version: 66.14
glider: 37
mission: 23
dive: 12
start: 5 1 119 8 1 50
data:
$ID,37
$MISSION,23
$DIVE,12
$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,0
$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,37
$R_STBD_OVSHOOT,42
$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
$GPS1,010519,075027,4741.7817,-12227.0117,27,0.9,88,16.3,0.3,214.1,9,17.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-74.8
$GPS2,010519,080113,4741.6958,-12227.1064,16,1.0,58,16.3,0.3,216.0,9,8.4
$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,20.1,6124,-12.3,-7.500,-17.25,3985
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,70,-0.87,-195.5,147,2020,884,675,2.3,-0.4,12,150,0.00,0.00,-76.62,0.109,16386,0.000,0.000,148,2020,1493,1575,1411,0,0,0,0,0,0,26.53,28.83,26.53,8.26,29.60
$GC,152,-0.87,-195.5,148,2020,1575,1411,3.3,-0.5,24,267,13.52,2.50,-91.00,0.109,18948,0.303,0.087,3233,428,2779,2846,2712,0,0,0,0,0,0,25.65,25.94,25.94,8.33,27.55
$GC,316,-0.42,-195.5,3232,428,2847,2713,17.5,-7.6,49,324,0.52,2.42,0.00,0.000,3078,0.209,0.072,3376,2025,2780,2847,2713,0,0,0,0,0,0,25.81,26.11,26.04,8.46,25.94
$GC,388,-0.29,-195.5,3375,2025,2847,2713,22.7,-9.7,58,390,0.15,0.00,0.00,0.000,2054,0.201,0.000,3422,2025,2780,2847,2713,0,0,0,0,0,0,25.98,26.22,26.15,8.46,25.42
$GC,508,-0.29,-195.5,3421,2025,2847,2713,28.8,-6.8,70,509,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2025,2780,2847,2713,0,0,0,0,0,0,26.60,26.61,26.61,8.46,25.70
$GC,629,-0.39,-195.5,3421,2025,2847,2713,34.3,-5.0,82,630,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2025,2780,2847,2713,0,0,0,0,0,0,26.67,26.69,26.69,8.45,25.86
$GC,748,-0.51,-195.5,3421,2025,2847,2713,39.8,-4.6,94,754,0.15,2.50,0.00,0.000,4612,0.161,0.087,3366,440,2780,2847,2713,0,0,0,0,0,0,26.29,26.32,26.37,8.45,26.29
$GC,842,-0.60,-195.5,3366,440,2847,2713,45.6,-4.8,103,852,0.05,2.35,0.00,0.000,5126,0.194,0.072,3337,2017,2780,2847,2713,0,0,0,0,0,0,26.29,26.44,26.37,8.45,26.33
$GC,973,-0.65,-195.5,3336,2017,2847,2713,54.7,-6.3,116,974,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2016,2780,2847,2713,0,0,0,0,0,0,26.80,26.82,26.82,8.44,26.41
$GC,1092,-0.65,-195.5,3336,2017,2847,2713,62.6,-6.7,128,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2016,2779,2847,2712,0,0,0,0,0,0,26.84,26.85,26.85,8.44,27.08
$GC,1212,-0.65,-195.5,3336,2017,2847,2713,70.7,-6.7,140,1216,0.00,2.47,0.00,0.000,516,0.000,0.089,3337,438,2780,2847,2713,0,0,0,0,0,0,26.86,26.44,26.88,8.43,27.47
$GC,1296,-0.65,-195.5,3336,438,2847,2713,76.4,-6.8,148,1301,0.00,2.38,0.00,0.000,1030,0.000,0.072,3326,2025,2780,2847,2713,0,0,0,0,0,0,26.64,26.55,26.67,8.43,26.92
$GC,1429,-0.65,-195.5,3325,2026,2847,2713,85.5,-6.8,161,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2025,2780,2847,2713,0,0,0,0,0,0,26.90,26.92,26.92,8.43,27.16
$GC,1549,-0.65,-195.5,3325,2025,2847,2713,93.7,-6.8,173,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2026,2780,2847,2713,0,0,0,0,0,0,26.93,26.94,26.94,8.44,28.06
$GC,1669,-0.65,-195.5,3325,2025,2847,2713,101.9,-6.8,185,1678,0.00,2.50,0.00,0.000,516,0.000,0.089,3326,431,2779,2846,2712,0,0,0,0,0,0,26.94,26.51,26.95,8.44,28.34
$GC,1812,-0.65,-195.5,3325,431,2846,2713,112.7,-7.1,199,1821,0.00,2.38,0.00,0.000,1030,0.000,0.072,3315,2026,2779,2846,2712,0,0,0,0,0,0,26.67,26.63,26.70,8.44,28.65
$GC,1948,-0.65,-195.5,3315,2026,2847,2712,122.1,-7.3,212,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2026,2779,2846,2712,0,0,0,0,0,0,26.96,26.98,26.98,8.44,29.44
$GC,2086,-0.65,-195.5,3315,2025,2847,2712,130.5,-6.8,224,2091,0.00,2.50,0.00,0.000,516,0.000,0.089,3315,430,2780,2847,2713,0,0,0,0,0,0,26.96,26.53,26.98,8.44,29.52
$GC,2169,-0.65,-195.5,3315,430,2847,2713,137.9,-6.9,231,2179,0.00,2.40,0.00,0.000,1030,0.000,0.072,3305,2034,2779,2846,2713,0,0,0,0,0,0,26.73,26.64,26.76,8.43,30.11
$GC,2313,-0.65,-195.5,3304,2034,2847,2712,148.8,-7.5,244,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2034,2779,2847,2712,0,0,0,0,0,0,26.98,27.01,27.00,8.43,30.03
$GC,2439,-0.65,-195.5,3304,2034,2847,2712,158.0,-7.5,256,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2034,2779,2847,2712,0,0,0,0,0,0,26.99,27.01,27.01,8.43,29.95
$GC,2560,-0.65,-195.5,3304,2034,2847,2712,167.1,-7.4,268,2564,0.00,2.50,0.00,0.000,516,0.000,0.089,3304,438,2779,2847,2712,0,0,0,0,0,0,27.01,26.56,27.02,8.43,30.31
$GC,2645,-0.65,-195.5,3304,437,2846,2712,173.7,-7.6,276,2653,0.00,2.38,0.00,0.000,1030,0.000,0.072,3294,2021,2779,2847,2712,0,0,0,0,0,0,26.76,26.66,26.78,8.43,30.03
$STATE,2710,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2710,begin apogee
$GC,2715,-0.33,0.0,3293,2021,2847,2712,179.5,-7.8,283,2863,0.35,0.00,140.98,0.901,10246,0.199,0.000,3405,2021,2107,2188,2026,0,0,0,0,0,0,26.34,24.93,24.35,8.43,29.64
$STATE,2864,end apogee,CONTROL_FINISHED_OK
$STATE,2864,begin climb
$GC,2865,0.87,195.5,3405,2021,2188,2026,186.1,0.0,298,3025,1.17,2.60,143.60,0.872,10500,0.169,0.087,3778,3602,1432,1524,1341,0,0,0,0,0,0,25.06,24.57,24.14,8.37,26.92
$GC,3101,0.87,195.5,3778,3601,1525,1340,174.3,5.3,321,3111,0.00,2.53,0.00,0.000,1030,0.000,0.070,3789,2009,1432,1524,1340,0,0,0,0,0,0,25.56,25.53,25.58,8.31,26.05
$GC,3230,0.78,195.5,3788,2009,1524,1340,162.3,8.1,334,3239,0.00,2.47,0.00,0.000,516,0.000,0.089,3801,444,1432,1523,1341,0,0,0,0,0,0,26.16,25.84,26.17,8.30,25.90
$GC,3286,0.70,195.5,3800,444,1524,1341,157.5,8.8,339,3295,0.20,2.42,0.00,0.000,5126,0.241,0.072,3751,2036,1432,1524,1341,0,0,0,0,0,0,25.70,25.99,25.94,8.31,26.17
$GC,3414,0.64,195.5,3750,2036,1524,1341,147.3,8.6,352,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,3750,2036,1432,1524,1341,0,0,0,0,0,0,26.44,26.45,26.45,8.31,26.49
$GC,3534,0.64,195.5,3750,2036,1525,1341,138.3,7.8,364,3544,0.00,2.42,0.00,0.000,260,0.000,0.084,3751,3600,1432,1524,1341,0,0,0,0,0,0,26.54,26.21,26.55,8.30,27.71
$GC,3620,0.64,195.5,3750,3600,1524,1340,131.5,7.6,372,3630,0.10,2.40,0.00,0.000,5126,0.233,0.072,3733,2016,1432,1524,1340,0,0,0,0,0,0,26.02,26.28,26.17,8.31,27.71
$GC,3750,0.64,195.5,3732,2016,1524,1341,122.8,7.4,385,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,3733,2016,1433,1525,1341,0,0,0,0,0,0,26.67,26.69,26.69,8.30,27.98
$GC,3869,0.64,195.5,3732,2016,1524,1340,115.1,6.6,397,3880,0.00,2.47,0.00,0.000,516,0.000,0.092,3743,436,1432,1524,1340,0,0,0,0,0,0,26.72,26.33,26.74,8.30,29.24
$GC,3933,0.64,195.5,3742,436,1524,1341,111.0,6.4,403,3944,0.00,2.38,0.00,0.000,1030,0.000,0.072,3743,2021,1432,1524,1341,0,0,0,0,0,0,26.52,26.44,26.54,8.31,28.73
$GC,4065,0.64,195.5,3742,2021,1524,1341,102.3,6.6,416,4075,0.00,2.42,0.00,0.000,260,0.000,0.084,3743,3599,1432,1524,1341,0,0,0,0,0,0,26.79,26.44,26.80,8.30,28.61
$GC,4149,0.64,195.5,3742,3598,1524,1341,96.5,6.6,424,4159,0.00,2.38,0.00,0.000,1030,0.000,0.070,3754,2013,1432,1524,1340,0,0,0,0,0,0,26.53,26.48,26.56,8.30,29.44
$GC,4279,0.64,195.5,3754,2013,1524,1340,88.9,6.3,437,4289,0.00,2.42,0.00,0.000,516,0.000,0.092,3766,444,1432,1524,1341,0,0,0,0,0,0,26.84,26.45,26.86,8.30,28.61
$GC,4417,0.64,195.5,3765,444,1525,1341,79.6,6.1,450,4427,0.12,2.35,0.00,0.000,5126,0.231,0.072,3732,2032,1432,1524,1340,0,0,0,0,0,0,26.23,26.56,26.37,8.30,28.77
$GC,4545,0.64,195.5,3731,2031,1524,1341,71.0,6.8,463,4550,0.00,2.42,0.00,0.000,260,0.000,0.084,3732,3588,1432,1524,1341,0,0,0,0,0,0,26.89,26.54,26.91,8.30,28.81
$GC,4598,0.64,195.5,3731,3587,1524,1340,66.9,6.9,468,4608,0.00,2.38,0.00,0.000,1030,0.000,0.070,3741,2015,1432,1524,1340,0,0,0,0,0,0,26.66,26.56,26.68,8.30,29.05
$GC,4728,0.64,195.5,3741,2015,1524,1340,58.8,6.8,481,4739,0.00,2.42,0.00,0.000,516,0.000,0.092,3752,446,1432,1524,1341,0,0,0,0,0,0,26.91,26.52,26.94,8.30,29.83
$GC,4813,0.64,195.5,3752,447,1524,1340,53.5,6.5,489,4824,0.00,2.35,0.00,0.000,1030,0.000,0.072,3752,2024,1432,1524,1341,0,0,0,0,0,0,26.70,26.61,26.72,8.30,29.52
$GC,4943,0.64,195.5,3751,2024,1524,1341,45.3,6.2,502,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,3752,2024,1432,1525,1340,0,0,0,0,0,0,26.94,26.96,26.96,8.30,28.97
$GC,5066,0.64,195.5,3751,2024,1524,1340,38.2,6.2,514,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3752,2024,1432,1524,1340,0,0,0,0,0,0,26.96,26.98,26.97,8.30,29.99
$GC,5193,0.64,195.5,3751,2024,1524,1341,30.9,5.8,527,5203,0.00,2.47,0.00,0.000,516,0.000,0.089,3762,447,1432,1524,1341,0,0,0,0,0,0,26.97,26.55,26.99,8.30,29.83
$GC,5297,0.64,195.5,3762,447,1524,1341,24.9,5.7,537,5306,0.12,2.35,0.00,0.000,5126,0.236,0.072,3730,2029,1432,1524,1340,0,0,0,0,0,0,26.32,26.66,26.56,8.30,29.56
$GC,5419,0.76,658.2,3729,2029,1524,1340,19.5,5.3,549,5693,0.05,0.00,267.38,0.767,10498,0.241,0.000,3747,2028,233,343,123,0,0,0,0,0,0,26.68,28.83,26.75,8.29,30.07
$STATE,5694,end climb,SURFACE_DEPTH_REACHED
$STATE,5694,begin surface coast
$FINISH,0.9,1.019893
$STATE,5754,end surface coast,CONTROL_FINISHED_OK
$STATE,5754,begin surface
$SM_CCo,5832,0.00,0.000,0,0,232,544.96
$SM_GC,2.06,10.40,0.00,0.00,0.119,0.000,0.000,154,2028,232,-10.48,0.25,544.96,0,0,0,0,0,0,25.44,25.78,25.56
$IRIDIUM_FIX,4741.67,-12220.67,010519,075201
$TT8_MAMPS,0.02247,0.19474
$HUMID,25.54
$INTERNAL_PRESSURE,8.15339
$TCM_TEMP,13.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,155.1,60.9
$24V_AH,24.14,91.118
$10V_AH,10.42,48.624
$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,26.925,72.950,551.950,0.000,167.625,47.951,58.306,326.214,11.500,0.000,58.948,1690.715,2186.168,715.710,1655.272,250.281,0.000,1433.178,0.000,1159.951,0.000,112.177,0.000
$DEVICE_MAMPS,302.926,91.871,901.329,0.000,109.252,12.420,160.000,223.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.134,826.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312600
$DATA_FILE_SIZE,38097,599
$CAP_FILE_SIZE,95990,1
$CFSIZE,2047311872,2041774080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141,217.90,1
$GPS,010519,094026,4741.849,-12227.074,9,1.2,45,16.3,0.3,188.7,8,5.0