version: 66.12
glider: 38
mission: 7
dive: 14
start: 3 9 117 8 29 31
data:
$ID,38
$MISSION,7
$DIVE,14
$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,80
$T_MISSION,100
$T_ABORT,120
$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,49
$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,-20.563581
$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
$GPS1,090317,082304,4743.2422,-12224.5625,3,0.8,13,16.3,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.5
$GPS2,090317,082902,4743.2217,-12224.5898,4,0.8,18,16.3,0.0,0.0,9,4.9
$SPEED_LIMITS,0.206,0.236
$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,3.9,2370,-14.2,-7.500,-17.62,2973
$D_GRID,177
$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,-0.75,-146.6,179,2238,1060,1011,1.4,0.4,6,246,0.00,0.00,-193.15,0.142,16386,0.000,0.000,179,2238,2248,2280,2216,0,0,0,0,0,0,26.10,28.83,26.10,8.54,6.52
$GC,248,-0.75,-146.6,179,2239,2281,2216,3.6,-5.2,36,294,11.75,2.47,-26.25,0.156,18948,0.288,0.092,3002,679,2573,2606,2540,0,0,0,0,0,0,25.48,25.65,25.60,8.65,6.80
$GC,515,-0.75,-146.6,3002,679,2602,2540,30.2,-9.6,76,523,0.00,2.47,0.00,0.000,1030,0.000,0.084,2993,2247,2571,2603,2540,0,0,0,0,0,0,26.03,25.98,26.06,8.68,7.00
$GC,643,-0.75,-146.6,2992,2247,2602,2540,41.9,-9.0,89,652,0.00,2.47,0.00,0.000,516,0.000,0.092,2993,675,2571,2602,2540,0,0,0,0,0,0,26.38,26.08,26.39,8.69,6.72
$GC,705,-0.75,-146.6,2992,674,2602,2540,48.1,-10.4,95,714,0.00,2.47,0.00,0.000,1030,0.000,0.087,2982,2265,2571,2602,2540,0,0,0,0,0,0,26.22,26.12,26.23,8.69,7.11
$GC,835,-0.75,-146.6,2982,2265,2601,2540,60.1,-9.9,108,845,0.00,2.50,0.00,0.000,260,0.000,0.107,2971,3835,2570,2601,2540,0,0,0,0,0,0,26.49,26.17,26.50,8.68,6.68
$GC,929,-0.75,-146.6,2971,3835,2601,2540,69.1,-10.2,117,938,0.10,2.42,0.00,0.000,3078,0.181,0.082,3005,2261,2570,2601,2540,0,0,0,0,0,0,26.16,26.26,26.25,8.69,6.64
$GC,1057,-0.75,-146.6,3003,2261,2601,2540,78.7,-6.5,130,1067,0.00,2.45,0.00,0.000,516,0.000,0.094,3005,676,2570,2600,2540,0,0,0,0,0,0,26.58,26.28,26.60,8.69,6.56
$GC,1119,-0.75,-146.6,3004,676,2600,2540,83.0,-6.9,136,1130,0.00,2.45,0.00,0.000,1030,0.000,0.087,2995,2262,2570,2600,2540,0,0,0,0,0,0,26.40,26.30,26.42,8.69,6.48
$GC,1250,-0.75,-146.6,2995,2263,2600,2540,92.7,-7.3,149,1259,0.00,2.50,0.00,0.000,260,0.000,0.107,2983,3844,2570,2600,2540,0,0,0,0,0,0,26.65,26.32,26.65,8.69,7.07
$GC,1324,-0.75,-146.6,2982,3844,2600,2540,98.3,-7.8,156,1333,0.00,2.45,0.00,0.000,1030,0.000,0.082,2983,2250,2569,2599,2540,0,0,0,0,0,0,26.44,26.39,26.50,8.69,6.52
$GC,1452,-0.75,-146.6,2982,2250,2599,2540,108.5,-8.9,169,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2250,2569,2599,2540,0,0,0,0,0,0,26.70,26.72,26.71,8.69,7.03
$GC,1572,-0.75,-146.6,2983,2250,2599,2540,117.5,-7.7,181,1582,0.00,2.42,0.00,0.000,516,0.000,0.094,2983,670,2569,2599,2540,0,0,0,0,0,0,26.72,26.42,26.74,8.69,6.36
$GC,1624,-0.75,-146.6,2982,670,2598,2540,122.1,-8.9,186,1635,0.12,2.42,0.00,0.000,3078,0.199,0.087,3013,2252,2569,2598,2540,0,0,0,0,0,0,26.36,26.44,26.48,8.69,6.80
$GC,1754,-0.75,-146.6,3012,2253,2598,2540,132.5,-7.6,199,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2253,2569,2598,2540,0,0,0,0,0,0,26.77,26.78,26.77,8.69,6.40
$GC,1874,-0.75,-146.6,3012,2252,2598,2540,141.1,-7.2,211,1884,0.00,2.47,0.00,0.000,516,0.000,0.094,3013,667,2569,2598,2540,0,0,0,0,0,0,26.79,26.48,26.79,8.69,6.48
$GC,1946,-0.75,-146.6,3013,667,2598,2540,146.1,-7.3,218,1957,0.00,2.42,0.00,0.000,1030,0.000,0.087,3004,2254,2569,2598,2540,0,0,0,0,0,0,26.59,26.49,26.61,8.69,6.68
$GC,2077,-0.75,-146.6,3003,2254,2598,2540,153.6,-6.4,231,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2254,2569,2598,2540,0,0,0,0,0,0,26.82,26.83,26.83,8.70,7.39
$GC,2197,-0.75,-146.6,3003,2254,2598,2540,162.4,-8.2,243,2206,0.00,2.45,0.00,0.000,516,0.000,0.094,3004,665,2569,2598,2541,0,0,0,0,0,0,26.84,26.53,26.84,8.69,6.68
$GC,2219,-0.75,-146.6,3003,665,2598,2540,164.3,-7.9,245,2228,0.00,2.42,0.00,0.000,1030,0.000,0.084,2994,2259,2569,2598,2540,0,0,0,0,0,0,26.63,26.54,26.65,8.69,6.88
$GC,2349,-0.75,-146.6,2993,2259,2598,2540,175.1,-8.7,258,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2259,2569,2598,2541,0,0,0,0,0,0,26.85,26.86,26.86,8.69,6.48
$STATE,2377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2377,begin apogee
$GC,2381,-0.25,0.0,2994,2258,2597,2541,177.5,-8.8,261,2491,0.52,0.00,104.03,0.953,10246,0.159,0.000,3175,2258,2070,2089,2052,0,0,0,0,0,0,26.48,24.93,24.36,8.69,6.64
$STATE,2493,end apogee,CONTROL_FINISHED_OK
$STATE,2493,begin climb
$GC,2494,0.75,146.6,3174,2259,2089,2052,181.4,0.0,272,2612,0.82,0.00,113.95,0.916,10502,0.132,0.000,3461,2259,1565,1568,1562,0,0,0,0,0,0,25.01,24.57,24.03,8.65,6.52
$GC,2729,0.82,146.6,3460,2258,1568,1562,170.5,5.8,296,2731,0.08,0.00,0.00,0.000,2054,0.144,0.000,3506,2258,1565,1568,1562,0,0,0,0,0,0,25.49,25.56,25.53,8.60,6.52
$GC,2849,0.82,146.6,3505,2259,1568,1562,162.4,7.3,308,2858,0.00,2.53,0.00,0.000,516,0.000,0.094,3515,673,1564,1568,1561,0,0,0,0,0,0,26.01,25.71,26.01,8.60,6.56
$GC,2973,0.82,146.6,3514,673,1568,1562,152.8,7.4,320,2981,0.00,2.47,0.00,0.000,1030,0.000,0.084,3515,2251,1565,1568,1562,0,0,0,0,0,0,25.98,25.89,26.00,8.61,6.48
$GC,3101,0.82,146.6,3514,2251,1568,1562,143.6,6.6,333,3105,0.00,2.55,0.00,0.000,260,0.000,0.107,3515,3838,1565,1568,1562,0,0,0,0,0,0,26.31,26.00,26.32,8.60,6.40
$GC,3152,0.82,146.6,3514,3838,1568,1562,140.2,6.8,338,3162,0.00,2.45,0.00,0.000,1030,0.000,0.084,3525,2244,1565,1568,1562,0,0,0,0,0,0,26.15,26.08,26.17,8.60,6.48
$GC,3282,0.82,146.6,3525,2245,1568,1562,130.4,7.8,351,3287,0.00,2.45,0.00,0.000,516,0.000,0.094,3536,670,1564,1568,1561,0,0,0,0,0,0,26.44,26.13,26.45,8.60,6.64
$GC,3376,0.82,146.6,3535,671,1568,1562,123.2,7.7,360,3384,0.00,2.47,0.00,0.000,1030,0.000,0.087,3536,2249,1564,1568,1561,0,0,0,0,0,0,26.25,26.18,26.27,8.60,6.88
$GC,3504,0.82,146.6,3535,2248,1568,1562,111.2,9.0,373,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2248,1565,1568,1562,0,0,0,0,0,0,26.55,26.56,26.55,8.60,7.11
$GC,3624,0.82,146.6,3535,2248,1568,1562,101.1,8.9,385,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2248,1565,1568,1562,0,0,0,0,0,0,26.60,26.61,26.60,8.60,6.36
$GC,3744,0.82,146.6,3535,2248,1569,1562,90.7,8.3,397,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2248,1565,1568,1562,0,0,0,0,0,0,26.64,26.65,26.65,8.60,7.07
$GC,3864,0.82,146.6,3535,2248,1569,1562,80.7,8.8,409,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2248,1565,1568,1562,0,0,0,0,0,0,26.67,26.69,26.68,8.60,6.80
$GC,3984,0.82,146.6,3535,2248,1568,1562,70.3,9.2,421,3989,0.00,2.45,0.00,0.000,516,0.000,0.094,3544,671,1565,1568,1562,0,0,0,0,0,0,26.71,26.41,26.72,8.60,6.84
$GC,4036,0.82,146.6,3543,671,1568,1562,65.9,8.7,426,4045,0.00,2.45,0.00,0.000,1030,0.000,0.087,3544,2267,1565,1568,1562,0,0,0,0,0,0,26.52,26.42,26.53,8.60,6.29
$GC,4166,0.82,146.6,3543,2267,1568,1562,54.7,8.5,439,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2267,1565,1568,1562,0,0,0,0,0,0,26.74,26.76,26.76,8.60,6.56
$GC,4286,0.82,146.6,3542,2267,1568,1562,44.9,7.8,451,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2267,1565,1568,1562,0,0,0,0,0,0,26.77,26.79,26.78,8.60,6.52
$GC,4406,0.82,146.6,3543,2267,1568,1562,36.3,6.9,463,4410,0.00,2.47,0.00,0.000,260,0.000,0.107,3544,3842,1565,1568,1562,0,0,0,0,0,0,26.79,26.48,26.81,8.59,7.07
$GC,4509,0.77,146.6,3543,3842,1569,1562,28.4,7.9,473,4514,0.20,2.40,0.00,0.000,5126,0.176,0.082,3489,2252,1565,1569,1562,0,0,0,0,0,0,26.43,26.53,26.56,8.59,6.48
$GC,4642,0.77,146.6,3489,2252,1569,1562,19.8,6.8,486,4649,0.00,2.42,0.00,0.000,516,0.000,0.094,3500,667,1565,1569,1562,0,0,0,0,0,0,26.80,26.52,26.81,8.60,6.60
$GC,4736,0.77,146.6,3499,667,1569,1562,14.3,5.5,504,4744,0.00,2.42,0.00,0.000,1030,0.000,0.087,3500,2254,1565,1569,1561,0,0,0,0,0,0,26.63,26.54,26.65,8.59,6.33
$GC,4807,0.77,146.6,3499,2253,1569,1562,10.2,5.7,517,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,3500,2253,1565,1569,1562,0,0,0,0,0,0,26.84,26.86,26.86,8.60,6.72
$GC,4875,0.79,223.8,3499,2253,1569,1561,6.3,4.8,530,4902,0.00,0.00,24.95,0.847,8450,0.000,0.000,3499,2254,1455,1457,1454,0,0,0,0,0,0,26.86,28.83,26.86,8.60,6.52
$STATE,4903,end climb,SURFACE_DEPTH_REACHED
$STATE,4903,begin surface coast
$FINISH,0.3,1.012013
$STATE,4985,end surface coast,CONTROL_FINISHED_OK
$STATE,4985,begin surface
$SM_CCo,5000,95.53,0.819,0,0,1037,300.08
$SM_GC,1.45,8.60,0.00,95.53,0.077,0.000,0.819,165,2254,1037,-9.56,0.03,300.08,0,0,0,0,0,0,26.24,26.51,24.51
$IRIDIUM_FIX,4726.11,-12226.80,090317,072409
$TT8_MAMPS,0.02247,0.20223
$HUMID,6.96
$INTERNAL_PRESSURE,8.50497
$TCM_TEMP,7.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.3
$ALTIM_BOTTOM_PING,100.3,89.7
$24V_AH,24.03,57.511
$10V_AH,10.61,37.214
$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,22.200,71.500,242.925,95.525,219.400,26.231,16.566,230.408,0.750,0.000,19.834,1489.104,2017.681,623.517,1278.279,69.925,0.000,1246.182,0.000,981.152,0.000,7.433,0.000
$DEVICE_MAMPS,288.028,106.769,953.472,819.390,156.429,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.108,729.041,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322948
$DATA_FILE_SIZE,34780,550
$CAP_FILE_SIZE,83692,0
$CFSIZE,2047311872,2039775232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,234.67,0x237cb0,0,24
$CURRENT,0.211,203.19,1
$GPS,090317,095521,4743.213,-12224.673,3,1.0,19,16.3,0.0,0.0,9,5.0