version: 66.12
glider: 38
mission: 7
dive: 10
start: 3 9 117 3 0 29
data:
$ID,38
$MISSION,7
$DIVE,10
$N_DIVES,0
$STOP_T,3101715
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$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,80
$T_ABORT,4120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,30
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,80211.703
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$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,2253
$C_ROLL_CLIMB,2253
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2070
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$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,-20.315672
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$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
$GPS1,090317,025057,4745.3706,-12224.3047,4,0.9,45,16.3,0.6,346.8,9,4.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.1
$GPS2,090317,025945,4745.5293,-12224.3438,5,0.9,15,16.3,0.6,4.4,9,4.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,160.0,4688,-16.6,-10.000,-19.35,2725
$D_GRID,195
$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,49,-0.87,-146.6,168,2261,344,345,1.3,0.7,6,357,0.00,0.00,-303.45,0.142,16386,0.000,0.000,168,2261,2114,2154,2075,0,0,0,0,0,0,26.19,28.83,26.21,8.46,7.07
$GC,359,-0.87,-146.6,168,2261,2153,2075,3.1,-3.2,54,425,10.95,2.58,-46.28,0.149,18692,0.268,0.104,2955,3841,2574,2620,2529,0,0,0,0,0,0,25.53,25.66,25.62,8.63,6.36
$GC,482,-0.80,-146.6,2954,3841,2609,2529,13.0,-8.1,75,490,0.12,2.50,0.00,0.000,3078,0.199,0.084,2993,2242,2568,2607,2529,0,0,0,0,0,0,25.70,25.82,25.84,8.69,6.36
$GC,553,-0.80,-146.6,2992,2242,2603,2528,18.9,-8.1,88,561,0.00,2.47,-0.45,0.988,16900,0.000,0.094,2993,676,2575,2614,2537,0,0,0,0,0,0,26.18,25.65,25.13,8.69,5.97
$GC,732,-0.80,-146.6,2993,676,2608,2537,34.3,-9.4,106,740,0.00,2.50,0.00,0.000,1030,0.000,0.087,2984,2263,2572,2608,2537,0,0,0,0,0,0,26.11,26.06,26.13,8.69,6.52
$GC,859,-0.80,-146.6,2983,2263,2606,2537,46.4,-9.8,119,870,0.00,2.53,0.00,0.000,260,0.000,0.107,2972,3848,2571,2606,2537,0,0,0,0,0,0,26.44,26.13,26.46,8.69,6.64
$GC,973,-0.80,-146.6,2971,3848,2604,2536,56.8,-9.4,130,982,0.00,2.45,0.00,0.000,1030,0.000,0.084,2972,2248,2570,2604,2537,0,0,0,0,0,0,26.31,26.22,26.32,8.69,6.52
$GC,1102,-0.80,-146.6,2971,2247,2602,2537,68.6,-8.8,143,1112,0.00,2.42,0.00,0.000,516,0.000,0.097,2972,677,2569,2602,2537,0,0,0,0,0,0,26.56,26.25,26.58,8.69,6.52
$GC,1175,-0.80,-146.6,2971,677,2601,2537,76.5,-11.3,150,1185,0.12,2.45,0.00,0.000,3078,0.238,0.089,2999,2260,2568,2601,2536,0,0,0,0,0,0,25.82,26.29,26.27,8.69,6.68
$GC,1305,-0.80,-146.6,2998,2260,2601,2537,88.3,-8.3,163,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2261,2568,2600,2537,0,0,0,0,0,0,26.63,26.65,26.64,8.69,6.84
$GC,1425,-0.80,-146.6,2999,2260,2599,2537,99.5,-9.8,175,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2261,2568,2599,2537,0,0,0,0,0,0,26.67,26.68,26.68,8.69,6.36
$GC,1545,-0.80,-146.6,2998,2260,2598,2537,110.6,-9.1,187,1556,0.00,2.50,-0.12,0.817,16644,0.000,0.107,2989,3845,2581,2614,2549,0,0,0,0,0,0,26.67,26.15,25.61,8.69,6.88
$GC,1591,-0.80,-146.6,2987,3845,2615,2549,114.1,-7.8,191,1600,0.00,2.42,0.00,0.000,1030,0.000,0.084,2988,2243,2581,2614,2549,0,0,0,0,0,0,26.51,26.43,26.53,8.69,6.56
$GC,1720,-0.80,-146.6,2988,2242,2614,2549,124.0,-7.7,204,1729,0.00,2.40,0.00,0.000,516,0.000,0.094,2988,677,2581,2613,2549,0,0,0,0,0,0,26.74,26.42,26.75,8.69,6.52
$GC,1786,-0.80,-146.6,2987,677,2612,2549,129.1,-8.0,210,1796,0.00,2.40,0.00,0.000,1030,0.000,0.089,2980,2248,2580,2612,2549,0,0,0,0,0,0,26.50,26.45,26.53,8.70,6.52
$GC,1914,-0.80,-146.6,2979,2248,2612,2549,139.2,-7.8,223,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2248,2580,2612,2549,0,0,0,0,0,0,26.77,26.79,26.79,8.70,6.68
$GC,2034,-0.80,-146.6,2979,2248,2611,2549,147.0,-6.2,235,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2248,2580,2611,2549,0,0,0,0,0,0,26.79,26.81,26.81,8.70,6.52
$GC,2154,-0.80,-146.6,2979,2248,2610,2549,156.0,-7.6,247,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2248,2579,2611,2548,0,0,0,0,0,0,26.82,26.84,26.82,8.70,6.52
$GC,2274,-0.80,-146.6,2980,2247,2610,2549,164.3,-6.1,259,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2248,2580,2611,2549,0,0,0,0,0,0,26.84,26.85,26.84,8.70,7.23
$GC,2394,-0.80,-146.6,2979,2248,2610,2549,171.7,-5.9,271,2404,0.00,2.42,0.00,0.000,516,0.000,0.097,2980,675,2579,2610,2549,0,0,0,0,0,0,26.85,26.54,26.86,8.69,6.56
$STATE,2415,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2415,begin apogee
$GC,2421,-0.25,0.0,2970,2262,2610,2549,172.9,-5.8,273,2530,0.57,0.00,105.10,0.958,10246,0.161,0.000,3172,2262,2070,2082,2058,0,0,0,0,0,0,26.48,24.91,24.34,8.70,6.40
$STATE,2531,end apogee,CONTROL_FINISHED_OK
$STATE,2531,begin climb
$GC,2532,0.87,146.6,3172,2262,2082,2058,174.9,0.0,284,2657,0.95,2.72,112.85,0.909,10500,0.129,0.109,3499,3826,1565,1562,1568,0,0,0,0,0,0,24.96,24.62,24.05,8.66,6.33
$GC,2700,0.87,146.6,3499,3826,1562,1568,163.2,9.5,301,2710,0.00,2.53,0.00,0.000,1030,0.000,0.084,3509,2251,1565,1562,1568,0,0,0,0,0,0,25.27,25.18,25.28,8.61,6.80
$GC,2831,0.93,146.6,3508,2251,1562,1568,151.4,8.9,314,2835,0.00,2.55,0.00,0.000,2564,0.000,0.097,3520,669,1565,1562,1568,0,0,0,0,0,0,25.92,25.61,25.92,8.60,6.64
$GC,2923,0.98,146.6,3520,669,1562,1568,142.4,9.4,323,2933,0.00,2.50,0.00,0.000,3078,0.000,0.089,3520,2245,1565,1562,1568,0,0,0,0,0,0,25.90,25.79,25.91,8.61,6.96
$GC,3053,0.98,146.6,3520,2246,1562,1568,130.0,9.3,336,3057,0.00,2.62,0.00,0.000,2308,0.000,0.112,3520,3849,1565,1562,1568,0,0,0,0,0,0,26.25,25.93,26.26,8.61,6.56
$GC,3104,0.98,146.6,3519,3849,1562,1568,125.0,9.8,341,3114,0.00,2.50,0.00,0.000,3078,0.000,0.087,3530,2249,1565,1562,1568,0,0,0,0,0,0,26.11,26.01,26.13,8.60,6.60
$GC,3235,0.99,201.1,3528,2249,1562,1568,113.6,8.0,354,3286,0.00,0.00,42.92,0.886,10246,0.000,0.000,3530,2249,1376,1374,1379,0,0,0,0,0,0,26.41,25.39,24.82,8.60,6.52
$GC,3405,1.05,201.1,3529,2249,1374,1378,98.1,8.2,371,3415,0.08,2.50,0.00,0.000,2564,0.146,0.094,3588,668,1376,1374,1378,0,0,0,0,0,0,25.82,25.75,25.84,8.59,6.60
$GC,3458,1.05,201.1,3588,668,1375,1378,92.7,10.0,376,3469,0.00,2.53,0.00,0.000,1030,0.000,0.089,3587,2262,1376,1375,1378,0,0,0,0,0,0,25.93,25.83,25.95,8.58,6.56
$GC,3589,1.05,201.1,3587,2262,1374,1378,76.4,13.3,389,3598,0.00,2.55,0.00,0.000,260,0.000,0.112,3588,3839,1376,1375,1378,0,0,0,0,0,0,26.29,25.97,26.29,8.58,6.36
$GC,3633,1.05,201.1,3587,3840,1375,1378,71.0,12.8,393,3641,0.00,2.50,0.00,0.000,1030,0.000,0.087,3600,2243,1376,1375,1378,0,0,0,0,0,0,26.09,26.04,26.11,8.58,6.36
$GC,3760,1.05,201.1,3599,2242,1375,1378,56.1,10.3,406,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2242,1376,1375,1378,0,0,0,0,0,0,26.42,26.44,26.43,8.58,6.96
$GC,3880,1.05,201.1,3599,2243,1375,1378,44.5,9.6,418,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2243,1376,1375,1378,0,0,0,0,0,0,26.49,26.51,26.51,8.58,7.00
$GC,4000,1.05,201.1,3599,2243,1375,1378,33.4,9.3,430,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2243,1376,1375,1378,0,0,0,0,0,0,26.55,26.57,26.57,8.58,6.60
$GC,4120,1.05,201.1,3599,2243,1375,1378,22.8,8.5,442,4131,0.00,2.42,0.00,0.000,516,0.000,0.097,3611,670,1376,1375,1378,0,0,0,0,0,0,26.60,26.29,26.61,8.57,6.72
$STATE,4292,end climb,SURFACE_DEPTH_REACHED
$STATE,4292,begin surface coast
$FINISH,2.3,1.021770
$STATE,4318,end surface coast,CONTROL_FINISHED_OK
$STATE,4318,begin surface
$SM_CCo,4337,75.97,0.824,0,0,1037,300.08
$SM_GC,1.95,9.23,2.50,75.97,0.104,0.087,0.824,171,2259,1037,-9.57,-0.79,300.08,0,0,0,0,0,0,26.36,26.36,24.74
$IRIDIUM_FIX,4726.11,-12222.38,090317,025203
$TT8_MAMPS,0.020223,0.162533
$HUMID,7.03
$INTERNAL_PRESSURE,8.50497
$TCM_TEMP,7.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,135.4,97.1
$24V_AH,24.05,57.073
$10V_AH,10.61,37.074
$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,22.025,64.950,260.875,75.975,350.300,51.278,41.983,277.960,2.750,0.000,16.975,1242.686,1705.659,703.354,1261.439,66.826,0.000,1264.739,0.000,856.517,0.000,18.673,0.000
$DEVICE_MAMPS,268.164,111.735,958.438,824.356,988.234,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.967,632.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322988
$DATA_FILE_SIZE,31459,478
$CAP_FILE_SIZE,77648,1
$CFSIZE,2047311872,2040201216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.150,357.27,1
$GPS,090317,041459,4745.357,-12224.333,3,1.0,21,16.3,0.0,0.0,9,4.9