version: 66.12
glider: 38
mission: 7
dive: 13
start: 3 9 117 7 30 51
data:
$ID,38
$MISSION,7
$DIVE,13
$N_DIVES,0
$STOP_T,3101715
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,3900
$C_ROLL_CLIMB,3900
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,33
$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,-20.713745
$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
$GPS1,090317,072252,4743.5884,-12224.3711,39,0.9,41,16.3,0.0,0.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.0
$GPS2,090317,073014,4743.5752,-12224.4229,5,0.9,14,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.084,0.181
$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,176.2,1070,-31.8,-10.000,-33.63,748
$D_GRID,174
$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,50,-1.60,-48.9,126,3906,1048,1026,1.5,-0.7,6,233,0.00,0.00,-179.62,0.142,16386,0.000,0.000,127,3906,2145,2187,2104,0,0,0,0,0,0,26.16,28.83,26.17,8.54,6.60
$GC,235,-1.61,-68.4,127,3906,2186,2104,3.0,-3.6,35,268,11.20,0.00,-16.70,0.166,18438,0.300,0.000,2728,3906,2306,2348,2264,0,0,0,0,0,0,25.52,25.75,25.63,8.64,6.92
$GC,330,-1.61,-68.4,2728,3906,2347,2265,13.9,-13.1,52,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,3906,2306,2348,2265,0,0,0,0,0,0,26.10,26.11,26.11,8.66,6.13
$GC,404,-1.61,-68.4,2728,3906,2347,2265,25.0,-15.0,63,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,3906,2306,2347,2265,0,0,0,0,0,0,26.20,26.22,26.21,8.66,6.44
$GC,524,-1.61,-68.4,2728,3906,2346,2265,43.5,-15.6,75,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,3906,2305,2346,2265,0,0,0,0,0,0,26.32,26.34,26.33,8.66,6.48
$GC,644,-1.61,-68.4,2728,3906,2345,2265,61.1,-13.3,87,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,3905,2305,2345,2265,0,0,0,0,0,0,26.41,26.43,26.42,8.66,6.64
$GC,764,-1.61,-68.4,2728,3906,2344,2265,77.7,-13.4,99,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,3906,2304,2344,2265,0,0,0,0,0,0,26.48,26.49,26.50,8.67,6.56
$GC,884,-1.61,-68.4,2728,3906,2344,2264,92.4,-11.4,111,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,3906,2304,2344,2265,0,0,0,0,0,0,26.55,26.56,26.55,8.67,6.48
$GC,1004,-1.61,-68.4,2728,3906,2344,2265,107.0,-11.6,123,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,3906,2304,2344,2265,0,0,0,0,0,0,26.60,26.61,26.60,8.67,6.68
$GC,1124,-1.61,-68.4,2728,3906,2343,2265,122.0,-12.9,135,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,3906,2304,2343,2265,0,0,0,0,0,0,26.64,26.65,26.65,8.67,6.72
$GC,1244,-1.61,-68.4,2728,3906,2343,2265,134.6,-10.6,147,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,3906,2304,2343,2265,0,0,0,0,0,0,26.67,26.69,26.68,8.67,6.84
$GC,1364,-1.61,-68.4,2728,3906,2343,2264,145.6,-7.8,159,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,3906,2304,2343,2265,0,0,0,0,0,0,26.71,26.72,26.72,8.67,6.80
$STATE,1413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1413,begin apogee
$GC,1416,-0.25,0.0,2729,3906,2343,2265,150.6,-10.7,164,1475,1.42,0.00,49.38,0.953,10246,0.209,0.000,3167,3906,2071,2099,2043,0,0,0,0,0,0,26.29,25.48,24.90,8.67,6.84
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1477,1.61,68.4,3167,3906,2099,2042,153.1,0.0,170,1535,1.65,0.00,52.22,0.914,10246,0.144,0.000,3736,3906,1834,1869,1800,0,0,0,0,0,0,25.50,24.88,24.34,8.65,6.33
$GC,1654,1.61,68.4,3735,3906,1869,1800,137.3,12.7,188,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1869,1800,0,0,0,0,0,0,25.82,25.84,25.84,8.63,6.33
$GC,1774,1.61,68.4,3736,3906,1869,1800,122.4,12.6,200,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1869,1799,0,0,0,0,0,0,26.07,26.08,26.08,8.63,6.48
$GC,1894,1.61,68.4,3735,3906,1869,1800,105.3,13.6,212,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1869,1800,0,0,0,0,0,0,26.22,26.25,26.24,8.63,6.76
$GC,2014,1.61,68.4,3736,3906,1869,1800,89.5,13.0,224,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,3737,3906,1834,1869,1800,0,0,0,0,0,0,26.34,26.36,26.35,8.63,6.80
$GC,2134,1.61,68.4,3736,3906,1869,1800,75.2,11.7,236,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1869,1800,0,0,0,0,0,0,26.43,26.44,26.44,8.63,6.60
$GC,2254,1.61,68.4,3736,3906,1869,1801,62.4,9.8,248,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1869,1800,0,0,0,0,0,0,26.50,26.51,26.51,8.63,6.84
$GC,2374,1.61,68.4,3736,3906,1869,1800,50.7,10.9,260,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1868,1800,0,0,0,0,0,0,26.55,26.57,26.56,8.62,6.40
$GC,2494,1.61,68.4,3736,3906,1868,1800,38.5,9.5,272,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1869,1800,0,0,0,0,0,0,26.60,26.62,26.61,8.62,6.60
$GC,2614,1.61,68.4,3735,3906,1869,1800,26.6,10.0,284,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1869,1800,0,0,0,0,0,0,26.65,26.65,26.65,8.62,6.80
$GC,2734,1.61,68.4,3736,3906,1869,1800,15.0,10.3,300,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1869,1800,0,0,0,0,0,0,26.67,26.70,26.69,8.63,6.60
$GC,2804,1.61,68.4,3736,3906,1869,1800,8.5,9.7,313,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,3736,3906,1834,1869,1800,0,0,0,0,0,0,26.70,26.71,26.71,8.62,6.60
$STATE,2846,end climb,SURFACE_DEPTH_REACHED
$STATE,2846,begin surface coast
$FINISH,0.2,1.022197
$STATE,2902,end surface coast,CONTROL_FINISHED_OK
$STATE,2902,begin surface
$SM_CCo,2918,175.12,0.814,0,0,1037,300.08
$SM_GC,1.28,9.20,0.00,175.12,0.082,0.000,0.814,169,3906,1037,-9.56,0.17,300.08,0,0,0,0,0,0,26.44,26.74,24.22
$IRIDIUM_FIX,4726.11,-12224.09,090317,055025
$TT8_MAMPS,0.021721,0.145306
$HUMID,6.13
$INTERNAL_PRESSURE,8.50497
$TCM_TEMP,8.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.4
$ALTIM_BOTTOM_PING,101.1,85.1
$24V_AH,24.22,57.399
$10V_AH,10.65,37.176
$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,23.475,2.675,101.600,175.125,196.325,26.503,35.733,288.523,0.750,0.000,15.308,893.254,1274.646,465.878,863.550,54.736,0.000,804.941,0.000,507.589,0.000,7.417,0.000
$DEVICE_MAMPS,300.443,91.871,953.472,814.424,166.361,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.650,440.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322916
$DATA_FILE_SIZE,20989,332
$CAP_FILE_SIZE,49464,0
$CFSIZE,2047311872,2039939072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.226,201.12,1
$GPS,090317,082304,4743.242,-12224.562,3,0.8,13,16.3,0.0,0.0,10,4.6