version: 66.14
glider: 37
mission: 23
dive: 13
start: 5 1 119 9 49 13
data:
$ID,37
$MISSION,23
$DIVE,13
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,350
$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,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,2019
$C_ROLL_CLIMB,2019
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,48
$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,120
$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
$GPS1,010519,094026,4741.8491,-12227.0742,9,1.2,45,16.3,0.3,188.7,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.0
$GPS2,010519,094837,4741.7827,-12227.0830,9,1.0,17,16.3,0.3,0.0,10,5.0
$SPEED_LIMITS,0.130,0.241
$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,19.4,5973,-12.3,-7.500,-17.25,3985
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,71,-0.87,-195.5,153,2028,342,123,1.7,0.1,12,219,0.00,0.00,-144.80,0.109,16386,0.000,0.000,153,2029,1462,1542,1382,0,0,0,0,0,0,26.43,28.83,26.45,8.19,27.90
$GC,222,-0.87,-195.5,153,2028,1542,1382,3.0,-0.6,33,336,13.43,0.00,-93.43,0.109,18694,0.300,0.000,3229,2030,2782,2850,2714,0,0,0,0,0,0,25.59,25.99,25.88,8.32,26.29
$GC,401,-0.55,-195.5,3229,2030,2849,2714,19.1,-8.0,61,411,0.35,2.55,0.00,0.000,2564,0.219,0.087,3335,437,2782,2849,2715,0,0,0,0,0,0,25.81,26.01,25.94,8.46,24.95
$GC,489,-0.43,-195.5,3334,437,2849,2714,27.0,-10.9,70,494,0.17,2.40,0.00,0.000,3078,0.209,0.072,3376,2015,2782,2849,2715,0,0,0,0,0,0,25.93,26.17,26.13,8.45,25.15
$GC,622,-0.43,-195.5,3375,2015,2849,2715,35.3,-8.0,83,632,0.00,2.50,0.00,0.000,516,0.000,0.087,3376,440,2782,2849,2715,0,0,0,0,0,0,26.59,26.20,26.60,8.45,25.11
$GC,685,-0.43,-195.5,3376,440,2850,2715,38.9,-6.8,89,694,0.00,2.40,0.00,0.000,1030,0.000,0.072,3369,2027,2782,2849,2715,0,0,0,0,0,0,26.40,26.32,26.42,8.45,25.50
$GC,817,-0.43,-195.5,3368,2027,2849,2715,47.0,-6.1,102,824,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2027,2782,2849,2715,0,0,0,0,0,0,26.70,26.71,26.71,8.45,25.58
$GC,945,-0.43,-195.5,3368,2027,2849,2715,55.0,-6.2,115,946,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2027,2782,2849,2715,0,0,0,0,0,0,26.74,26.77,26.76,8.44,26.37
$GC,1068,-0.48,-195.5,3368,2027,2849,2715,62.4,-6.2,127,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2027,2782,2849,2715,0,0,0,0,0,0,26.79,26.80,26.80,8.44,25.46
$GC,1195,-0.54,-195.5,3368,2027,2849,2715,70.0,-6.0,140,1205,0.00,2.47,0.00,0.000,516,0.000,0.087,3369,440,2782,2849,2715,0,0,0,0,0,0,26.82,26.43,26.84,8.44,26.96
$GC,1298,-0.60,-195.5,3368,440,2849,2715,76.7,-6.1,150,1308,0.03,2.38,0.00,0.000,5126,0.238,0.072,3348,2021,2782,2849,2715,0,0,0,0,0,0,26.45,26.53,26.49,8.44,26.72
$GC,1428,-0.60,-195.5,3347,2021,2849,2715,85.8,-6.6,163,1433,0.00,2.47,0.00,0.000,516,0.000,0.087,3348,444,2782,2849,2715,0,0,0,0,0,0,26.87,26.47,26.89,8.43,26.64
$GC,1511,-0.60,-195.5,3347,444,2849,2715,91.9,-7.0,171,1515,0.00,2.38,0.00,0.000,1030,0.000,0.072,3338,2028,2782,2849,2715,0,0,0,0,0,0,26.65,26.56,26.67,8.44,26.29
$GC,1643,-0.60,-195.5,3337,2028,2849,2715,101.5,-7.2,184,1653,0.00,2.47,0.00,0.000,516,0.000,0.089,3337,444,2782,2849,2715,0,0,0,0,0,0,26.91,26.50,26.91,8.43,26.84
$GC,1705,-0.60,-195.5,3337,444,2849,2715,106.3,-7.3,190,1715,0.00,2.38,0.00,0.000,1030,0.000,0.074,3327,2028,2782,2849,2715,0,0,0,0,0,0,26.67,26.58,26.70,8.43,26.64
$GC,1838,-0.60,-195.5,3326,2027,2850,2715,115.9,-7.5,203,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2027,2782,2849,2715,0,0,0,0,0,0,26.93,26.95,26.94,8.43,27.16
$GC,1984,-0.60,-195.5,3327,2027,2849,2715,125.6,-7.3,216,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2028,2782,2849,2715,0,0,0,0,0,0,26.93,26.95,26.94,8.43,27.12
$GC,2127,-0.60,-195.5,3326,2027,2849,2714,135.4,-7.0,229,2136,0.00,2.45,0.00,0.000,516,0.000,0.087,3327,447,2781,2849,2714,0,0,0,0,0,0,26.94,26.52,26.96,8.42,28.38
$GC,2210,-0.60,-195.5,3326,447,2849,2715,142.0,-6.9,236,2218,0.00,2.38,0.00,0.000,1030,0.000,0.072,3316,2031,2781,2849,2714,0,0,0,0,0,0,26.72,26.63,26.74,8.43,27.83
$GC,2338,-0.60,-195.5,3315,2031,2849,2714,151.3,-7.1,249,2347,0.00,2.45,0.00,0.000,516,0.000,0.089,3315,448,2781,2849,2714,0,0,0,0,0,0,26.97,26.55,26.99,8.43,27.98
$GC,2403,-0.60,-195.5,3315,448,2849,2713,156.3,-7.2,255,2411,0.00,2.35,0.00,0.000,1030,0.000,0.074,3305,2022,2782,2850,2714,0,0,0,0,0,0,26.73,26.64,26.76,8.43,27.98
$GC,2534,-0.60,-195.5,3305,2021,2849,2714,166.0,-7.4,268,2538,0.00,2.47,0.00,0.000,516,0.000,0.087,3305,438,2781,2849,2714,0,0,0,0,0,0,26.99,26.56,27.00,8.43,28.61
$GC,2578,-0.60,-195.5,3304,438,2849,2714,169.6,-7.5,272,2587,0.10,2.38,0.00,0.000,3078,0.228,0.072,3322,2022,2781,2849,2714,0,0,0,0,0,0,26.38,26.65,26.59,8.43,28.18
$GC,2706,-0.60,-195.5,3321,2021,2849,2713,178.5,-7.4,285,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2021,2781,2849,2714,0,0,0,0,0,0,27.00,27.02,27.01,8.43,28.89
$STATE,2714,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2714,begin apogee
$GC,2719,-0.33,0.0,3322,2021,2849,2713,179.2,-7.4,286,2867,0.25,0.00,141.27,0.901,10246,0.204,0.000,3406,2022,2107,2188,2026,0,0,0,0,0,0,26.36,24.93,24.34,8.43,28.73
$STATE,2868,end apogee,CONTROL_FINISHED_OK
$STATE,2868,begin climb
$GC,2870,0.87,195.5,3405,2022,2188,2025,185.3,0.0,301,3029,1.17,2.60,143.55,0.867,10500,0.166,0.087,3781,3593,1433,1524,1342,0,0,0,0,0,0,25.04,24.56,24.13,8.37,26.53
$GC,3174,0.78,195.5,3780,3593,1524,1342,164.9,7.1,331,3184,0.00,2.45,0.00,0.000,1030,0.000,0.070,3792,2008,1433,1524,1342,0,0,0,0,0,0,25.79,25.75,25.82,8.30,24.83
$GC,3304,0.70,195.5,3791,2009,1524,1342,153.8,9.3,344,3315,0.15,2.45,0.00,0.000,4612,0.246,0.087,3763,450,1433,1524,1342,0,0,0,0,0,0,25.74,25.94,25.89,8.31,25.94
$GC,3372,0.62,195.5,3762,449,1524,1342,148.4,9.0,350,3381,0.15,2.40,0.00,0.000,5126,0.233,0.070,3723,2030,1433,1524,1342,0,0,0,0,0,0,25.82,26.09,26.04,8.31,26.41
$GC,3501,0.62,195.5,3723,2030,1524,1342,139.2,7.9,363,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3724,2030,1432,1523,1342,0,0,0,0,0,0,26.51,26.52,26.52,8.30,26.64
$GC,3629,0.62,195.5,3723,2030,1524,1342,130.4,6.9,376,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,3723,2030,1433,1524,1342,0,0,0,0,0,0,26.60,26.62,26.61,8.31,27.59
$GC,3752,0.62,195.5,3722,2030,1524,1342,122.3,6.7,388,3761,0.00,2.47,0.00,0.000,516,0.000,0.089,3733,454,1433,1524,1342,0,0,0,0,0,0,26.67,26.30,26.67,8.31,26.96
$GC,3824,0.62,195.5,3732,454,1523,1342,117.6,6.7,395,3828,0.00,2.35,0.00,0.000,1030,0.000,0.072,3733,2019,1433,1524,1342,0,0,0,0,0,0,26.48,26.40,26.51,8.30,27.55
$GC,3958,0.62,195.5,3732,2020,1524,1342,108.2,6.8,408,3968,0.00,2.42,0.00,0.000,260,0.000,0.084,3733,3596,1433,1524,1342,0,0,0,0,0,0,26.75,26.40,26.77,8.30,28.30
$GC,4013,0.62,195.5,3732,3596,1524,1342,103.9,6.9,413,4022,0.00,2.40,0.00,0.000,1030,0.000,0.072,3743,2023,1433,1524,1342,0,0,0,0,0,0,26.52,26.45,26.52,8.30,28.06
$GC,4141,0.62,195.5,3743,2023,1524,1341,95.1,7.1,426,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,3743,2023,1433,1524,1342,0,0,0,0,0,0,26.80,26.82,26.82,8.29,28.06
$GC,4263,0.62,195.5,3742,2024,1524,1342,87.4,6.7,438,4272,0.00,2.42,0.00,0.000,516,0.000,0.089,3755,442,1432,1524,1341,0,0,0,0,0,0,26.84,26.45,26.85,8.29,28.22
$GC,4375,0.62,195.5,3754,443,1524,1342,79.6,6.6,449,4380,0.12,2.38,0.00,0.000,5126,0.241,0.072,3722,2035,1432,1523,1342,0,0,0,0,0,0,26.23,26.55,26.47,8.30,28.34
$GC,4510,0.62,195.5,3722,2035,1524,1342,71.1,6.7,462,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,3721,2035,1433,1524,1342,0,0,0,0,0,0,26.88,26.90,26.89,8.29,28.65
$GC,4638,0.62,195.5,3722,2035,1524,1342,63.6,6.0,475,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,3722,2035,1433,1525,1342,0,0,0,0,0,0,26.91,26.92,26.91,8.29,28.65
$GC,4761,0.64,276.6,3722,2035,1524,1342,57.5,5.4,487,4829,0.00,2.60,57.90,0.804,8708,0.000,0.092,3732,453,1153,1248,1059,0,0,0,0,0,0,26.93,25.51,24.89,8.29,29.20
$GC,4877,0.66,355.6,3731,453,1247,1059,50.8,5.5,498,4944,0.00,2.40,59.55,0.782,9222,0.000,0.072,3732,2022,881,982,781,0,0,0,0,0,0,25.90,25.86,24.54,8.27,27.08
$GC,5063,0.66,355.6,3731,2021,982,777,37.5,6.6,517,5074,0.00,2.53,0.00,0.000,260,0.000,0.084,3732,3607,879,982,777,0,0,0,0,0,0,26.13,25.83,26.14,8.24,25.97
$GC,5120,0.66,355.6,3731,3608,982,776,33.4,6.9,522,5128,0.00,2.45,0.00,0.000,1030,0.000,0.070,3741,2027,878,982,775,0,0,0,0,0,0,26.05,25.96,26.07,8.24,26.80
$GC,5247,0.71,355.6,3741,2027,982,776,23.4,7.5,535,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,3742,2027,879,982,776,0,0,0,0,0,0,26.43,26.45,26.44,8.24,27.20
$GC,5370,0.77,355.6,3741,2027,982,776,13.5,7.8,554,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,3742,2027,879,982,776,0,0,0,0,0,0,26.54,26.56,26.55,8.24,27.08
$GC,5411,0.88,571.4,3741,2027,982,776,11.0,7.9,561,5529,0.10,0.00,114.62,0.755,10754,0.189,0.000,3787,2027,390,501,280,0,0,0,0,0,0,26.18,28.83,26.25,8.24,27.12
$STATE,5530,end climb,SURFACE_DEPTH_REACHED
$STATE,5531,begin surface coast
$FINISH,0.6,1.020032
$STATE,5573,end surface coast,CONTROL_FINISHED_OK
$STATE,5574,begin surface
$SM_CCo,5652,0.00,0.000,0,0,388,499.35
$SM_GC,1.50,10.52,0.00,0.00,0.122,0.000,0.000,149,2017,388,-10.49,-0.08,499.35,0,0,0,0,0,0,25.49,25.82,25.60
$IRIDIUM_FIX,4742.17,-12225.08,010519,075408
$TT8_MAMPS,0.02247,0.198485
$HUMID,26.29
$INTERNAL_PRESSURE,8.17292
$TCM_TEMP,12.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,140.0,67.5
$24V_AH,24.13,91.270
$10V_AH,10.44,48.674
$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,26.550,73.200,516.900,0.000,238.225,23.150,33.917,318.324,7.500,0.000,17.979,1640.577,1991.554,762.703,1517.961,249.001,0.000,1482.385,0.000,1136.384,0.000,72.946,0.000
$DEVICE_MAMPS,300.443,91.871,901.329,0.000,109.252,12.420,160.000,223.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.323,806.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312640
$DATA_FILE_SIZE,38291,586
$CAP_FILE_SIZE,93218,1
$CFSIZE,2047311872,2041675776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.058,239.78,1
$GPS,010519,112424,4742.193,-12226.814,9,0.8,20,16.3,0.0,0.0,11,4.8