version: 66.14
glider: 37
mission: 23
dive: 11
start: 5 1 119 6 16 50
data:
$ID,37
$MISSION,23
$DIVE,11
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,6000
$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,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,78590
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035481339
$HD_B,0.013
$HD_C,2.4999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,3519
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,2019
$C_ROLL_CLIMB,2019
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2107
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2.5
$VBD_BLEED_AD_RATE,3
$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
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.743544
$PRESSURE_SLOPE,0
$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,0
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004395098
$SEABIRD_T_H,0.00063361513
$SEABIRD_T_I,2.5651329e-05
$SEABIRD_T_J,3.1717634e-06
$SEABIRD_C_G,-9.9017992
$SEABIRD_C_H,1.1589037
$SEABIRD_C_I,-0.0017859261
$SEABIRD_C_J,0.00021709637
$SEABIRD_C_Z,2927.29
$GPS1,010519,060926,4741.7100,-12226.9365,9,1.0,54,16.3,0.3,203.6,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.3
$GPS2,010519,061613,4741.6597,-12226.9824,6,1.0,28,16.3,0.3,212.4,9,5.0
$SPEED_LIMITS,0.130,0.241
$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,15.6,6101,-12.3,-7.500,-17.25,3985
$D_GRID,185
$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,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,70,-0.87,-195.5,135,2046,753,545,1.7,0.2,12,86,0.00,0.00,-13.32,0.119,16386,0.000,0.000,135,2046,782,876,688,0,0,0,0,0,0,26.49,28.83,26.51,8.25,30.19
$GC,88,-0.87,-195.5,135,2040,877,689,3.2,-0.7,14,305,13.02,2.47,-193.85,0.107,19204,0.293,0.084,3219,3593,2782,2850,2714,0,0,0,0,0,0,25.71,25.98,25.94,8.26,30.70
$GC,401,-0.68,-195.5,3218,3594,2852,2713,20.2,-9.9,63,410,0.28,2.45,0.00,0.000,3078,0.214,0.070,3296,2010,2782,2852,2713,0,0,0,0,0,0,25.88,26.14,26.10,8.46,25.38
$GC,528,-0.57,-195.5,3297,2011,2851,2713,33.2,-10.2,76,539,0.10,2.45,0.00,0.000,2564,0.231,0.089,3329,448,2782,2852,2713,0,0,0,0,0,0,26.06,26.19,26.17,8.46,25.86
$GC,693,-0.57,-195.5,3329,448,2851,2713,48.2,-9.1,92,703,0.00,2.40,0.00,0.000,1030,0.000,0.072,3321,2027,2782,2852,2713,0,0,0,0,0,0,26.46,26.37,26.48,8.46,25.58
$GC,824,-0.57,-195.5,3320,2027,2852,2714,59.2,-8.9,105,825,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2027,2782,2852,2713,0,0,0,0,0,0,26.74,26.76,26.75,8.45,25.90
$GC,943,-0.57,-195.5,3320,2027,2852,2713,68.4,-8.3,117,944,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2027,2782,2852,2713,0,0,0,0,0,0,26.79,26.80,26.79,8.45,26.84
$GC,1063,-0.57,-195.5,3320,2027,2852,2713,77.8,-7.8,129,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2027,2782,2852,2713,0,0,0,0,0,0,26.82,26.84,26.83,8.45,27.04
$GC,1184,-0.57,-195.5,3320,2027,2852,2713,87.0,-7.6,141,1188,0.00,2.50,0.00,0.000,516,0.000,0.089,3321,443,2782,2852,2713,0,0,0,0,0,0,26.85,26.45,26.86,8.44,27.87
$GC,1287,-0.57,-195.5,3320,442,2852,2713,95.4,-7.7,151,1292,0.00,2.38,0.00,0.000,1030,0.000,0.074,3310,2021,2782,2852,2713,0,0,0,0,0,0,26.64,26.55,26.66,8.45,27.87
$GC,1422,-0.57,-195.5,3309,2021,2852,2713,106.4,-8.3,164,1432,0.00,2.45,0.00,0.000,260,0.000,0.084,3298,3604,2782,2852,2713,0,0,0,0,0,0,26.90,26.53,26.91,8.44,28.26
$GC,1447,-0.57,-195.5,3297,3604,2851,2713,108.6,-8.3,166,1456,0.12,2.42,0.00,0.000,3078,0.221,0.070,3333,2006,2782,2852,2713,0,0,0,0,0,0,26.29,26.55,26.51,8.44,28.18
$GC,1574,-0.57,-195.5,3332,2006,2851,2713,118.9,-8.3,179,1579,0.00,2.42,0.00,0.000,516,0.000,0.092,3333,444,2782,2852,2713,0,0,0,0,0,0,26.92,26.51,26.93,8.44,28.81
$GC,1680,-0.57,-195.5,3333,444,2852,2713,127.4,-8.0,187,1685,0.00,2.38,0.00,0.000,1030,0.000,0.072,3324,2023,2782,2852,2713,0,0,0,0,0,0,26.69,26.60,26.71,8.44,29.68
$GC,1826,-0.57,-195.5,3323,2023,2851,2713,139.1,-8.0,200,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2023,2782,2852,2713,0,0,0,0,0,0,26.94,26.96,26.95,8.44,29.72
$GC,1960,-0.57,-195.5,3323,2023,2851,2713,149.2,-7.9,212,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2024,2782,2852,2713,0,0,0,0,0,0,26.95,26.97,26.96,8.44,29.95
$GC,2080,-0.57,-195.5,3324,2023,2852,2713,157.6,-7.4,224,2090,0.00,2.50,0.00,0.000,516,0.000,0.089,3324,437,2782,2851,2713,0,0,0,0,0,0,26.97,26.54,26.98,8.43,29.87
$GC,2164,-0.57,-195.5,3324,437,2852,2713,163.9,-7.2,232,2174,0.00,2.40,0.00,0.000,1030,0.000,0.072,3313,2019,2782,2852,2712,0,0,0,0,0,0,26.69,26.65,26.74,8.44,30.70
$GC,2292,-0.57,-195.5,3313,2019,2852,2713,173.2,-7.4,245,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2019,2782,2852,2712,0,0,0,0,0,0,26.98,27.01,27.00,8.43,30.46
$STATE,2381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2381,begin apogee
$GC,2386,-0.33,0.0,3312,2019,2851,2712,180.0,-7.3,254,2533,0.28,0.00,141.32,0.899,10246,0.204,0.000,3402,2019,2106,2188,2025,0,0,0,0,0,0,26.36,24.93,24.37,8.43,30.39
$STATE,2534,end apogee,CONTROL_FINISHED_OK
$STATE,2535,begin climb
$GC,2536,0.87,195.5,3402,2020,2188,2026,186.6,0.0,269,2695,1.17,2.62,143.00,0.869,10500,0.166,0.087,3776,3604,1432,1524,1341,0,0,0,0,0,0,25.06,24.59,24.18,8.37,26.49
$GC,2771,0.87,195.5,3776,3604,1524,1341,174.9,5.3,292,2781,0.00,2.50,0.00,0.000,1030,0.000,0.070,3788,2020,1432,1524,1341,0,0,0,0,0,0,25.58,25.54,25.62,8.31,25.90
$GC,2900,0.79,195.5,3787,2021,1524,1341,163.8,7.8,305,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,3788,2021,1432,1524,1341,0,0,0,0,0,0,26.18,26.20,26.19,8.31,25.94
$GC,3022,0.71,195.5,3787,2020,1524,1341,153.6,8.5,317,3030,0.12,0.00,0.00,0.000,4102,0.251,0.000,3755,2021,1432,1524,1341,0,0,0,0,0,0,25.84,26.05,25.97,8.31,26.88
$GC,3150,0.65,195.5,3754,2021,1524,1341,143.6,8.2,330,3159,0.00,2.47,0.00,0.000,516,0.000,0.092,3766,437,1432,1524,1341,0,0,0,0,0,0,26.51,26.15,26.53,8.31,27.59
$GC,3206,0.60,195.5,3765,437,1524,1341,139.4,8.0,335,3214,0.17,2.40,0.00,0.000,5126,0.226,0.072,3718,2031,1432,1524,1341,0,0,0,0,0,0,25.98,26.26,26.20,8.31,27.67
$GC,3332,0.60,195.5,3717,2031,1524,1341,130.8,7.3,348,3342,0.00,2.42,0.00,0.000,260,0.000,0.084,3718,3592,1432,1524,1341,0,0,0,0,0,0,26.64,26.29,26.65,8.31,28.65
$GC,3407,0.60,195.5,3717,3592,1524,1341,125.7,7.0,355,3412,0.00,2.40,0.00,0.000,1030,0.000,0.070,3727,2005,1432,1524,1341,0,0,0,0,0,0,26.45,26.36,26.47,8.31,28.89
$GC,3539,0.60,195.5,3727,2006,1524,1341,116.5,6.9,368,3550,0.00,2.42,0.00,0.000,516,0.000,0.089,3739,444,1432,1524,1341,0,0,0,0,0,0,26.73,26.35,26.74,8.30,29.28
$GC,3676,0.60,195.5,3738,444,1524,1341,107.6,6.8,381,3684,0.00,2.38,0.00,0.000,1030,0.000,0.072,3739,2032,1432,1524,1341,0,0,0,0,0,0,26.56,26.48,26.58,8.31,29.83
$GC,3803,0.60,195.5,3738,2032,1525,1341,98.6,6.8,394,3812,0.00,2.40,0.00,0.000,260,0.000,0.084,3739,3594,1432,1524,1340,0,0,0,0,0,0,26.82,26.46,26.83,8.30,29.44
$GC,3869,0.60,195.5,3738,3594,1524,1341,94.0,6.9,400,3877,0.12,2.38,0.00,0.000,5126,0.233,0.070,3717,2018,1432,1524,1340,0,0,0,0,0,0,26.22,26.51,26.45,8.30,30.39
$GC,3999,0.60,195.5,3716,2018,1524,1341,86.7,6.5,413,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,3717,2018,1433,1525,1341,0,0,0,0,0,0,26.86,26.87,26.87,8.30,29.87
$GC,4127,0.60,195.5,3716,2018,1524,1341,79.5,5.7,426,4136,0.00,2.42,0.00,0.000,516,0.000,0.092,3727,444,1432,1524,1341,0,0,0,0,0,0,26.89,26.49,26.90,8.30,30.39
$GC,4212,0.60,195.5,3725,444,1524,1341,74.6,5.6,434,4222,0.00,2.38,0.00,0.000,1030,0.000,0.072,3727,2020,1432,1524,1341,0,0,0,0,0,0,26.63,26.58,26.65,8.30,30.82
$GC,4341,0.60,195.5,3726,2020,1524,1341,67.0,5.7,447,4351,0.00,2.42,0.00,0.000,260,0.000,0.084,3726,3594,1432,1524,1341,0,0,0,0,0,0,26.92,26.55,26.94,8.30,30.66
$GC,4425,0.60,195.5,3726,3594,1524,1340,61.6,5.9,455,4436,0.00,2.38,0.00,0.000,1030,0.000,0.070,3737,2013,1432,1524,1341,0,0,0,0,0,0,26.70,26.60,26.72,8.30,30.11
$GC,4555,0.60,195.5,3736,2013,1524,1341,54.2,5.9,468,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,3737,2013,1432,1524,1340,0,0,0,0,0,0,26.94,26.96,26.96,8.30,30.11
$GC,4678,0.60,195.5,3736,2013,1524,1341,47.6,5.6,480,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,3737,2013,1432,1524,1341,0,0,0,0,0,0,26.96,26.98,26.97,8.29,29.79
$GC,4805,0.63,288.1,3737,2013,1524,1341,41.8,5.1,493,4876,0.00,2.55,65.47,0.804,8708,0.000,0.094,3748,451,1114,1211,1018,0,0,0,0,0,0,26.98,25.45,24.85,8.30,30.66
$GC,4990,0.65,381.6,3748,440,1209,1018,31.5,5.1,511,5071,0.00,2.45,71.10,0.775,9222,0.000,0.072,3748,2022,793,895,691,0,0,0,0,0,0,26.03,25.99,24.56,8.26,29.48
$GC,5196,0.71,381.6,3748,2021,895,687,12.6,9.3,538,5203,0.00,2.50,0.00,0.000,260,0.000,0.084,3748,3600,790,895,685,0,0,0,0,0,0,26.15,25.85,26.16,8.24,26.61
$GC,5292,0.77,381.6,3748,3600,895,685,5.0,8.7,556,5300,0.00,2.42,0.00,0.000,1030,0.000,0.070,3751,2023,789,895,684,0,0,0,0,0,0,26.12,26.03,26.15,8.24,27.94
$STATE,5356,end climb,SURFACE_DEPTH_REACHED
$STATE,5356,begin surface coast
$FINISH,1.2,1.020012
$STATE,5411,end surface coast,CONTROL_FINISHED_OK
$STATE,5411,begin surface
$SM_CCo,5490,0.00,0.000,0,0,784,384.03
$SM_GC,3.00,10.38,0.00,0.00,0.132,0.000,0.000,148,2023,784,-10.50,0.11,384.03,0,0,0,0,0,0,26.01,26.50,26.16
$IRIDIUM_FIX,4741.31,-12227.78,010519,050014
$TT8_MAMPS,0.02247,0.193991
$HUMID,28.89
$INTERNAL_PRESSURE,8.21199
$TCM_TEMP,13.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,150.7,63.7
$24V_AH,24.18,90.958
$10V_AH,10.42,48.570
$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,25.775,73.150,420.900,0.000,207.175,23.759,13.414,246.816,10.000,0.000,29.615,1672.349,1923.532,631.358,1456.331,238.449,0.000,1328.717,0.000,1135.807,0.000,98.203,0.000
$DEVICE_MAMPS,292.994,94.354,898.846,0.000,119.184,12.420,160.000,223.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.691,794.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312608
$DATA_FILE_SIZE,38251,578
$CAP_FILE_SIZE,89858,1
$CFSIZE,2047311872,2041872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165,218.38,1
$GPS,010519,075027,4741.782,-12227.012,27,0.9,88,16.3,0.3,214.1,9,17.0