version: 66.14
glider: 37
mission: 23
dive: 5
start: 4 30 119 22 32 50
data:
$ID,37
$MISSION,23
$DIVE,5
$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,80
$T_MISSION,90
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,78590
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035481339
$HD_B,0.013
$HD_C,2.4999999e-06
$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,570
$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,3519
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$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,190
$C_ROLL_CLIMB,3900
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2107
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2.5
$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,-23.743544
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004395098
$SEABIRD_T_H,0.00063361513
$SEABIRD_T_I,2.5651329e-05
$SEABIRD_T_J,3.1717634e-06
$SEABIRD_C_G,-9.9017992
$SEABIRD_C_H,1.1589037
$SEABIRD_C_I,-0.0017859261
$SEABIRD_C_J,0.00021709637
$SEABIRD_C_Z,2927.29
$GPS1,300419,222509,4742.3809,-12225.2295,5,0.9,20,16.3,0.3,208.7,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.9
$GPS2,300419,223128,4742.3472,-12225.2842,7,0.9,24,16.3,0.3,0.0,9,5.0
$SPEED_LIMITS,0.107,0.266
$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,6.9,4105,-10.5,-7.500,-15.75,4978
$D_GRID,170
$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,74,-0.77,-244.4,172,164,257,31,1.4,-0.2,12,283,0.00,0.00,-204.40,0.107,16386,0.000,0.000,172,165,1862,1939,1786,0,0,0,0,0,0,26.55,28.83,26.57,8.23,31.57
$GC,287,-0.77,-244.4,171,165,1939,1787,3.3,-0.8,42,380,13.80,0.00,-69.62,0.109,18438,0.310,0.000,3267,164,2947,3006,2889,0,0,0,0,0,0,25.67,26.03,25.96,8.40,29.64
$GC,447,-0.77,-244.4,3266,164,3008,2888,18.8,-8.8,67,453,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2947,3007,2888,0,0,0,0,0,0,26.48,26.50,26.49,8.50,26.68
$GC,521,-0.77,-244.4,3266,164,3007,2888,27.9,-10.8,75,522,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2948,3007,2889,0,0,0,0,0,0,26.57,26.58,26.58,8.50,28.34
$GC,643,-0.77,-244.4,3266,164,3007,2889,41.8,-11.7,87,650,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2948,3007,2889,0,0,0,0,0,0,26.67,26.68,26.68,8.50,30.11
$GC,771,-0.77,-244.4,3266,164,3007,2889,58.0,-11.9,100,772,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2948,3007,2889,0,0,0,0,0,0,26.74,26.76,26.76,8.50,30.70
$GC,893,-0.77,-244.4,3266,164,3007,2889,72.5,-12.2,112,900,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2947,3007,2888,0,0,0,0,0,0,26.79,26.82,26.81,8.50,31.09
$GC,1021,-0.77,-244.4,3266,164,3007,2889,88.7,-12.3,125,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2947,3007,2888,0,0,0,0,0,0,26.84,26.86,26.86,8.50,30.70
$GC,1147,-0.77,-244.4,3267,164,3007,2889,103.3,-12.1,137,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2948,3007,2889,0,0,0,0,0,0,26.87,26.89,26.89,8.49,31.49
$GC,1286,-0.77,-244.4,3266,164,3007,2889,118.8,-11.5,149,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2948,3007,2889,0,0,0,0,0,0,26.90,26.91,26.91,8.49,31.61
$GC,1425,-0.77,-244.4,3266,164,3007,2889,133.3,-11.0,161,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2948,3007,2889,0,0,0,0,0,0,26.92,26.94,26.93,8.49,31.61
$GC,1564,-0.77,-244.4,3266,164,3007,2888,147.1,-10.3,173,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2948,3007,2889,0,0,0,0,0,0,26.93,26.95,26.95,8.49,31.96
$GC,1689,-0.77,-244.4,3266,164,3007,2888,160.2,-10.0,185,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,164,2947,3007,2888,0,0,0,0,0,0,26.96,26.97,26.97,8.48,31.88
$STATE,1768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1768,begin apogee
$GC,1779,-0.33,0.0,3241,3913,3010,2886,170.1,-10.7,193,1960,0.52,0.00,175.23,0.894,10246,0.206,0.000,3403,3912,2107,2197,2017,0,0,0,0,0,0,26.27,24.95,24.37,8.49,32.16
$STATE,1961,end apogee,CONTROL_FINISHED_OK
$STATE,1961,begin climb
$GC,1963,0.77,244.4,3403,3913,2197,2017,181.5,0.0,212,2150,1.08,0.00,178.45,0.857,10246,0.174,0.000,3740,3912,1265,1368,1162,0,0,0,0,0,0,25.05,24.80,24.25,8.40,30.94
$GC,2269,0.77,244.4,3739,3913,1367,1162,158.2,8.2,243,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3912,1264,1368,1161,0,0,0,0,0,0,26.03,26.05,26.05,8.32,28.14
$GC,2389,0.77,244.4,3739,3913,1367,1161,146.1,10.1,255,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3913,1264,1367,1161,0,0,0,0,0,0,26.32,26.34,26.34,8.33,30.03
$GC,2511,0.77,244.4,3739,3913,1367,1161,135.4,9.7,267,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3912,1264,1367,1161,0,0,0,0,0,0,26.50,26.51,26.51,8.32,30.70
$GC,2639,0.77,244.4,3739,3913,1368,1161,123.5,9.3,280,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3912,1264,1368,1161,0,0,0,0,0,0,26.61,26.63,26.63,8.32,30.86
$GC,2761,0.77,244.4,3739,3913,1367,1161,112.6,9.1,292,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3913,1264,1367,1161,0,0,0,0,0,0,26.70,26.71,26.70,8.32,31.29
$GC,2889,0.77,244.4,3739,3913,1367,1161,101.8,8.6,305,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3912,1264,1367,1161,0,0,0,0,0,0,26.76,26.77,26.77,8.32,31.29
$GC,3011,0.77,244.4,3739,3913,1367,1161,90.1,8.9,317,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3913,1264,1368,1161,0,0,0,0,0,0,26.80,26.82,26.82,8.31,32.28
$GC,3139,0.77,244.4,3740,3913,1368,1161,78.3,9.4,330,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3912,1264,1368,1161,0,0,0,0,0,0,26.85,26.86,26.86,8.31,31.49
$GC,3261,0.77,244.4,3739,3912,1368,1161,67.9,9.1,342,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3912,1264,1367,1161,0,0,0,0,0,0,26.88,26.90,26.89,8.31,31.53
$GC,3389,0.77,244.4,3739,3913,1367,1160,56.8,8.6,355,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3913,1263,1367,1160,0,0,0,0,0,0,26.91,26.93,26.92,8.31,31.57
$GC,3511,0.77,244.4,3740,3913,1367,1160,48.2,7.9,367,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3913,1263,1367,1160,0,0,0,0,0,0,26.93,26.95,26.94,8.30,31.88
$GC,3639,0.77,244.4,3739,3913,1367,1160,38.4,7.4,380,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3912,1263,1367,1160,0,0,0,0,0,0,26.96,26.97,26.96,8.31,31.61
$GC,3761,0.77,244.4,3739,3912,1368,1160,29.2,7.6,392,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3912,1264,1368,1160,0,0,0,0,0,0,26.97,26.99,26.98,8.30,32.39
$GC,3890,0.77,244.4,3739,3913,1367,1160,18.1,8.0,407,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3913,1264,1368,1160,0,0,0,0,0,0,26.98,27.01,27.00,8.30,32.04
$GC,3960,0.77,244.4,3739,3913,1367,1160,12.7,8.3,420,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3913,1263,1367,1160,0,0,0,0,0,0,27.00,27.01,27.01,8.30,32.28
$GC,4028,0.77,244.4,3739,3913,1368,1160,6.7,8.2,433,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,3740,3913,1264,1368,1160,0,0,0,0,0,0,27.01,27.02,27.02,8.30,32.16
$STATE,4098,end climb,SURFACE_DEPTH_REACHED
$STATE,4098,begin surface coast
$FINISH,1.9,1.020710
$STATE,4136,end surface coast,CONTROL_FINISHED_OK
$STATE,4136,begin surface
$SM_CCo,4161,255.65,0.757,0,0,143,570.23
$SM_GC,1.43,10.35,5.90,255.65,0.139,0.084,0.757,148,185,143,-10.50,0.68,570.23,0,0,0,0,0,0,26.43,26.57,24.46
$IRIDIUM_FIX,4743.51,-12226.80,300419,213008
$TT8_MAMPS,0.02247,0.195489
$HUMID,28.93
$INTERNAL_PRESSURE,8.17292
$TCM_TEMP,13.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,150.9,50.8
$24V_AH,24.25,90.166
$10V_AH,10.36,48.325
$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,25.750,17.800,353.675,255.650,274.025,24.677,17.286,230.727,16.750,0.000,24.752,1248.331,1486.581,869.061,1054.129,212.951,0.000,1315.040,0.000,726.038,0.000,162.270,0.000
$DEVICE_MAMPS,310.375,84.422,893.880,757.315,109.252,12.420,160.000,223.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,304.451,627.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312844
$DATA_FILE_SIZE,31393,453
$CAP_FILE_SIZE,67410,0
$CFSIZE,2047311872,2042494976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,179.30,1
$GPS,300419,234737,4742.354,-12225.301,6,1.2,28,16.3,0.4,155.3,8,5.0