0.062,3474,2127,2200,2190,2210,0,0,0,0,0,0,26.55,26.48,26.56
$GC,3017,0.85,146.6,3474,2127,2190,2210,91.2,9.2,324,3021,0.00,2.35,0.00,0.000,516,0.000,0.079,3486,572,2200,2190,2210,0,0,0,0,0,0,26.78,26.48,26.79
$GC,3236,0.85,146.6,3486,572,2189,2210,69.6,9.8,345,3243,0.00,2.30,0.00,0.000,1030,0.000,0.065,3486,2145,2200,2190,2210,0,0,0,0,0,0,26.67,26.60,26.69
$GC,3363,0.85,146.6,3487,2145,2190,2210,57.8,9.3,358,3367,0.00,2.40,0.00,0.000,516,0.000,0.079,3498,566,2200,2190,2210,0,0,0,0,0,0,26.89,26.59,26.91
$GC,3492,0.85,146.6,3499,566,2190,2210,46.3,9.1,370,3499,0.00,2.30,0.00,0.000,1030,0.000,0.065,3499,2142,2200,2190,2210,0,0,0,0,0,0,26.72,26.67,26.75
$GC,3619,0.85,146.6,3497,2142,2190,2210,34.7,9.0,383,3623,0.00,2.38,0.00,0.000,516,0.000,0.077,3510,569,2200,2190,2210,0,0,0,0,0,0,26.94,26.65,26.96
$GC,3825,0.85,146.6,3509,569,2190,2210,14.7,9.0,408,3832,0.15,2.30,0.00,0.000,5126,0.179,0.065,3460,2153,2200,2190,2210,0,0,0,0,0,0,26.59,26.73,26.72
$GC,3894,0.85,146.6,3460,2153,2190,2210,9.5,6.7,421,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2153,2200,2190,2210,0,0,0,0,0,0,26.99,27.01,27.01
$GC,3961,0.85,146.6,3460,2153,2190,2210,5.2,5.9,434,3968,0.00,2.38,0.00,0.000,516,0.000,0.077,3470,579,2200,2190,2210,0,0,0,0,0,0,27.00,26.70,27.02
$STATE,3993,end climb,SURFACE_DEPTH_REACHED
$STATE,3993,begin surface coast
$FINISH,1.2,1.021587
$STATE,4014,end surface coast,CONTROL_FINISHED_OK
$STATE,4014,begin surface
$SM_CCo,4031,230.20,0.770,0,0,982,500.22
$SM_GC,1.87,8.57,2.33,230.20,0.084,0.062,0.770,159,2130,982,-9.45,-1.50,500.22,0,0,0,0,0,0,26.68,26.76,24.49
$IRIDIUM_FIX,4722.92,-12225.08,070115,022154
$TT8_MAMPS,0.02247,0.02247
$HUMID,39.91
$INTERNAL_PRESSURE,9.05497
$TCM_TEMP,19.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.0,19.9
$ALTIM_BOTTOM_PING,120.0,69.9
$24V_AH,24.37,1.682
$10V_AH,10.49,0.562
$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,21.250,47.125,205.100,230.200,181.250,22.588,19.730,172.746,2.250,0.000,19.350,1058.407,1758.292,610.685,1099.456,56.261,0.000,1090.881,0.000,848.178,0.000,16.466,0.000
$DEVICE_MAMPS,268.164,79.456,903.812,769.730,146.497,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.069,585.448,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322956
$DATA_FILE_SIZE,26894,444
$CAP_FILE_SIZE,68628,0
$CFSIZE,1024409600,1020755968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,4125.34,0x238aa6,7,5
$GPS,070115,044634,4744.125,-12224.374,8,0.9,38,16.3,0.0,0.0,9,8.0