version: 66.14
glider: 38
mission: 13
dive: 11
start: 7 11 118 8 51 42
data:
$ID,38
$MISSION,13
$DIVE,11
$N_DIVES,0
$STOP_T,7111819
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,100
$T_MISSION,110
$T_ABORT,120
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80150
$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,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,1
$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,3376
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,19.6
$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,1971
$C_ROLL_CLIMB,2428
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,1675
$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,-20.373196
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$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,32
$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
$GPS1,110718,084021,4743.0801,-12224.5596,9,1.0,37,16.3,0.5,205.6,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.8
$GPS2,110718,085105,4743.0137,-12224.6475,31,1.0,39,16.3,0.0,0.0,8,4.8
$SPEED_LIMITS,0.104,0.192
$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,358.7,2758,-13.1,-6.000,-17.33,3653
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.76,-146.6,173,1983,649,616,0.0,0.0,0,226,0.00,0.00,-212.30,0.144,16390,0.000,0.000,173,1984,2179,2204,2155,0,0,0,0,0,0,26.10,25.72,25.60,8.21,17.51
$GC,228,-0.76,-146.6,173,1984,2204,2155,2.9,-2.8,33,243,11.50,0.00,0.00,0.000,2566,0.271,0.000,3130,1983,2179,2204,2155,0,0,0,0,0,0,25.45,25.70,25.65,8.37,16.56
$GC,307,-0.58,-146.6,3130,1983,2202,2151,13.4,-10.5,47,316,0.17,2.50,0.00,0.000,2308,0.196,0.092,3177,3575,2176,2202,2150,0,0,0,0,0,0,24.86,25.71,25.50,8.38,16.60
$GC,416,-0.58,-146.6,3176,3576,2203,2147,24.0,-9.5,64,421,0.00,2.47,0.00,0.000,1030,0.000,0.072,3177,1952,2175,2203,2147,0,0,0,0,0,0,26.03,25.96,26.05,8.37,16.56
$GC,550,-0.58,-146.6,3176,1952,2201,2147,33.9,-6.8,77,559,0.00,2.53,0.00,0.000,260,0.000,0.094,3166,3571,2174,2201,2147,0,0,0,0,0,0,26.34,26.06,26.35,8.37,16.96
$GC,621,-0.58,-146.6,3165,3570,2202,2146,39.2,-7.0,84,626,0.00,2.42,0.00,0.000,1030,0.000,0.072,3165,1961,2173,2201,2146,0,0,0,0,0,0,26.20,26.14,26.22,8.37,17.31
$GC,753,-0.58,-146.6,3166,1961,2201,2146,48.1,-6.5,97,763,0.00,2.53,0.00,0.000,260,0.000,0.094,3155,3576,2173,2201,2146,0,0,0,0,0,0,26.47,26.17,26.48,8.37,17.27
$GC,809,-0.58,-146.6,3154,3576,2201,2145,51.8,-7.3,102,817,0.12,2.38,0.00,0.000,3078,0.184,0.072,3197,1971,2173,2201,2145,0,0,0,0,0,0,26.13,26.25,26.25,8.36,16.92
$GC,938,-0.58,-146.6,3196,1970,2200,2145,59.7,-5.6,115,947,0.00,2.40,0.00,0.000,516,0.000,0.087,3197,403,2172,2199,2146,0,0,0,0,0,0,26.55,26.26,26.55,8.36,17.71
$GC,982,-0.58,-146.6,3197,403,2199,2146,62.1,-5.6,119,990,0.00,2.40,0.00,0.000,1030,0.000,0.072,3189,1995,2172,2199,2146,0,0,0,0,0,0,26.36,26.27,26.38,8.36,16.88
$GC,1111,-0.58,-146.6,3189,1995,2199,2145,68.9,-5.1,132,1116,0.00,2.40,0.00,0.000,260,0.000,0.094,3178,3554,2172,2199,2145,0,0,0,0,0,0,26.60,26.30,26.61,8.35,17.08
$GC,1234,-0.58,-146.6,3177,3554,2199,2145,75.7,-5.9,144,1239,0.00,2.38,0.00,0.000,1030,0.000,0.072,3178,1964,2172,2199,2145,0,0,0,0,0,0,26.45,26.38,26.46,8.35,16.92
$GC,1368,-0.58,-146.6,3177,1963,2199,2145,83.2,-5.3,157,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1963,2171,2199,2144,0,0,0,0,0,0,26.66,26.68,26.67,8.35,17.12
$GC,1486,-0.58,-146.6,3177,1963,2199,2145,89.8,-5.9,169,1496,0.00,2.47,0.00,0.000,260,0.000,0.094,3169,3554,2172,2199,2145,0,0,0,0,0,0,26.69,26.38,26.70,8.35,16.88
$GC,1570,-0.58,-146.6,3168,3554,2199,2144,94.9,-6.3,177,1578,0.00,2.40,0.00,0.000,1030,0.000,0.072,3170,1965,2172,2199,2145,0,0,0,0,0,0,26.48,26.45,26.50,8.35,17.04
$GC,1698,-0.58,-146.6,3168,1964,2199,2144,103.2,-6.2,190,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1964,2171,2199,2144,0,0,0,0,0,0,26.72,26.74,26.73,8.35,17.71
$GC,1938,-0.58,-146.6,3168,1964,2198,2144,118.9,-5.9,214,1943,0.00,2.47,0.00,0.000,260,0.000,0.094,3161,3559,2171,2198,2144,0,0,0,0,0,0,26.76,26.45,26.77,8.34,17.39
$GC,2093,-0.58,-146.6,3160,3559,2198,2144,130.7,-7.9,229,2101,0.00,2.40,0.00,0.000,1030,0.000,0.072,3161,1970,2171,2198,2144,0,0,0,0,0,0,26.55,26.51,26.58,8.34,17.39
$GC,2342,-0.58,-146.6,3160,1970,2197,2144,149.5,-6.8,254,2347,0.00,2.45,0.00,0.000,260,0.000,0.094,3152,3557,2171,2198,2144,0,0,0,0,0,0,26.79,26.49,26.81,8.34,17.47
$GC,2447,-0.58,-146.6,3151,3557,2198,2143,157.0,-7.3,264,2456,0.12,2.35,0.00,0.000,3078,0.174,0.072,3197,1973,2170,2198,2143,0,0,0,0,0,0,26.46,26.55,26.57,8.34,17.47
$GC,2695,-0.66,-146.6,3196,1973,2198,2143,171.6,-5.7,289,2705,0.00,2.45,0.00,0.000,4356,0.000,0.094,3190,3564,2170,2197,2143,0,0,0,0,0,0,26.83,26.52,26.84,8.34,17.27
$GC,2810,-0.76,-146.6,3189,3564,2198,2142,178.6,-5.9,300,2818,0.08,2.38,0.00,0.000,5126,0.154,0.072,3134,1960,2170,2198,2143,0,0,0,0,0,0,26.54,26.57,26.61,8.34,17.43
$STATE,2836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2836,begin apogee
$GC,2841,-0.26,0.0,3132,2430,2197,2142,180.7,-6.7,303,2950,0.45,0.00,104.93,0.919,10246,0.186,0.000,3297,2430,1675,1698,1653,0,0,0,0,0,0,26.51,24.77,24.21,8.34,17.51
$STATE,2951,end apogee,CONTROL_FINISHED_OK
$STATE,2951,begin climb
$GC,2952,0.76,146.6,3297,2430,1698,1652,183.9,0.0,314,3080,0.77,2.55,114.05,0.894,10500,0.107,0.104,3587,3909,1169,1187,1151,0,0,0,0,0,0,24.87,24.52,23.94,8.30,17.39
$GC,3143,0.64,146.6,3586,3910,1187,1147,174.7,8.1,333,3152,0.00,2.38,0.00,0.000,1030,0.000,0.072,3598,2436,1167,1187,1147,0,0,0,0,0,0,25.37,25.31,25.39,8.25,16.80
$GC,3394,0.55,146.6,3598,2435,1187,1146,155.0,7.7,358,3400,0.12,2.47,0.00,0.000,4612,0.201,0.082,3565,846,1167,1188,1146,0,0,0,0,0,0,25.80,25.87,25.89,8.25,17.63
$GC,3457,0.55,146.6,3564,846,1185,1146,150.5,6.3,364,3462,0.00,2.45,0.00,0.000,1030,0.000,0.079,3565,2439,1165,1185,1146,0,0,0,0,0,0,26.04,25.96,26.06,8.25,17.19
$GC,3709,0.55,146.6,3564,2439,1186,1146,135.3,6.6,389,3719,0.00,2.53,0.00,0.000,516,0.000,0.082,3575,842,1165,1185,1146,0,0,0,0,0,0,26.43,26.14,26.44,8.25,17.75
$GC,3811,0.55,146.6,3575,842,1184,1146,127.2,8.8,399,3821,0.00,2.45,0.00,0.000,1030,0.000,0.079,3576,2438,1165,1185,1146,0,0,0,0,0,0,26.29,26.21,26.31,8.24,17.67
$GC,4063,0.55,146.6,3575,2438,1185,1146,104.4,9.5,424,4068,0.00,2.35,0.00,0.000,260,0.000,0.102,3576,3918,1165,1185,1146,0,0,0,0,0,0,26.58,26.28,26.59,8.24,17.43
$GC,4136,0.47,146.6,3575,3918,1185,1145,97.3,9.7,431,4146,0.17,2.30,0.00,0.000,5126,0.176,0.072,3524,2416,1165,1185,1145,0,0,0,0,0,0,26.25,26.35,26.37,8.23,17.86
$GC,4266,0.47,146.6,3524,2416,1185,1145,88.1,6.6,444,4270,0.00,2.42,0.00,0.000,516,0.000,0.084,3526,847,1165,1185,1146,0,0,0,0,0,0,26.63,26.34,26.65,8.23,17.51
$GC,4358,0.53,146.6,3526,847,1184,1146,82.1,7.1,453,4368,0.00,2.42,0.00,0.000,1030,0.000,0.079,3526,2437,1165,1185,1145,0,0,0,0,0,0,26.46,26.38,26.48,8.24,17.59
$GC,4489,0.53,146.6,3526,2437,1185,1145,73.5,7.2,466,4493,0.00,2.35,0.00,0.000,260,0.000,0.102,3526,3924,1165,1185,1145,0,0,0,0,0,0,26.68,26.38,26.70,8.24,17.47
$GC,4530,0.53,146.6,3526,3924,1185,1145,70.5,7.4,470,4535,0.00,2.28,0.00,0.000,1030,0.000,0.072,3533,2438,1165,1185,1145,0,0,0,0,0,0,26.51,26.44,26.52,8.23,17.43
$GC,4663,0.53,146.6,3532,2437,1185,1145,62.0,5.9,483,4673,0.00,2.45,0.00,0.000,516,0.000,0.084,3533,844,1165,1185,1145,0,0,0,0,0,0,26.71,26.42,26.72,8.24,17.43
$GC,4706,0.58,146.6,3533,844,1184,1145,59.4,5.7,487,4715,0.00,2.40,0.00,0.000,1030,0.000,0.079,3533,2430,1165,1185,1145,0,0,0,0,0,0,26.48,26.44,26.51,8.23,17.51
$GC,4837,0.58,146.6,3533,2431,1185,1145,53.2,4.5,500,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2430,1165,1185,1145,0,0,0,0,0,0,26.74,26.75,26.74,8.23,17.39
$GC,4956,0.71,260.5,3533,2430,1185,1145,49.2,2.8,512,5067,0.10,2.65,99.38,0.822,10756,0.134,0.087,3602,852,776,793,759,0,0,0,0,0,0,26.51,24.93,24.40,8.23,17.51
$GC,5153,0.77,260.5,3601,852,789,757,38.6,5.4,531,5161,0.00,2.50,0.00,0.000,1030,0.000,0.079,3601,2434,773,790,757,0,0,0,0,0,0,25.61,25.53,25.63,8.19,17.08
$GC,5282,0.82,260.5,3601,2435,789,755,31.6,5.1,544,5286,0.00,2.40,0.00,0.000,2308,0.000,0.102,3602,3923,772,789,756,0,0,0,0,0,0,26.10,25.79,26.10,8.19,17.55
$GC,5354,0.82,260.5,3601,3922,789,754,27.9,5.0,551,5363,0.00,2.35,0.00,0.000,3078,0.000,0.072,3602,2421,772,790,754,0,0,0,0,0,0,26.03,25.95,26.04,8.20,17.31
$GC,5486,0.90,260.5,3601,2421,789,754,20.9,4.9,564,5491,0.10,2.45,0.00,0.000,2564,0.127,0.084,3674,856,772,789,755,0,0,0,0,0,0,26.10,26.03,26.13,8.20,17.43
$GC,5546,0.90,260.5,3673,855,789,755,16.1,8.7,573,5553,0.00,2.42,0.00,0.000,1030,0.000,0.082,3674,2428,772,790,755,0,0,0,0,0,0,26.18,26.10,26.20,8.20,17.39
$GC,5616,0.90,260.5,3673,2428,789,755,9.8,9.4,586,5624,0.00,2.38,0.00,0.000,260,0.000,0.104,3674,3917,772,790,754,0,0,0,0,0,0,26.42,26.11,26.43,8.21,17.47
$GC,5652,0.90,260.5,3673,3917,789,754,7.0,8.3,592,5659,0.00,2.30,0.00,0.000,1030,0.000,0.072,3674,2413,772,790,754,0,0,0,0,0,0,26.25,26.19,26.27,8.20,17.47
$STATE,5711,end climb,SURFACE_DEPTH_REACHED
$STATE,5711,begin surface coast
$FINISH,1.1,1.021552
$STATE,5758,end surface coast,CONTROL_FINISHED_OK
$STATE,5758,begin surface
$SM_CCo,5774,36.38,0.780,0,0,642,300.08
$SM_GC,1.39,8.88,0.62,36.38,0.074,0.087,0.780,169,1973,642,-9.96,1.47,300.08,0,0,0,0,0,0,26.23,26.25,25.03
$IRIDIUM_FIX,4741.31,-12227.78,110718,065507
$TT8_MAMPS,0.02247,0.193242
$HUMID,17.47
$INTERNAL_PRESSURE,8.15339
$TCM_TEMP,12.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.2,18.8
$ALTIM_BOTTOM_PING,100.7,0.0
$24V_AH,23.94,23.849
$10V_AH,10.64,12.555
$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,22.600,98.375,318.350,36.375,212.300,23.490,27.191,438.276,1.750,0.000,40.835,1710.264,2173.301,604.331,1836.235,120.146,0.000,1319.960,0.000,1301.744,0.000,10.323,0.000
$DEVICE_MAMPS,270.647,104.286,918.710,779.662,144.014,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.782,919.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312516
$DATA_FILE_SIZE,38124,612
$CAP_FILE_SIZE,224804,0
$CFSIZE,2047311872,2039119872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,190.93,1
$GPS,110718,102929,4743.311,-12224.347,8,0.8,16,16.3,0.0,0.0,10,4.8