version: 66.14
glider: 38
mission: 14
dive: 6
start: 9 5 118 20 57 25
data:
$ID,38
$MISSION,14
$DIVE,6
$N_DIVES,0
$STOP_T,9131819
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,6050
$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,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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80388.797
$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,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3249
$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,3925
$C_ROLL_CLIMB,3925
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2475
$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,-19.499046
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043154242
$SEABIRD_T_H,0.00062410574
$SEABIRD_T_I,2.302181e-05
$SEABIRD_T_J,2.4339581e-06
$SEABIRD_C_G,-9.7676115
$SEABIRD_C_H,1.1309991
$SEABIRD_C_I,-0.0018490348
$SEABIRD_C_J,0.00021460596
$SEABIRD_C_Z,2943.3999
$GPS1,050918,205257,3219.8196,-6434.3833,5,0.8,15,-14.9,0.0,213.2,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.7
$GPS2,050918,205650,3219.8491,-6434.3774,6,0.8,17,-14.9,0.0,74.5,9,4.8
$SPEED_LIMITS,0.089,0.259
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,10000.000
$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,136.5,83205,-12.2,-7.500,-16.12,4872
$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,7,-0.86,-244.4,153,3922,224,231,0.0,0.0,0,295,0.00,0.00,-278.65,0.151,16390,0.000,0.000,153,3924,3315,3352,3279,0,0,0,0,0,0,26.85,26.28,26.13,8.69,18.38
$GC,298,-0.86,-244.4,153,3924,3352,3279,2.9,-1.1,46,311,10.73,0.00,0.00,0.000,2054,0.271,0.000,2970,3924,3314,3350,3279,0,0,0,0,0,0,25.97,26.25,26.20,9.01,17.82
$GC,374,-0.61,-244.4,2969,3924,3342,3278,13.9,-15.9,60,382,0.25,0.00,0.00,0.000,2054,0.186,0.000,3055,3924,3310,3342,3278,0,0,0,0,0,0,26.22,26.36,26.30,9.01,17.82
$GC,445,-0.61,-244.4,3054,3924,3341,3276,21.3,-9.3,72,447,0.00,0.00,-0.32,0.916,16390,0.000,0.000,3055,3924,3321,3355,3287,0,0,0,0,0,0,26.70,26.26,25.46,9.01,17.82
$GC,565,-0.67,-244.4,3055,3924,3355,3286,30.6,-5.8,84,566,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,3924,3320,3354,3286,0,0,0,0,0,0,26.79,26.80,26.79,9.01,18.97
$GC,685,-0.80,-244.4,3055,3924,3353,3286,37.2,-4.2,96,687,0.10,0.00,0.00,0.000,4102,0.127,0.000,2974,3924,3319,3353,3286,0,0,0,0,0,0,26.63,26.67,26.66,9.01,19.04
$GC,805,-0.80,-244.4,2974,3924,3351,3285,43.7,-4.6,108,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3924,3318,3352,3285,0,0,0,0,0,0,26.89,26.90,26.89,9.00,18.61
$GC,925,-0.80,-244.4,2973,3924,3350,3285,49.7,-5.3,120,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3924,3317,3351,3284,0,0,0,0,0,0,26.91,26.92,26.91,8.99,18.57
$GC,1045,-0.80,-244.4,2974,3924,3350,3283,55.7,-5.0,132,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3924,3317,3351,3283,0,0,0,0,0,0,26.93,26.94,26.94,8.97,18.65
$GC,1165,-0.80,-244.4,2974,3924,3350,3283,61.9,-5.1,144,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3924,3316,3350,3283,0,0,0,0,0,0,26.94,26.96,26.95,8.97,18.81
$GC,1285,-0.80,-244.4,2974,3924,3350,3282,67.9,-5.1,156,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3924,3316,3350,3282,0,0,0,0,0,0,26.96,26.96,26.96,8.95,19.28
$GC,1405,-0.80,-244.4,2973,3924,3349,3281,75.3,-7.2,168,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3924,3315,3349,3282,0,0,0,0,0,0,26.96,26.97,26.97,8.94,19.04
$GC,1525,-0.80,-244.4,2974,3924,3348,3281,83.6,-7.3,180,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3924,3314,3348,3281,0,0,0,0,0,0,26.96,26.98,26.98,8.93,19.56
$GC,1645,-0.80,-244.4,2973,3925,3348,3280,92.1,-7.4,192,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3924,3314,3348,3281,0,0,0,0,0,0,26.97,26.98,26.98,8.92,19.01
$GC,1765,-0.80,-244.4,2973,3924,3347,3280,100.0,-6.3,204,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3924,3313,3347,3280,0,0,0,0,0,0,26.97,26.99,26.98,8.92,19.01
$GC,2005,-0.80,-244.4,2974,3924,3346,3279,116.9,-7.7,228,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3923,3312,3346,3279,0,0,0,0,0,0,26.98,26.99,26.99,8.90,19.16
$GC,2245,-0.80,-244.4,2974,3924,3345,3278,136.2,-8.4,252,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,3924,3311,3344,3278,0,0,0,0,0,0,26.98,27.00,26.99,8.88,19.28
$GC,2485,-0.80,-244.4,2974,3924,3343,3277,156.9,-8.0,276,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,3924,3310,3343,3277,0,0,0,0,0,0,26.98,27.00,27.00,8.86,19.44
$STATE,2713,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2714,begin apogee
$GC,2717,-0.29,0.0,2975,3924,3342,3275,177.7,-9.1,299,2889,0.50,0.00,166.75,0.809,10246,0.142,0.000,3156,3924,2474,2517,2432,0,0,0,0,0,0,26.60,25.34,24.82,8.85,19.67
$STATE,2890,end apogee,CONTROL_FINISHED_OK
$STATE,2890,begin climb
$GC,2891,0.86,244.4,3156,3924,2517,2431,185.1,0.0,316,3065,0.93,0.00,166.35,0.795,10246,0.117,0.000,3498,3924,1632,1667,1598,0,0,0,0,0,0,25.46,25.29,24.79,8.77,18.97
$GC,3305,0.72,244.4,3497,3924,1665,1597,147.5,13.1,358,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,3924,1630,1665,1596,0,0,0,0,0,0,26.61,26.63,26.63,8.68,19.48
$GC,3545,0.58,244.4,3498,3924,1665,1596,115.8,13.3,382,3547,0.20,0.00,0.00,0.000,4102,0.181,0.000,3433,3924,1630,1665,1596,0,0,0,0,0,0,26.40,26.56,26.53,8.67,19.67
$GC,3785,0.58,244.4,3432,3924,1664,1596,91.7,9.1,406,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,3924,1630,1664,1596,0,0,0,0,0,0,26.86,26.88,26.87,8.67,20.74
$GC,3905,0.58,244.4,3432,3924,1664,1596,80.7,9.0,418,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,3924,1630,1664,1596,0,0,0,0,0,0,26.89,26.90,26.90,8.67,20.27
$GC,4025,0.58,244.4,3432,3923,1664,1596,70.5,7.6,430,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,3924,1630,1664,1596,0,0,0,0,0,0,26.91,26.92,26.92,8.66,20.38
$GC,4145,0.58,244.4,3432,3924,1663,1596,61.8,7.1,442,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,3924,1630,1664,1596,0,0,0,0,0,0,26.92,26.94,26.94,8.67,20.30
$GC,4265,0.58,244.4,3432,3924,1663,1596,53.8,6.6,454,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,3924,1629,1663,1595,0,0,0,0,0,0,26.94,26.95,26.95,8.66,20.58
$GC,4385,0.64,341.4,3432,3924,1663,1595,46.6,5.5,466,4485,0.00,0.00,95.82,0.720,8198,0.000,0.000,3432,3924,1295,1323,1268,0,0,0,0,0,0,26.95,25.53,25.06,8.67,20.27
$GC,4606,0.80,341.4,3432,3924,1305,1252,31.5,6.2,488,4608,0.12,0.00,0.00,0.000,2054,0.122,0.000,3494,3924,1278,1305,1252,0,0,0,0,0,0,26.22,26.31,26.29,8.63,20.11
$GC,4726,1.00,437.3,3493,3924,1302,1250,24.8,5.5,500,4807,0.12,0.00,75.50,0.700,10246,0.132,0.000,3556,3924,964,977,952,0,0,0,0,0,0,26.39,25.52,25.06,8.64,20.46
$GC,4870,1.17,437.3,3555,3924,970,941,13.6,9.0,520,4877,0.10,0.00,0.00,0.000,2054,0.142,0.000,3609,3924,955,970,941,0,0,0,0,0,0,26.05,26.09,26.07,8.61,19.83
$GC,4939,1.34,437.3,3608,3923,968,939,7.2,9.5,533,4945,0.10,0.00,0.00,0.000,2054,0.142,0.000,3669,3924,953,968,939,0,0,0,0,0,0,26.23,26.28,26.27,8.63,19.83
$STATE,4983,end climb,SURFACE_DEPTH_REACHED
$STATE,4983,begin surface coast
$FINISH,0.0,1.023197
$STATE,5015,end surface coast,CONTROL_FINISHED_OK
$STATE,5015,begin surface
$SM_CCo,5031,48.83,0.675,0,0,753,500.22
$SM_GC,1.15,8.70,0.00,48.83,0.067,0.000,0.675,122,3924,753,-9.67,-0.06,500.22,0,0,0,0,0,0,26.37,26.62,25.21
$IRIDIUM_FIX,3218.77,-6436.80,050918,204925
$TT8_MAMPS,0.020972,0.196238
$HUMID,19.99
$INTERNAL_PRESSURE,8.60263
$TCM_TEMP,28.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.0
$24V_AH,24.79,4.138
$10V_AH,10.81,1.149
$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,21.850,0.000,504.425,48.825,278.975,0.000,0.000,0.000,1.000,0.000,17.938,1337.498,2182.391,744.364,848.973,44.664,0.000,1240.823,0.000,814.226,0.000,2.634,0.000
$DEVICE_MAMPS,270.647,0.000,809.458,675.376,916.227,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.110,722.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319372
$DATA_FILE_SIZE,38334,547
$CAP_FILE_SIZE,111033,0
$CFSIZE,2047311872,2038005760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,227.05,1
$GPS,050918,222253,3219.789,-6434.670,5,0.9,18,-14.9,0.0,355.3,8,4.8