version: 66.12
glider: 37
mission: 16
dive: 13
start: 1 7 115 9 26 37
data:
$ID,37
$MISSION,16
$DIVE,13
$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,100
$T_MISSION,110
$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,45
$R_STBD_OVSHOOT,51
$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
$GPS1,070115,092013,4743.4355,-12224.5420,17,1.1,19,16.3,0.0,0.0,7,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.1
$GPS2,070115,092614,4743.3799,-12224.5498,5,0.8,13,16.3,0.0,0.0,9,8.7
$SPEED_LIMITS,0.060,0.215
$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,345.4,2075,-9.9,-6.000,-15.57,3651
$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,-146.6,161,2099,933,1033,0.0,0.0,0,177,0.00,0.00,-158.57,0.134,16386,0.000,0.000,161,2099,2729,2729,2730,0,0,0,0,0,0,26.29,28.83,26.32
$GC,179,-0.65,-146.6,161,2099,2729,2731,3.0,-1.5,29,224,11.05,0.00,-28.60,0.146,18694,0.263,0.000,2984,2096,3211,3220,3203,0,0,0,0,0,0,25.72,25.94,25.82
$GC,286,-0.65,-146.6,2984,2096,3220,3203,11.0,-7.5,49,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2096,3211,3220,3203,0,0,0,0,0,0,26.32,26.34,26.32
$GC,353,-0.65,-146.6,2983,2096,3221,3203,16.5,-8.7,62,360,0.00,2.35,0.00,0.000,516,0.000,0.072,2984,557,3211,3220,3203,0,0,0,0,0,0,26.41,26.14,26.42
$GC,406,-0.65,-146.6,2983,557,3220,3203,21.2,-9.2,71,411,0.00,2.35,0.00,0.000,1030,0.000,0.062,2974,2149,3211,3220,3203,0,0,0,0,0,0,26.29,26.22,26.30
$GC,531,-0.65,-146.6,2973,2149,3220,3203,31.7,-8.1,83,536,0.00,2.38,0.00,0.000,260,0.000,0.077,2962,3716,3211,3220,3203,0,0,0,0,0,0,26.58,26.29,26.59
$GC,640,-0.65,-146.6,2962,3716,3220,3203,40.8,-8.4,93,647,0.00,2.35,0.00,0.000,1030,0.000,0.060,2962,2124,3211,3220,3203,0,0,0,0,0,0,26.45,26.41,26.46
$GC,767,-0.65,-146.6,2962,2124,3220,3203,51.2,-7.5,106,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2124,3211,3220,3203,0,0,0,0,0,0,26.71,26.74,26.73
$GC,887,-0.65,-146.6,2962,2124,3220,3203,59.2,-7.0,118,891,0.00,2.33,0.00,0.000,516,0.000,0.072,2961,572,3211,3220,3203,0,0,0,0,0,0,26.77,26.49,26.79
$GC,996,-0.65,-146.6,2962,572,3220,3203,67.9,-8.2,128,1004,0.10,2.33,0.00,0.000,3078,0.151,0.062,2986,2140,3211,3220,3203,0,0,0,0,0,0,26.45,26.56,26.51
$GC,1123,-0.65,-146.6,2987,2140,3220,3203,75.3,-5.7,141,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2140,3211,3220,3203,0,0,0,0,0,0,26.84,26.86,26.86
$GC,1243,-0.65,-146.6,2986,2140,3220,3203,82.2,-5.8,153,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2140,3211,3220,3203,0,0,0,0,0,0,26.88,26.90,26.89
$GC,1363,-0.65,-146.6,2987,2140,3220,3203,90.3,-6.9,165,1367,0.00,2.35,0.00,0.000,516,0.000,0.072,2987,568,3211,3220,3203,0,0,0,0,0,0,26.91,26.63,26.93
$GC,1452,-0.65,-146.6,2986,568,3220,3203,96.5,-7.5,173,1459,0.00,2.28,0.00,0.000,1030,0.000,0.062,2977,2142,3211,3220,3203,0,0,0,0,0,0,26.74,26.67,26.76
$GC,1580,-0.65,-146.6,2977,2142,3220,3202,105.0,-6.1,186,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2142,3211,3219,3203,0,0,0,0,0,0,26.92,26.94,26.94
$GC,1699,-0.65,-146.6,2977,2142,3220,3203,111.6,-6.2,198,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2142,3211,3220,3203,0,0,0,0,0,0,26.97,26.99,26.98
$GC,1819,-0.65,-146.6,2977,2142,3221,3203,118.5,-5.8,210,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2142,3211,3220,3203,0,0,0,0,0,0,26.98,27.01,27.01
$GC,1939,-0.65,-146.6,2977,2142,3220,3203,126.0,-6.5,222,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2141,3211,3220,3203,0,0,0,0,0,0,27.01,27.03,27.02
$GC,2059,-0.65,-146.6,2977,2142,3220,3203,134.8,-7.4,234,2063,0.00,2.35,0.00,0.000,516,0.000,0.070,2977,573,3211,3220,3203,0,0,0,0,0,0,27.02,26.75,27.04
$GC,2138,-0.65,-146.6,2977,573,3220,3203,140.8,-8.1,241,2145,0.00,2.28,0.00,0.000,1030,0.000,0.062,2966,2146,3211,3220,3202,0,0,0,0,0,0,26.85,26.78,26.86
$GC,2265,-0.65,-146.6,2966,2145,3220,3202,150.9,-8.2,254,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2145,3211,3219,3203,0,0,0,0,0,0,27.04,27.07,27.06
$GC,2385,-0.65,-146.6,2965,2145,3220,3203,159.9,-8.2,266,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2145,3211,3220,3203,0,0,0,0,0,0,27.05,27.08,27.08
$GC,2505,-0.65,-146.6,2966,2145,3220,3203,168.7,-7.4,278,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2145,3211,3220,3202,0,0,0,0,0,0,27.07,27.09,27.08
$STATE,2614,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2614,begin apogee
$GC,2617,-0.31,0.0,2967,2145,3220,3203,176.4,-6.7,289,2725,0.38,0.00,101.35,0.904,10246,0.134,0.000,3103,2145,2705,2705,2706,0,0,0,0,0,0,26.72,25.06,24.62
$STATE,2726,end apogee,CONTROL_FINISHED_OK
$STATE,2726,begin climb
$GC,2728,0.65,146.6,3103,2145,2705,2705,179.7,0.0,300,2836,0.75,0.00,103.82,0.872,10502,0.104,0.000,3387,2145,2200,2190,2210,0,0,0,0,0,0,25.34,24.91,24.35
$GC,2955,0.65,146.6,3387,2145,2190,2210,166.0,8.1,323,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2145,2200,2190,2210,0,0,0,0,0,0,26.05,26.07,26.07
$GC,3075,0.65,146.6,3387,2145,2189,2210,156.1,8.0,335,3079,0.00,2.40,0.00,0.000,516,0.000,0.072,3399,583,2200,2190,2210,0,0,0,0,0,0,26.32,26.04,26.33
$GC,3221,0.65,146.6,3398,583,2190,2210,144.1,8.2,349,3225,0.00,2.30,0.00,0.000,1030,0.000,0.062,3399,2140,2199,2189,2210,0,0,0,0,0,0,26.32,26.25,26.33
$GC,3346,0.65,146.6,3399,2140,2190,2210,135.3,7.2,361,3350,0.00,2.38,0.00,0.000,516,0.000,0.074,3409,584,2200,2190,2210,0,0,0,0,0,0,26.60,26.31,26.61
$GC,3472,0.65,146.6,3409,585,2189,2210,126.0,7.1,373,3481,0.00,2.28,0.00,0.000,1030,0.000,0.065,3410,2141,2200,2190,2210,0,0,0,0,0,0,26.49,26.43,26.51
$GC,3602,0.65,146.6,3409,2140,2189,2210,116.3,8.6,386,3606,0.00,2.38,0.00,0.000,516,0.000,0.077,3420,579,2200,2190,2210,0,0,0,0,0,0,26.74,26.45,26.75
$GC,3717,0.65,146.6,3421,579,2190,2210,107.7,6.9,397,3722,0.00,2.28,0.00,0.000,1030,0.000,0.065,3421,2139,2199,2189,2210,0,0,0,0,0,0,26.60,26.54,26.62
$GC,3843,0.65,146.6,3421,2139,2190,2210,98.0,8.4,409,3847,0.00,2.35,0.00,0.000,516,0.000,0.074,3432,584,2200,2190,2210,0,0,0,0,0,0,26.82,26.54,26.84
$GC,3969,0.65,146.6,3432,584,2190,2210,87.7,7.2,421,3978,0.00,2.28,0.00,0.000,1030,0.000,0.065,3432,2151,2199,2189,2210,0,0,0,0,0,0,26.68,26.63,26.70
$GC,4098,0.65,146.6,3432,2150,2190,2210,76.9,7.7,434,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2150,2200,2190,2210,0,0,0,0,0,0,26.89,26.91,26.91
$GC,4219,0.65,146.6,3432,2150,2190,2210,67.1,8.9,446,4223,0.00,2.38,0.00,0.000,516,0.000,0.074,3444,575,2200,2190,2210,0,0,0,0,0,0,26.93,26.63,26.94
$GC,4404,0.65,146.6,3443,575,2189,2210,51.0,8.2,464,4409,0.12,2.28,0.00,0.000,5126,0.166,0.065,3401,2143,2200,2190,2210,0,0,0,0,0,0,26.60,26.72,26.72
$GC,4529,0.65,146.6,3401,2143,2190,2210,42.0,6.7,476,4534,0.00,2.35,0.00,0.000,516,0.000,0.074,3412,581,2200,2190,2210,0,0,0,0,0,0,26.98,26.70,27.00
$GC,4588,0.65,146.6,3411,581,2190,2210,37.9,7.1,481,4595,0.00,2.30,0.00,0.000,1030,0.000,0.062,3412,2133,2199,2189,2210,0,0,0,0,0,0,26.78,26.74,26.79
$GC,4715,0.65,146.6,3411,2134,2190,2210,29.4,6.4,494,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2134,2200,2190,2210,0,0,0,0,0,0,27.01,27.03,27.02
$GC,4835,0.65,146.6,3411,2133,2190,2210,21.9,5.5,506,4839,0.00,2.33,0.00,0.000,516,0.000,0.074,3421,583,2200,2190,2210,0,0,0,0,0,0,27.02,26.73,27.04
$GC,4981,0.65,146.6,3422,583,2190,2210,12.2,6.6,531,4987,0.00,2.25,0.00,0.000,1030,0.000,0.062,3421,2143,2200,2190,2210,0,0,0,0,0,0,26.86,26.79,26.87
$GC,5049,0.65,146.6,3421,2143,2190,2210,7.5,6.5,544,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2143,2200,2190,2210,0,0,0,0,0,0,27.05,27.07,27.06
$GC,5116,0.65,146.6,3422,2143,2190,2210,3.2,6.6,557,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2143,2199,2189,2210,0,0,0,0,0,0,27.05,27.08,27.07
$STATE,5126,end climb,SURFACE_DEPTH_REACHED
$STATE,5126,begin surface coast
$FINISH,0.4,0.999789
$STATE,5183,end surface coast,CONTROL_FINISHED_OK
$STATE,5183,begin surface
$SM_CCo,5198,230.23,0.767,0,0,983,500.22
$SM_GC,1.78,8.18,0.00,230.23,0.067,0.000,0.767,160,2143,983,-9.43,0.08,500.22,0,0,0,0,0,0,26.77,27.08,24.49
$IRIDIUM_FIX,4726.11,-12224.09,070115,074501
$TT8_MAMPS,0.02247,0.02247
$HUMID,39.91
$INTERNAL_PRESSURE,9.03544
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,120.5,70.8
$24V_AH,24.35,2.177
$10V_AH,10.58,0.707
$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,20.575,55.825,205.175,230.225,187.175,19.933,40.242,213.812,1.750,0.000,14.548,1358.560,2399.151,628.133,1345.873,70.750,0.000,1226.330,0.000,1040.782,0.000,13.561,0.000
$DEVICE_MAMPS,263.198,76.973,903.812,767.247,146.497,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.812,751.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322896
$DATA_FILE_SIZE,33602,570
$CAP_FILE_SIZE,86722,0
$CFSIZE,1024409600,1020461056
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5745.70,0x238aa6,7,5
$INTR,1,2615.15,0x238aa6,2,5
$INTR,2,5186.47,0x238aa6,7,5
$GPS,070115,105823,4743.370,-12224.788,40,0.9,42,16.3,0.0,0.0,9,7.2