version: 66.12
glider: 37
mission: 16
dive: 3
start: 1 6 115 20 43 59
data:
$ID,37
$MISSION,16
$DIVE,3
$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,60
$T_MISSION,75
$T_ABORT,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,54
$R_STBD_OVSHOOT,46
$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,0
$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
$GPS1,060115,203951,4743.9639,-12223.9072,3,0.8,7,16.3,0.0,0.0,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-59.0
$GPS2,060115,204331,4743.9824,-12223.8916,5,0.8,9,16.3,0.0,0.0,10,9.8
$SPEED_LIMITS,0.100,0.260
$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,305.4,1222,-17.5,-10.000,-21.04,2226
$D_GRID,171
$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,14,-1.12,-146.6,162,2186,277,376,0.0,0.0,0,278,0.00,0.00,-259.95,0.134,16386,0.000,0.000,161,2187,2995,2996,2995,0,0,0,0,0,0,26.77,28.83,26.79
$GC,281,-1.12,-146.6,162,2187,2996,2995,3.2,-3.1,48,311,10.43,2.47,-11.60,0.171,18948,0.266,0.072,2832,564,3210,3215,3206,0,0,0,0,0,0,25.88,26.09,26.00
$GC,518,-1.12,-146.6,2831,564,3215,3206,35.8,-15.6,83,522,0.00,2.35,0.00,0.000,1030,0.000,0.065,2822,2145,3210,3215,3206,0,0,0,0,0,0,26.47,26.40,26.48
$GC,643,-1.12,-146.6,2821,2145,3215,3206,53.4,-13.9,95,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2145,3211,3216,3206,0,0,0,0,0,0,26.74,26.77,26.77
$GC,763,-1.12,-146.6,2821,2145,3215,3205,69.9,-14.3,107,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2145,3210,3215,3206,0,0,0,0,0,0,26.81,26.83,26.82
$GC,883,-1.12,-146.6,2821,2145,3215,3206,83.9,-11.5,119,887,0.00,2.40,0.00,0.000,260,0.000,0.077,2809,3729,3210,3215,3205,0,0,0,0,0,0,26.86,26.55,26.88
$GC,939,-1.12,-146.6,2809,3729,3215,3206,90.7,-13.1,124,943,0.00,2.30,0.00,0.000,1030,0.000,0.062,2810,2132,3210,3215,3206,0,0,0,0,0,0,26.69,26.63,26.70
$GC,1064,-1.12,-146.6,2809,2131,3214,3206,109.9,-15.3,136,1068,0.00,2.33,0.00,0.000,516,0.000,0.074,2809,574,3210,3215,3206,0,0,0,0,0,0,26.91,26.61,26.94
$GC,1286,-1.12,-146.6,2809,574,3215,3206,140.8,-13.0,157,1293,0.12,2.30,0.00,0.000,3078,0.189,0.065,2838,2143,3210,3215,3206,0,0,0,0,0,0,26.53,26.70,26.68
$GC,1412,-1.12,-146.6,2837,2143,3214,3206,155.4,-11.3,170,1416,0.00,2.38,0.00,0.000,260,0.000,0.079,2827,3723,3210,3215,3206,0,0,0,0,0,0,26.99,26.69,27.01
$GC,1518,-1.12,-146.6,2827,3723,3214,3206,168.7,-12.8,180,1522,0.00,2.28,0.00,0.000,1030,0.000,0.060,2827,2128,3210,3214,3206,0,0,0,0,0,0,26.82,26.77,26.84
$STATE,1541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1542,begin apogee
$GC,1545,-0.31,0.0,2827,2128,3214,3206,171.7,-11.9,182,1654,0.80,0.00,101.62,0.904,10246,0.154,0.000,3099,2120,2705,2704,2706,0,0,0,0,0,0,26.58,25.18,24.58
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1655,begin climb
$GC,1656,1.12,146.6,3099,2120,2704,2705,176.4,0.0,193,1764,1.20,0.00,103.40,0.867,10502,0.107,0.000,3538,2120,2200,2191,2210,0,0,0,0,0,0,25.34,24.98,24.42
$GC,1883,1.12,146.6,3538,2119,2191,2210,153.6,13.2,216,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2120,2200,2191,2209,0,0,0,0,0,0,26.16,26.18,26.18
$GC,2003,1.12,146.6,3538,2120,2191,2210,137.2,14.3,228,2007,0.00,2.35,0.00,0.000,516,0.000,0.074,3550,580,2200,2190,2210,0,0,0,0,0,0,26.42,26.13,26.44
$GC,2192,1.12,146.6,3550,580,2191,2209,110.7,12.8,246,2199,0.00,2.35,0.00,0.000,1030,0.000,0.065,3550,2151,2199,2189,2210,0,0,0,0,0,0,26.45,26.38,26.46
$GC,2319,1.12,146.6,3549,2151,2190,2210,93.9,13.1,259,2323,0.00,2.40,0.00,0.000,516,0.000,0.079,3562,585,2200,2191,2210,0,0,0,0,0,0,26.72,26.41,26.74
$GC,2465,1.12,146.6,3561,586,2190,2209,75.0,13.6,273,2469,0.00,2.30,0.00,0.000,1030,0.000,0.065,3562,2141,2200,2191,2210,0,0,0,0,0,0,26.61,26.55,26.63
$GC,2590,1.12,146.6,3562,2141,2191,2210,57.8,13.6,285,2594,0.00,2.38,0.00,0.000,260,0.000,0.079,3561,3723,2200,2191,2210,0,0,0,0,0,0,26.85,26.56,26.87
$GC,2636,1.12,146.6,3561,3723,2191,2210,51.3,14.0,289,2640,0.00,2.30,0.00,0.000,1030,0.000,0.065,3574,2146,2200,2190,2210,0,0,0,0,0,0,26.67,26.61,26.70
$GC,2761,1.12,146.6,3573,2146,2191,2209,36.7,10.7,301,2765,0.00,2.38,0.00,0.000,516,0.000,0.079,3586,566,2199,2190,2209,0,0,0,0,0,0,26.91,26.59,26.93
$GC,2997,1.12,146.6,3585,566,2191,2210,6.4,12.0,334,3004,0.00,2.33,0.00,0.000,1030,0.000,0.065,3586,2149,2199,2190,2209,0,0,0,0,0,0,26.77,26.70,26.79
$STATE,3024,end climb,SURFACE_DEPTH_REACHED
$STATE,3024,begin surface coast
$FINISH,0.1,1.020177
$STATE,3046,end surface coast,CONTROL_FINISHED_OK
$STATE,3046,begin surface
$SM_CCo,3061,224.30,0.767,0,0,982,500.22
$SM_GC,1.57,8.82,0.00,224.30,0.082,0.000,0.767,159,2150,982,-9.45,0.28,500.22,0,0,0,0,0,0,26.64,27.00,24.54
$IRIDIUM_FIX,4726.11,-12226.80,060115,203620
$TT8_MAMPS,0.02247,0.02247
$HUMID,42.04
$INTERNAL_PRESSURE,9.0745
$TCM_TEMP,18.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,18.9
$ALTIM_BOTTOM_PING,111.8,73.6
$24V_AH,24.42,0.943
$10V_AH,10.52,0.392
$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,21.375,37.575,205.025,224.300,271.550,0.000,0.000,0.000,1.500,0.000,10.554,769.810,1218.196,640.920,694.828,32.604,0.000,1056.760,0.000,678.456,0.000,10.421,0.000
$DEVICE_MAMPS,265.681,79.456,903.812,767.247,171.327,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.407,450.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323004
$DATA_FILE_SIZE,20236,343
$CAP_FILE_SIZE,68584,0
$CFSIZE,1024409600,1021116416
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2910.97,0x238aa6,7,5
$INTR,1,1543.43,0x238aa6,2,5
$INTR,2,3049.25,0x238aa6,7,5
$GPS,060115,213936,4744.132,-12224.180,3,1.0,12,16.3,0.0,0.0,10,9.0