version: 66.14
glider: 37
mission: 19
dive: 2
start: 1 17 118 19 24 28
data:
$ID,37
$MISSION,19
$DIVE,2
$N_DIVES,0
$STOP_T,0
$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,60
$T_MISSION,75
$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,-6
$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,1.0275
$MASS,78601.203
$MASS_COMP,8995.7998
$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,670
$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,136
$PITCH_MAX,3906
$C_PITCH,3520
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2478
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$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,-24.830034
$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,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$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,0.0043927636
$SEABIRD_T_H,0.00063406175
$SEABIRD_T_I,2.520242e-05
$SEABIRD_T_J,3.0515216e-06
$SEABIRD_C_G,-10.05458
$SEABIRD_C_H,1.1421854
$SEABIRD_C_I,-0.0012484327
$SEABIRD_C_J,0.00018427697
$SEABIRD_C_Z,0
$GPS1,170118,191936,4743.3418,-12223.6934,8,0.8,13,16.3,0.3,70.4,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-66.0
$GPS2,170118,192330,4743.3540,-12223.6475,6,0.8,15,16.3,0.3,61.6,11,4.9
$SPEED_LIMITS,0.173,0.230
$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,278.4,2373,-20.9,-10.000,-23.51,2227
$D_GRID,162
$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,4,begin dive
$GC,7,-1.09,-146.0,145,2260,66,276,0.0,0.0,0,271,0.00,0.00,-259.62,0.104,16386,0.000,0.000,145,2261,2264,2186,2342,0,0,0,0,0,0,26.84,28.83,26.85,7.83,23.02
$GC,274,-1.09,-146.0,145,2261,2186,2342,3.2,-4.5,41,341,13.48,2.62,-46.70,0.107,18948,0.313,0.082,3161,669,2982,2917,3047,0,0,0,0,0,0,25.99,26.19,26.20,8.03,21.80
$GC,354,-1.09,-146.0,3161,669,2917,3046,12.3,-11.6,53,361,0.00,2.50,0.00,0.000,1030,0.000,0.072,3153,2255,2981,2917,3046,0,0,0,0,0,0,26.36,26.27,26.38,8.09,21.88
$GC,424,-1.09,-146.0,3152,2255,2917,3047,21.5,-12.8,65,425,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2255,2981,2917,3046,0,0,0,0,0,0,26.65,26.66,26.66,8.09,22.31
$GC,544,-1.09,-146.0,3152,2255,2917,3046,36.2,-12.2,77,554,0.00,2.53,0.00,0.000,260,0.000,0.087,3141,3850,2981,2916,3047,0,0,0,0,0,0,26.74,26.44,26.75,8.09,22.51
$GC,597,-1.09,-146.0,3140,3850,2917,3047,42.7,-12.5,82,606,0.00,2.50,0.00,0.000,1030,0.000,0.067,3141,2257,2981,2917,3046,0,0,0,0,0,0,26.56,26.48,26.58,8.10,22.79
$GC,726,-1.09,-146.0,3140,2256,2917,3046,60.9,-15.3,95,737,0.10,2.50,0.00,0.000,2564,0.266,0.082,3167,664,2981,2917,3046,0,0,0,0,0,0,26.34,26.49,26.47,8.09,22.63
$GC,810,-1.09,-146.0,3166,663,2916,3046,71.2,-12.5,103,821,0.00,2.45,0.00,0.000,1030,0.000,0.070,3158,2252,2981,2917,3046,0,0,0,0,0,0,26.67,26.59,26.69,8.10,23.10
$GC,941,-1.09,-146.0,3158,2251,2917,3046,86.5,-12.1,116,942,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2252,2981,2917,3046,0,0,0,0,0,0,26.92,26.94,26.94,8.09,23.38
$GC,1061,-1.09,-146.0,3158,2251,2917,3046,101.8,-11.8,128,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2251,2982,2917,3047,0,0,0,0,0,0,26.95,26.97,26.96,8.09,22.98
$GC,1181,-1.09,-146.0,3158,2251,2917,3046,117.1,-12.3,140,1190,0.00,2.50,0.00,0.000,516,0.000,0.082,3158,665,2981,2917,3046,0,0,0,0,0,0,26.98,26.64,27.00,8.09,23.06
$GC,1276,-1.09,-146.0,3158,665,2917,3046,128.1,-11.6,149,1284,0.00,2.45,0.00,0.000,1030,0.000,0.072,3148,2257,2982,2918,3046,0,0,0,0,0,0,26.79,26.71,26.82,8.09,22.51
$GC,1404,-1.09,-146.0,3147,2257,2917,3046,143.4,-11.2,162,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2257,2981,2917,3046,0,0,0,0,0,0,27.03,27.05,27.04,8.09,23.02
$GC,1525,-1.09,-146.0,3147,2257,2917,3046,157.4,-11.5,174,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2257,2981,2917,3046,0,0,0,0,0,0,27.05,27.06,27.06,8.09,23.10
$STATE,1542,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1542,begin apogee
$GC,1546,-0.25,0.0,3148,2257,2917,3046,159.8,-11.8,176,1655,0.95,0.00,104.90,0.869,10246,0.219,0.000,3433,2258,2478,2425,2532,0,0,0,0,0,0,26.55,25.30,24.76,8.09,22.71
$STATE,1656,end apogee,CONTROL_FINISHED_OK
$STATE,1656,begin climb
$GC,1658,1.09,146.0,3433,2258,2425,2532,163.6,0.0,187,1774,1.27,2.67,106.03,0.847,10756,0.144,0.084,3877,664,1975,1905,2046,0,0,0,0,0,0,25.34,25.10,24.56,8.06,23.06
$GC,2118,1.09,146.0,3876,664,1905,2045,139.3,8.8,233,2123,0.00,2.47,0.00,0.000,1030,0.000,0.070,3877,2260,1975,1905,2046,0,0,0,0,0,0,26.41,26.32,26.43,8.00,23.14
$GC,2250,1.10,199.5,3876,2260,1905,2045,128.7,7.5,246,2301,0.00,2.62,38.92,0.809,8708,0.000,0.087,3889,658,1790,1717,1864,0,0,0,0,0,0,26.72,25.65,25.25,8.01,22.43
$GC,2476,1.10,199.5,3888,659,1716,1864,103.8,14.0,268,2485,0.00,2.47,0.00,0.000,1030,0.000,0.070,3889,2254,1790,1717,1864,0,0,0,0,0,0,26.35,26.27,26.37,7.99,22.63
$GC,2604,1.10,199.5,3888,2254,1716,1864,85.7,12.3,281,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,3889,2254,1790,1716,1864,0,0,0,0,0,0,26.67,26.70,26.69,7.99,22.82
$GC,2726,1.10,199.5,3888,2254,1717,1864,68.7,14.4,293,2735,0.00,2.45,0.00,0.000,260,0.000,0.084,3889,3839,1790,1717,1864,0,0,0,0,0,0,26.77,26.48,26.78,7.99,23.02
$GC,2818,1.10,199.5,3888,3840,1716,1864,54.6,15.3,302,2828,0.00,2.45,0.00,0.000,1030,0.000,0.067,3900,2245,1790,1716,1864,0,0,0,0,0,0,26.62,26.53,26.64,7.99,23.34
$GC,2949,1.10,199.5,3900,2246,1716,1864,39.6,11.2,315,2958,0.00,2.42,0.00,0.000,516,0.000,0.079,3912,671,1789,1715,1864,0,0,0,0,0,0,26.87,26.55,26.89,7.99,22.98
$GC,3092,1.10,199.5,3912,671,1716,1864,23.8,10.8,329,3102,0.12,2.40,0.00,0.000,5126,0.300,0.067,3881,2258,1790,1716,1864,0,0,0,0,0,0,26.39,26.64,26.55,7.98,23.42
$GC,3222,1.13,322.0,3881,2258,1716,1864,12.8,4.3,350,3318,0.00,2.58,85.57,0.757,8452,0.000,0.084,3881,3841,1367,1284,1451,0,0,0,0,0,0,26.96,25.56,25.04,7.98,23.06
$STATE,3369,end climb,SURFACE_DEPTH_REACHED
$STATE,3369,begin surface coast
$FINISH,1.2,1.020663
$STATE,3392,end surface coast,CONTROL_FINISHED_OK
$STATE,3392,begin surface
$SM_CCo,3415,269.10,0.718,0,0,171,670.16
$SM_GC,0.75,11.57,2.58,269.10,0.161,0.065,0.718,145,2251,171,-10.51,1.07,670.16,0,0,0,0,0,0,25.89,25.97,24.68
$IRIDIUM_FIX,4744.97,-12226.80,170118,191533
$TT8_MAMPS,0.02247,0.183505
$HUMID,21.49
$INTERNAL_PRESSURE,7.79205
$TCM_TEMP,12.50
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.5,20.0
$ALTIM_BOTTOM_PING,101.1,72.5
$24V_AH,24.56,58.018
$10V_AH,10.54,23.472
$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,27.500,45.175,335.425,269.100,306.325,0.000,0.000,0.000,3.750,0.000,16.910,948.513,1150.755,892.373,741.091,62.013,0.000,1356.354,0.000,718.899,0.000,7.267,0.000
$DEVICE_MAMPS,312.858,86.905,869.050,717.587,106.769,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.774,497.436,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312736
$DATA_FILE_SIZE,24421,379
$CAP_FILE_SIZE,78996,0
$CFSIZE,2047311872,2043412480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,79.03,1
$GPS,170118,202649,4743.557,-12223.854,8,0.7,15,16.3,0.3,96.8,11,4.9