version: 66.12
glider: 38
mission: 9
dive: 38
start: 4 14 117 6 24 45
data:
$ID,38
$MISSION,9
$DIVE,38
$N_DIVES,0
$STOP_T,4171719
$D_SURF,5
$D_FLARE,3
$D_TGT,1620
$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,540
$T_MISSION,570
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$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,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,80833
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,135
$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,400
$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,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3037
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,1767
$C_ROLL_CLIMB,1712
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2348
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00059000001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,2
$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,-20.293694
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004410191
$SEABIRD_T_H,0.00064652628
$SEABIRD_T_I,2.6235177e-05
$SEABIRD_T_J,3.227025e-06
$SEABIRD_C_G,-9.5423679
$SEABIRD_C_H,1.1030561
$SEABIRD_C_I,-0.0018197452
$SEABIRD_C_J,0.00021177332
$SEABIRD_C_Z,2945.9399
$GPS1,140417,061936,2758.8926,-7659.8418,30,0.9,34,-8.6,0.8,193.2,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-39.8
$GPS2,140417,062414,2758.8052,-7659.8857,6,1.0,17,-8.6,0.0,273.4,9,4.5
$SPEED_LIMITS,0.100,0.370
$TGT_NAME,HEADING
$TGT_LATLONG,2712.988,-7608.365
$TGT_RADIUS,1852.000
$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,113.7,120000,-11.6,-10.000,-15.12,6583
$D_GRID,1620
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-438.0,162,1703,192,200,0.0,0.0,0,290,0.00,0.00,-271.73,0.146,16386,0.000,0.000,162,1700,2721,2749,2693,0,0,0,0,0,0,26.84,28.83,26.85,8.83,8.29
$GC,292,-0.94,-438.0,162,1700,2747,2693,3.8,-4.7,27,361,9.43,2.30,-52.05,0.154,18948,0.253,0.077,2729,186,3857,3893,3821,0,0,0,0,0,0,25.97,26.17,26.08,9.10,7.90
$GC,446,-0.94,-438.0,2728,186,3891,3820,23.4,-12.6,42,453,0.00,2.22,0.00,0.000,1030,0.000,0.060,2719,1773,3855,3891,3820,0,0,0,0,0,0,26.42,26.39,26.44,9.22,8.02
$GC,755,-0.94,-438.0,2718,1773,3889,3818,58.7,-12.1,73,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1773,3853,3889,3818,0,0,0,0,0,0,26.81,26.82,26.82,9.24,8.33
$GC,1053,-0.94,-438.0,2719,1773,3887,3817,94.0,-11.5,103,1063,0.00,2.33,0.00,0.000,516,0.000,0.077,2719,199,3852,3888,3816,0,0,0,0,0,0,26.91,26.63,26.93,9.23,8.06
$GC,1125,-0.94,-438.0,2718,199,3887,3816,102.5,-12.1,110,1129,0.00,2.17,0.00,0.000,1030,0.000,0.060,2709,1773,3852,3888,3816,0,0,0,0,0,0,26.76,26.72,26.77,9.24,8.89
$GC,1436,-0.94,-438.0,2708,1773,3887,3815,141.1,-12.8,141,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1773,3851,3887,3815,0,0,0,0,0,0,26.99,27.01,27.00,9.24,8.29
$GC,1748,-0.94,-438.0,2708,1773,3887,3815,180.2,-12.7,160,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1773,3851,3887,3815,0,0,0,0,0,0,27.03,27.05,27.04,9.24,8.22
$GC,2046,-0.94,-438.0,2708,1773,3887,3815,218.6,-13.0,175,2052,0.00,2.35,0.00,0.000,516,0.000,0.077,2708,186,3850,3886,3815,0,0,0,0,0,0,27.06,26.77,27.07,9.24,8.10
$GC,2086,-0.94,-438.0,2708,185,3887,3815,223.8,-13.0,177,2091,0.10,2.20,0.00,0.000,3078,0.196,0.060,2734,1774,3851,3887,3815,0,0,0,0,0,0,26.67,26.84,26.80,9.23,7.98
$GC,2403,-0.94,-438.0,2734,1775,3887,3815,261.8,-12.1,193,2408,0.00,2.22,0.00,0.000,260,0.000,0.074,2724,3321,3851,3887,3815,0,0,0,0,0,0,27.08,26.79,27.09,9.23,8.18
$GC,2438,-0.94,-438.0,2723,3321,3887,3815,264.5,-12.3,194,2445,0.00,2.17,0.00,0.000,1030,0.000,0.060,2724,1759,3851,3887,3815,0,0,0,0,0,0,26.89,26.84,26.91,9.23,8.18
$GC,2765,-0.94,-438.0,2723,1759,3887,3815,307.8,-12.5,210,2771,0.00,2.30,0.00,0.000,516,0.000,0.077,2724,200,3851,3887,3815,0,0,0,0,0,0,27.09,26.80,27.10,9.22,7.90
$GC,2843,-0.94,-438.0,2723,201,3886,3815,315.5,-12.5,212,2847,0.00,2.17,0.00,0.000,1030,0.000,0.060,2715,1771,3850,3886,3815,0,0,0,0,0,0,26.92,26.88,26.94,9.22,8.18
$GC,3155,-0.94,-438.0,2714,1771,3886,3814,355.4,-12.0,223,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1771,3850,3885,3815,0,0,0,0,0,0,27.10,27.11,27.11,9.21,8.26
$GC,3455,-0.94,-438.0,2714,1771,3886,3815,393.8,-12.8,233,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1771,3850,3886,3815,0,0,0,0,0,0,27.11,27.13,27.12,9.21,8.45
$GC,3755,-0.94,-438.0,2714,1771,3885,3814,435.5,-14.3,243,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1771,3849,3885,3814,0,0,0,0,0,0,27.11,27.13,27.12,9.20,8.26
$GC,4055,-0.94,-438.0,2714,1771,3885,3814,476.3,-13.8,253,4061,0.00,2.35,0.00,0.000,516,0.000,0.077,2715,195,3849,3885,3814,0,0,0,0,0,0,27.12,26.83,27.13,9.19,8.18
$GC,4098,-0.94,-438.0,2714,195,3884,3813,480.4,-13.9,254,4102,0.00,2.20,0.00,0.000,1030,0.000,0.060,2706,1769,3849,3884,3814,0,0,0,0,0,0,26.94,26.89,26.95,9.19,8.18
$GC,4415,-0.88,-438.0,2705,1769,3884,3813,529.7,-15.3,265,4417,0.15,0.00,0.00,0.000,2054,0.181,0.000,2757,1769,3848,3884,3813,0,0,0,0,0,0,26.74,26.90,26.86,9.17,8.65
$GC,4715,-0.88,-438.0,2756,1769,3883,3813,563.5,-11.0,275,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1769,3848,3884,3813,0,0,0,0,0,0,27.11,27.13,27.13,9.17,8.26
$GC,5015,-0.88,-438.0,2756,1769,3882,3812,597.0,-11.2,285,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1769,3848,3883,3813,0,0,0,0,0,0,27.13,27.13,27.13,9.17,8.61
$GC,5315,-0.88,-438.0,2756,1769,3883,3811,631.3,-11.5,295,5321,0.00,2.35,0.00,0.000,516,0.000,0.077,2757,199,3847,3883,3812,0,0,0,0,0,0,27.13,26.84,27.13,9.15,8.06
$GC,5368,-0.88,-438.0,2757,199,3882,3811,634.9,-11.6,296,5376,0.00,2.20,0.00,0.000,1030,0.000,0.060,2749,1768,3847,3883,3812,0,0,0,0,0,0,26.95,26.91,26.96,9.15,8.14
$GC,5675,-0.88,-438.0,2748,1768,3882,3811,678.1,-13.4,307,5681,0.00,2.25,0.00,0.000,260,0.000,0.077,2738,3317,3846,3882,3811,0,0,0,0,0,0,27.13,26.84,27.13,9.14,8.37
$GC,5718,-0.88,-438.0,2737,3317,3882,3810,682.3,-13.3,308,5723,0.00,2.17,0.00,0.000,1030,0.000,0.060,2738,1769,3846,3882,3810,0,0,0,0,0,0,26.94,26.89,26.95,9.14,8.33
$GC,6035,-0.88,-438.0,2737,1769,3881,3811,729.6,-15.1,319,6041,0.00,2.33,0.00,0.000,516,0.000,0.079,2738,206,3845,3881,3810,0,0,0,0,0,0,27.13,26.84,27.14,9.12,8.41
$GC,6103,-0.88,-438.0,2737,206,3880,3810,738.6,-14.8,321,6107,0.00,2.20,0.00,0.000,1030,0.000,0.060,2727,1773,3845,3881,3810,0,0,0,0,0,0,26.94,26.90,26.96,9.12,8.14
$GC,6426,-0.82,-438.0,2727,1773,3880,3809,791.0,-15.9,332,6428,0.15,0.00,0.00,0.000,2054,0.176,0.000,2779,1774,3845,3881,3809,0,0,0,0,0,0,26.74,26.91,26.87,9.10,8.29
$GC,6725,-0.82,-438.0,2778,1774,3880,3808,827.7,-12.3,342,6732,0.00,2.35,0.00,0.000,516,0.000,0.079,2779,200,3844,3880,3808,0,0,0,0,0,0,27.13,26.83,27.14,9.08,8.45
$GC,6758,-0.82,-438.0,2778,200,3880,3808,831.4,-12.4,343,6764,0.00,2.17,0.00,0.000,1030,0.000,0.060,2771,1761,3844,3880,3808,0,0,0,0,0,0,26.92,26.91,26.94,9.08,8.53
$GC,7086,-0.82,-438.0,2770,1761,3878,3807,875.6,-13.5,354,7092,0.00,2.28,0.00,0.000,260,0.000,0.077,2760,3322,3842,3878,3806,0,0,0,0,0,0,27.13,26.84,27.13,9.06,8.06
$GC,7119,-0.82,-438.0,2759,3322,3878,3806,879.1,-13.4,355,7124,0.00,2.20,0.00,0.000,1030,0.000,0.060,2760,1761,3842,3878,3806,0,0,0,0,0,0,26.94,26.89,26.96,9.06,8.37
$GC,7446,-0.82,-438.0,2760,1760,3876,3805,929.4,-15.8,366,7453,0.00,2.33,0.00,0.000,516,0.000,0.079,2760,199,3841,3876,3806,0,0,0,0,0,0,27.13,26.84,27.14,9.04,8.53
$GC,7496,-0.82,-438.0,2759,199,3876,3806,934.3,-15.9,367,7500,0.00,2.22,0.00,0.000,1030,0.000,0.060,2749,1773,3840,3875,3806,0,0,0,0,0,0,26.94,26.90,26.96,9.03,8.26
$GC,7803,-0.75,-438.0,2749,1773,3874,3805,989.4,-16.8,377,7805,0.15,0.00,0.00,0.000,2054,0.181,0.000,2801,1773,3840,3875,3805,0,0,0,0,0,0,26.73,26.91,26.86,9.01,9.08
$GC,8136,-0.75,-438.0,2800,1772,3873,3803,1032.4,-12.8,384,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1773,3837,3872,3803,0,0,0,0,0,0,27.10,27.12,27.11,8.98,8.33
$STATE,8311,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8311,begin apogee
$GC,8315,-0.29,0.0,2800,1772,3872,3802,1054.8,-12.5,387,8648,0.40,0.00,329.73,1.505,10246,0.144,0.000,2945,1773,2348,2383,2314,0,0,0,0,0,0,26.76,24.75,24.02,8.96,8.77
$STATE,8649,end apogee,CONTROL_FINISHED_OK
$STATE,8649,begin climb
$GC,8651,0.94,438.0,2944,1773,2382,2312,1078.7,0.0,392,9078,1.02,2.40,400.98,1.460,11012,0.124,0.079,3304,3255,839,826,852,0,0,0,0,3,0,24.89,24.20,23.65,8.81,7.66
$GC,9618,1.29,592.9,3304,3255,817,833,1044.9,7.6,408,9769,0.40,2.25,142.12,1.445,11270,0.102,0.060,3466,1704,308,302,315,0,0,0,0,0,0,26.33,26.38,24.16,8.59,8.10
$GC,10112,1.44,592.9,3465,1704,300,308,997.6,8.8,417,10115,0.00,2.35,0.00,0.000,2308,0.000,0.074,3466,3242,304,300,308,0,0,0,0,0,0,26.53,26.26,26.54,8.53,9.04
$GC,10236,1.57,592.9,3465,3260,300,308,986.5,9.3,421,10241,0.12,2.25,0.00,0.000,3078,0.114,0.062,3543,1712,304,300,308,0,0,0,0,0,0,26.39,26.40,26.44,8.53,9.08
$GC,10559,1.49,592.9,3543,1712,299,308,944.3,14.3,432,10565,0.00,2.35,0.00,0.000,516,0.000,0.082,3550,176,303,299,308,0,0,0,0,0,0,26.80,26.52,26.82,8.54,8.73
$GC,10651,1.40,592.9,3550,176,299,308,931.1,14.5,435,10657,0.20,2.22,0.00,0.000,5126,0.174,0.060,3484,1703,303,299,308,0,0,0,0,0,0,26.46,26.61,26.59,8.54,9.24
$GC,10979,1.40,592.9,3484,1703,299,308,889.6,12.9,446,10983,0.00,2.33,0.00,0.000,260,0.000,0.077,3484,3260,303,299,308,0,0,0,0,0,0,26.91,26.63,26.92,8.55,9.16
$GC,11040,1.40,592.9,3484,3274,299,308,881.7,13.1,448,11044,0.00,2.25,0.00,0.000,1030,0.000,0.062,3494,1713,303,299,308,0,0,0,0,0,0,26.74,26.67,26.75,8.55,9.04
$GC,11367,1.33,592.9,3493,1713,299,308,838.1,13.7,459,11370,0.00,2.35,0.00,0.000,516,0.000,0.082,3506,175,303,299,308,0,0,0,0,0,0,26.96,26.68,26.98,8.57,8.81
$GC,11412,1.26,592.9,3505,158,299,307,833.6,13.9,460,11417,0.20,2.22,0.00,0.000,5126,0.176,0.060,3438,1719,303,299,308,0,0,0,0,0,0,26.60,26.74,26.73,8.56,9.52
$GC,11724,1.26,592.9,3437,1719,298,307,796.2,11.7,471,11725,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1719,303,299,308,0,0,0,0,0,0,27.00,27.01,27.01,8.58,9.71
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$STATE,17868,end climb,SURFACE_DEPTH_REACHED
$STATE,17869,begin surface coast
$FINISH,-0.0,0.999915
$STATE,17909,end surface coast,CONTROL_FINISHED_OK
$STATE,17909,begin surface
$SM_CCo,17984,0.00,0.000,0,0,303,594.05
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$IRIDIUM_FIX,2751.85,-7706.55,140417,011242
$TT8_MAMPS,0.021721,0.226198
$HUMID,8.53
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,18.6
$ALTIM_BOTTOM_PING,1032.4,65.9
$24V_AH,23.65,16.300
$10V_AH,10.65,3.005
$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,20.575,117.075,872.825,0.000,323.775,25.696,17.377,135.663,6.750,0.000,18.449,2419.587,12523.922,1099.317,2119.832,105.978,0.000,2216.921,0.000,1852.135,0.000,63.161,0.000
$DEVICE_MAMPS,253.266,81.939,1504.698,0.000,153.946,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
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$SENSOR_SECS,525.691,1041.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284264
$DATA_FILE_SIZE,55563,783
$CAP_FILE_SIZE,148148,0
$CFSIZE,2047311872,2036727808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.324,175.05,1
$GPS,140417,112537,2755.184,-7655.939,30,0.9,35,-8.6,0.0,0.0,9,4.6