version: 66.12
glider: 37
mission: 16
dive: 10
start: 1 7 115 4 52 13
data:
$ID,37
$MISSION,16
$DIVE,10
$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,90
$T_MISSION,100
$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,58
$R_STBD_OVSHOOT,39
$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
$GPS1,070115,044634,4744.1245,-12224.3740,8,0.9,38,16.3,0.0,0.0,9,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-65.1
$GPS2,070115,045145,4744.1582,-12224.3955,6,1.0,14,16.3,0.6,358.4,8,7.6
$SPEED_LIMITS,0.067,0.224
$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,167.2,2149,-11.4,-6.667,-16.54,3301
$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,-0.74,-146.6,159,2142,932,1032,0.0,0.0,0,182,0.00,0.00,-164.25,0.134,16386,0.000,0.000,158,2142,2787,2787,2788,0,0,0,0,0,0,26.32,28.83,26.34
$GC,185,-0.74,-146.6,159,2142,2787,2788,3.3,-2.6,30,226,10.93,2.50,-23.88,0.151,18948,0.263,0.070,2958,562,3210,3217,3204,0,0,0,0,0,0,25.73,25.92,25.84
$GC,563,-0.74,-146.6,2958,562,3217,3204,36.6,-8.5,86,567,0.00,2.35,0.00,0.000,1030,0.000,0.065,2949,2155,3211,3218,3204,0,0,0,0,0,0,26.43,26.36,26.44
$GC,688,-0.74,-146.6,2948,2155,3217,3204,46.7,-7.3,98,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2155,3211,3218,3204,0,0,0,0,0,0,26.69,26.70,26.70
$GC,808,-0.74,-146.6,2948,2155,3218,3204,56.5,-8.6,110,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2155,3211,3217,3205,0,0,0,0,0,0,26.74,26.77,26.77
$GC,928,-0.74,-146.6,2948,2156,3218,3204,67.6,-9.2,122,932,0.00,2.38,0.00,0.000,260,0.000,0.077,2936,3726,3210,3217,3204,0,0,0,0,0,0,26.79,26.51,26.81
$GC,987,-0.74,-146.6,2936,3727,3217,3204,72.7,-9.6,127,994,0.00,2.30,0.00,0.000,1030,0.000,0.060,2936,2128,3210,3217,3204,0,0,0,0,0,0,26.64,26.58,26.65
$GC,1114,-0.74,-146.6,2936,2128,3217,3204,84.1,-8.3,140,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2128,3210,3217,3204,0,0,0,0,0,0,26.85,26.87,26.87
$GC,1234,-0.74,-146.6,2936,2128,3217,3204,94.8,-9.4,152,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2128,3210,3217,3204,0,0,0,0,0,0,26.89,26.91,26.90
$GC,1354,-0.74,-146.6,2936,2128,3217,3204,104.7,-8.0,164,1358,0.00,2.30,0.00,0.000,516,0.000,0.072,2936,573,3210,3217,3204,0,0,0,0,0,0,26.91,26.63,26.94
$GC,1422,-0.74,-146.6,2936,573,3217,3204,110.5,-8.6,170,1432,0.10,2.28,0.00,0.000,3078,0.179,0.062,2959,2144,3210,3217,3204,0,0,0,0,0,0,26.56,26.67,26.68
$GC,1555,-0.74,-146.6,2959,2143,3217,3204,120.5,-7.5,183,1563,0.00,2.33,0.00,0.000,516,0.000,0.072,2959,576,3210,3217,3204,0,0,0,0,0,0,26.94,26.67,26.95
$GC,1619,-0.74,-146.6,2959,576,3217,3204,125.8,-8.6,189,1627,0.00,2.25,0.00,0.000,1030,0.000,0.062,2950,2145,3210,3217,3204,0,0,0,0,0,0,26.74,26.70,26.77
$GC,1745,-0.74,-146.6,2949,2145,3217,3204,136.8,-9.3,202,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2145,3210,3217,3204,0,0,0,0,0,0,26.98,27.01,27.00
$GC,1865,-0.74,-146.6,2950,2145,3217,3204,146.6,-8.5,214,1869,0.00,2.35,0.00,0.000,260,0.000,0.079,2938,3720,3210,3217,3204,0,0,0,0,0,0,27.00,26.71,27.01
$GC,1961,-0.74,-146.6,2937,3720,3217,3204,155.0,-8.3,223,1965,0.00,2.25,0.00,0.000,1030,0.000,0.060,2937,2132,3210,3217,3204,0,0,0,0,0,0,26.84,26.78,26.85
$GC,2086,-0.74,-146.6,2937,2133,3217,3204,163.8,-7.2,235,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2133,3210,3217,3204,0,0,0,0,0,0,27.03,27.05,27.05
$GC,2206,-0.74,-146.6,2937,2133,3216,3204,172.5,-7.3,247,2210,0.00,2.30,0.00,0.000,516,0.000,0.072,2937,580,3210,3216,3204,0,0,0,0,0,0,27.04,26.76,27.06
$STATE,2241,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2241,begin apogee
$GC,2247,-0.31,0.0,2926,2151,3217,3204,175.4,-7.8,250,2353,0.47,0.00,101.55,0.906,10246,0.144,0.000,3099,2152,2705,2705,2706,0,0,0,0,0,0,26.67,25.18,24.60
$STATE,2354,end apogee,CONTROL_FINISHED_OK
$STATE,2354,begin climb
$GC,2356,0.74,146.6,3099,2152,2705,2705,179.5,0.0,261,2467,0.85,2.53,103.57,0.869,10500,0.107,0.082,3416,3730,2200,2190,2211,0,0,0,0,0,0,25.29,24.94,24.37
$GC,2502,0.74,146.6,3416,3731,2190,2211,172.1,8.9,275,2509,0.00,2.42,0.00,0.000,1030,0.000,0.057,3428,2151,2200,2190,2210,0,0,0,0,0,0,25.53,25.49,25.54
$GC,2629,0.74,146.6,3428,2151,2190,2211,160.8,9.0,288,2633,0.00,2.42,0.00,0.000,516,0.000,0.077,3440,577,2199,2189,2210,0,0,0,0,0,0,26.18,25.90,26.20
$GC,2758,0.74,146.6,3440,577,2190,2211,149.1,8.9,300,2765,0.00,2.35,0.00,0.000,1030,0.000,0.062,3441,2160,2200,2190,2210,0,0,0,0,0,0,26.22,26.16,26.24
$GC,2885,0.74,146.6,3440,2160,2190,2211,138.1,7.7,313,2889,0.00,2.42,0.00,0.000,516,0.000,0.077,3452,582,2200,2190,2211,0,0,0,0,0,0,26.53,26.24,26.55
$GC,2954,0.74,146.6,3452,582,2190,2210,131.8,8.6,319,2961,0.00,2.35,0.00,0.000,1030,0.000,0.062,3452,2144,2200,2190,2210,0,0,0,0,0,0,26.38,26.34,26.41
$GC,3081,0.74,146.6,3451,2144,2190,2211,120.6,8.8,332,3085,0.00,2.40,0.00,0.000,516,0.000,0.077,3463,572,2200,2190,2211,0,0,0,0,0,0,26.67,26.38,26.69
$GC,3327,0.74,146.6,3463,572,2189,2211,99.5,8.2,356,3331,0.00,2.33,0.00,0.000,1030,0.000,0.065,3464,2141,2200,2189,2211,0,0,0,0,0,0,26.60,26.54,26.63
$GC,3452,0.74,146.6,3463,2140,2190,2211,88.8,8.6,368,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2140,2200,2190,2211,0,0,0,0,0,0,26.83,26.85,26.84
$GC,3572,0.74,146.6,3463,2140,2190,2211,78.4,8.7,380,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2140,2200,2190,2211,0,0,0,0,0,0,26.87,26.89,26.89
$GC,3692,0.74,146.6,3463,2140,2190,2211,66.7,10.1,392,3696,0.00,2.40,0.00,0.000,516,0.000,0.077,3475,568,2200,2190,2211,0,0,0,0,0,0,26.90,26.60,26.92
$GC,3818,0.74,146.6,3474,568,2190,2211,56.1,9.1,404,3828,0.12,2.30,0.00,0.000,5126,0.169,0.065,3433,2149,2200,2190,2211,0,0,0,0,0,0,26.55,26.68,26.68
$GC,3948,0.74,146.6,3432,2149,2190,2211,45.8,7.6,417,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2149,2200,2190,2211,0,0,0,0,0,0,26.95,26.98,26.97
$GC,4068,0.74,146.6,3432,2149,2190,2211,36.6,7.8,429,4072,0.00,2.40,0.00,0.000,516,0.000,0.077,3442,578,2200,2190,2211,0,0,0,0,0,0,26.98,26.67,26.99
$GC,4355,0.74,146.6,3442,577,2190,2211,15.8,8.2,462,4362,0.00,2.30,0.00,0.000,1030,0.000,0.065,3443,2147,2200,2190,2211,0,0,0,0,0,0,26.84,26.77,26.85
$GC,4424,0.74,146.6,3442,2147,2189,2211,10.7,7.4,475,4430,0.00,2.38,0.00,0.000,516,0.000,0.077,3454,575,2200,2189,2211,0,0,0,0,0,0,27.03,26.72,27.04
$STATE,4541,end climb,SURFACE_DEPTH_REACHED
$STATE,4541,begin surface coast
$FINISH,1.0,1.021207
$STATE,4582,end surface coast,CONTROL_FINISHED_OK
$STATE,4582,begin surface
$SM_CCo,4600,231.27,0.772,0,0,983,500.22
$SM_GC,1.56,8.65,2.33,231.27,0.092,0.062,0.772,158,2122,983,-9.45,-1.47,500.22,0,0,0,0,0,0,26.71,26.80,24.49
$IRIDIUM_FIX,4726.11,-12224.09,070115,033001
$TT8_MAMPS,0.02247,0.02247
$HUMID,39.76
$INTERNAL_PRESSURE,9.05497
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,125.8,63.9
$24V_AH,24.37,1.804
$10V_AH,10.55,0.596
$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,21.125,61.225,205.125,231.275,188.125,24.632,16.932,186.178,2.250,0.000,15.215,1211.104,2036.178,616.246,1236.835,62.852,0.000,1175.260,0.000,973.112,0.000,18.023,0.000
$DEVICE_MAMPS,263.198,81.939,906.295,772.213,151.463,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.075,667.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322980
$DATA_FILE_SIZE,30187,506
$CAP_FILE_SIZE,78255,0
$CFSIZE,1024409600,1020690432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,4672.46,0x238aa6,7,5
$GPS,070115,061330,4744.173,-12224.551,3,0.8,11,16.3,0.0,0.0,10,8.9