version: 66.14
glider: 37
mission: 19
dive: 3
start: 1 17 118 20 48 52
data:
$ID,37
$MISSION,19
$DIVE,3
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,170118,204354,4743.5215,-12223.6699,8,0.8,11,16.3,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-67.8
$GPS2,170118,204754,4743.5122,-12223.6260,10,0.8,13,16.3,0.0,0.0,10,4.8
$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,287.3,2128,-20.9,-10.000,-23.51,2227
$D_GRID,161
$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,6,-1.09,-146.0,145,2234,65,276,0.0,0.0,0,234,0.00,0.00,-224.20,0.104,16386,0.000,0.000,145,2234,2017,1938,2097,0,0,0,0,0,0,26.78,28.83,26.79,7.81,22.75
$GC,238,-1.09,-146.0,145,2234,1938,2097,3.1,-5.1,36,309,13.65,0.00,-51.70,0.107,18950,0.318,0.000,3161,2234,2982,2917,3048,0,0,0,0,0,0,25.99,26.28,26.16,8.00,21.13
$GC,379,-1.09,-146.0,3160,2234,2917,3048,21.8,-12.4,59,380,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2233,2983,2918,3048,0,0,0,0,0,0,26.60,26.62,26.61,8.09,22.08
$GC,498,-1.09,-146.0,3160,2233,2918,3048,37.8,-13.5,71,507,0.00,2.55,0.00,0.000,260,0.000,0.087,3151,3842,2983,2918,3048,0,0,0,0,0,0,26.70,26.41,26.72,8.09,22.23
$GC,530,-1.09,-146.0,3150,3842,2917,3047,42.3,-14.1,74,540,0.00,2.50,0.00,0.000,1030,0.000,0.067,3151,2248,2982,2917,3048,0,0,0,0,0,0,26.53,26.44,26.55,8.09,21.37
$GC,660,-1.09,-146.0,3150,2248,2918,3048,59.5,-12.8,87,669,0.00,2.45,0.00,0.000,516,0.000,0.082,3151,677,2982,2917,3048,0,0,0,0,0,0,26.79,26.46,26.81,8.09,22.04
$GC,735,-1.09,-146.0,3150,677,2918,3048,68.7,-12.5,94,744,0.10,2.45,0.00,0.000,3078,0.263,0.072,3163,2251,2982,2917,3048,0,0,0,0,0,0,26.34,26.54,26.55,8.09,21.92
$GC,863,-1.09,-146.0,3162,2251,2917,3048,83.2,-10.6,107,872,0.00,2.45,0.00,0.000,260,0.000,0.087,3154,3837,2983,2918,3048,0,0,0,0,0,0,26.88,26.59,26.89,8.09,22.12
$GC,947,-1.09,-146.0,3153,3838,2917,3048,92.9,-11.7,115,954,0.00,2.45,0.00,0.000,1030,0.000,0.065,3154,2250,2982,2917,3048,0,0,0,0,0,0,26.70,26.62,26.72,8.09,22.27
$GC,1075,-1.09,-146.0,3153,2250,2917,3048,108.0,-11.7,128,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2250,2983,2918,3048,0,0,0,0,0,0,26.94,26.95,26.95,8.09,23.02
$GC,1195,-1.09,-146.0,3153,2250,2918,3048,122.4,-11.3,140,1205,0.00,2.47,0.00,0.000,516,0.000,0.082,3154,660,2982,2917,3048,0,0,0,0,0,0,26.96,26.63,26.98,8.09,23.02
$GC,1288,-1.09,-146.0,3153,660,2917,3047,133.4,-12.5,149,1298,0.00,2.47,0.00,0.000,1030,0.000,0.072,3143,2262,2982,2917,3047,0,0,0,0,0,0,26.78,26.68,26.79,8.09,22.59
$GC,1418,-1.09,-146.0,3142,2262,2917,3047,148.3,-11.8,162,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2262,2982,2917,3047,0,0,0,0,0,0,27.01,27.03,27.02,8.08,22.90
$STATE,1526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1526,begin apogee
$GC,1530,-0.25,0.0,3143,2262,2917,3047,161.6,-11.5,173,1640,0.95,0.00,105.40,0.867,10246,0.221,0.000,3428,2263,2478,2425,2531,0,0,0,0,0,0,26.55,25.26,24.73,8.09,22.75
$STATE,1641,end apogee,CONTROL_FINISHED_OK
$STATE,1641,begin climb
$GC,1642,1.09,146.0,3428,2263,2425,2531,165.3,0.0,184,1760,1.30,2.62,105.93,0.842,10500,0.144,0.089,3864,3856,1975,1904,2047,0,0,0,0,0,0,25.30,25.06,24.51,8.05,22.27
$GC,2073,1.09,146.0,3863,3856,1903,2046,140.3,10.6,227,2082,0.00,2.55,0.00,0.000,1030,0.000,0.067,3876,2237,1975,1904,2046,0,0,0,0,0,0,26.34,26.25,26.36,8.00,22.55
$GC,2203,1.09,146.0,3876,2237,1903,2046,127.5,9.2,240,2207,0.00,2.47,0.00,0.000,516,0.000,0.082,3888,665,1975,1904,2046,0,0,0,0,0,0,26.65,26.34,26.67,8.00,22.98
$GC,2675,1.10,193.8,3888,665,1904,2046,89.6,7.8,287,2716,0.00,2.45,34.72,0.797,9222,0.000,0.070,3888,2263,1808,1734,1883,0,0,0,0,0,0,26.70,26.60,25.48,7.99,23.26
$GC,2836,1.10,193.8,3887,2264,1735,1883,72.2,11.9,303,2845,0.00,2.47,0.00,0.000,260,0.000,0.084,3888,3843,1809,1735,1883,0,0,0,0,0,0,26.56,26.29,26.57,7.98,22.00
$GC,3048,1.10,193.8,3888,3843,1734,1883,40.9,16.2,324,3053,0.00,2.50,0.00,0.000,1030,0.000,0.065,3900,2238,1809,1735,1883,0,0,0,0,0,0,26.56,26.47,26.58,7.98,22.19
$GC,3180,1.10,193.8,3900,2238,1735,1883,26.1,11.0,337,3189,0.00,2.45,0.00,0.000,516,0.000,0.079,3912,668,1809,1735,1883,0,0,0,0,0,0,26.82,26.51,26.84,7.98,22.59
$GC,3353,1.10,193.8,3911,667,1734,1883,7.7,9.5,366,3362,0.15,2.42,0.00,0.000,5126,0.293,0.067,3879,2254,1809,1735,1883,0,0,0,0,0,0,26.38,26.61,26.61,7.98,22.12
$GC,3426,1.17,461.3,3878,2254,1735,1883,6.2,-2.3,379,3546,0.00,0.00,117.93,0.747,8450,0.000,0.000,3878,2254,1230,1146,1315,0,0,0,0,0,0,26.91,28.83,26.93,7.98,22.63
$STATE,3547,end climb,SURFACE_DEPTH_REACHED
$STATE,3547,begin surface coast
$FINISH,-0.3,1.006629
$STATE,3590,end surface coast,CONTROL_FINISHED_OK
$STATE,3590,begin surface
$SM_CCo,3609,241.25,0.715,0,0,171,670.16
$SM_GC,0.98,10.77,0.00,241.25,0.122,0.000,0.715,143,2253,171,-10.51,0.08,670.16,0,0,0,0,0,0,25.67,25.96,24.63
$IRIDIUM_FIX,4745.83,-12224.09,170118,203951
$TT8_MAMPS,0.021721,0.259903
$HUMID,21.60
$INTERNAL_PRESSURE,7.78228
$TCM_TEMP,12.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,20.9
$ALTIM_BOTTOM_PING,105.6,70.0
$24V_AH,24.51,58.194
$10V_AH,10.41,23.511
$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,26.925,39.750,363.975,241.250,275.900,0.000,0.000,0.000,2.250,0.000,14.906,1035.627,1184.580,834.166,841.297,63.013,0.000,1340.131,0.000,816.610,0.000,11.771,0.000
$DEVICE_MAMPS,317.824,89.388,866.567,715.104,106.769,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,268.799,533.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312808
$DATA_FILE_SIZE,28047,406
$CAP_FILE_SIZE,74129,0
$CFSIZE,2047311872,2043314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.083,115.77,1
$GPS,170118,215358,4743.621,-12223.873,8,0.9,14,16.3,0.0,0.0,9,4.8