version: 66.14
glider: 37
mission: 23
dive: 16
start: 5 1 119 14 58 14
data:
$ID,37
$MISSION,23
$DIVE,16
$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,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,100
$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,49
$R_STBD_OVSHOOT,47
$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
$GPS1,010519,144751,4743.8105,-12225.4365,34,0.9,76,16.3,0.5,34.1,9,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-74.0
$GPS2,010519,145739,4743.9062,-12225.3369,10,1.0,33,16.3,0.5,28.0,9,5.0
$SPEED_LIMITS,0.173,0.191
$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,48.6,1515,-24.5,-10.000,-27.63,1498
$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,4,begin dive
$GC,72,-1.66,-97.8,149,2031,990,810,2.2,0.1,12,145,0.00,0.00,-70.55,0.109,16386,0.000,0.000,149,2031,1558,1642,1475,0,0,0,0,0,0,26.46,28.83,26.48,8.27,25.97
$GC,147,-1.66,-97.8,149,2032,1641,1475,3.2,-0.3,23,220,12.43,2.58,-51.65,0.112,19204,0.305,0.082,2984,438,2444,2511,2378,0,0,0,0,0,0,25.63,25.96,25.93,8.33,25.90
$GC,398,-1.40,-97.8,2983,438,2511,2379,51.1,-19.9,53,408,0.35,2.42,0.00,0.000,3078,0.258,0.070,3063,2046,2445,2512,2379,0,0,0,0,0,0,25.82,26.22,26.12,8.42,24.87
$GC,527,-1.25,-97.8,3063,2046,2512,2378,73.8,-19.7,66,532,0.17,2.42,0.00,0.000,2308,0.266,0.082,3101,3598,2444,2511,2378,0,0,0,0,0,0,25.94,26.22,26.11,8.42,25.15
$GC,936,-1.25,-97.8,3100,3598,2514,2377,133.3,-14.8,103,945,0.00,2.40,0.00,0.000,1030,0.000,0.067,3101,2020,2445,2514,2377,0,0,0,0,0,0,26.55,26.47,26.58,8.41,25.70
$GC,1103,-1.25,-97.8,3100,2020,2514,2377,155.2,-14.1,116,1108,0.00,2.45,0.00,0.000,516,0.000,0.087,3101,442,2445,2514,2377,0,0,0,0,0,0,26.80,26.43,26.82,8.40,25.74
$GC,1181,-1.25,-97.8,3101,442,2513,2377,166.2,-14.1,121,1189,0.00,2.38,0.00,0.000,1030,0.000,0.070,3090,2036,2445,2514,2377,0,0,0,0,0,0,26.60,26.51,26.62,8.41,25.82
$STATE,1272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1272,begin apogee
$GC,1277,-0.33,0.0,3090,2036,2514,2378,180.0,-14.3,128,1353,1.10,0.00,71.25,0.904,10246,0.236,0.000,3405,2037,2107,2187,2028,0,0,0,0,0,0,26.15,25.18,24.58,8.41,25.78
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1356,1.66,97.8,3405,2037,2186,2028,184.9,0.0,137,1436,1.50,2.58,72.60,0.872,10500,0.166,0.084,3886,3607,1769,1854,1685,0,0,0,0,0,0,25.25,24.76,24.32,8.37,25.46
$GC,1472,1.66,97.8,3885,3606,1854,1685,177.7,6.9,148,1480,0.00,2.55,0.00,0.000,3078,0.000,0.067,3898,2011,1769,1854,1685,0,0,0,0,0,0,25.48,25.45,25.51,8.35,24.95
$GC,1600,1.66,97.8,3897,2010,1853,1685,165.9,8.1,161,1601,0.00,0.00,0.00,0.000,2054,0.000,0.000,3898,2010,1769,1854,1685,0,0,0,0,0,0,26.16,26.16,26.16,8.34,25.70
$GC,1722,1.66,97.8,3897,2010,1854,1684,155.6,8.8,173,1730,0.00,0.00,0.00,0.000,2054,0.000,0.000,3898,2010,1769,1854,1685,0,0,0,0,0,0,26.36,26.37,26.37,8.34,24.95
$GC,1850,1.66,97.8,3897,2010,1854,1685,145.2,8.3,186,1851,0.00,0.00,0.00,0.000,2054,0.000,0.000,3898,2010,1769,1854,1684,0,0,0,0,0,0,26.51,26.51,26.51,8.34,25.15
$GC,1973,1.67,130.2,3897,2010,1854,1685,136.4,7.8,198,2001,0.00,0.00,24.52,0.824,10246,0.000,0.000,3897,2010,1658,1745,1571,0,0,0,0,0,0,26.60,25.68,25.06,8.35,25.23
$GC,2121,1.67,161.9,3897,2010,1744,1570,123.9,7.8,213,2151,0.00,0.00,24.05,0.807,10502,0.000,0.000,3898,2010,1548,1637,1460,0,0,0,0,0,0,26.38,25.52,24.91,8.32,26.01
$GC,2271,1.67,161.9,3897,2010,1637,1459,107.6,9.8,228,2280,0.00,2.45,0.00,0.000,2564,0.000,0.087,3910,446,1548,1637,1460,0,0,0,0,0,0,26.29,25.95,26.30,8.32,25.38
$GC,2377,1.67,161.9,3909,445,1637,1459,95.6,10.9,238,2386,0.00,2.40,0.00,0.000,5126,0.000,0.072,3910,2022,1548,1636,1460,0,0,0,0,0,0,26.21,26.15,26.23,8.32,25.78
$GC,2509,1.67,161.9,3909,2021,1637,1459,80.8,11.2,251,2515,0.00,0.00,0.00,0.000,4102,0.000,0.000,3909,2021,1548,1637,1459,0,0,0,0,0,0,26.56,26.57,26.56,8.31,25.82
$GC,2636,1.67,161.9,3909,2021,1637,1460,67.5,10.9,264,2641,0.00,2.45,0.00,0.000,4356,0.000,0.082,3910,3600,1548,1637,1459,0,0,0,0,0,0,26.65,26.32,26.65,8.31,26.25
$GC,2843,1.67,161.9,3909,3600,1637,1459,44.3,11.2,284,2851,0.00,2.42,0.00,0.000,5126,0.000,0.070,3921,2012,1548,1637,1459,0,0,0,0,0,0,26.53,26.43,26.55,8.31,26.57
$GC,2973,1.67,161.9,3920,2012,1636,1459,31.6,10.7,297,2983,0.00,2.40,0.00,0.000,4612,0.000,0.087,3933,452,1548,1637,1459,0,0,0,0,0,0,26.79,26.41,26.79,8.30,26.84
$GC,3006,1.67,161.9,3933,452,1637,1459,28.7,10.3,300,3011,0.10,2.35,0.00,0.000,5126,0.276,0.070,3911,2032,1547,1636,1459,0,0,0,0,0,0,26.15,26.49,26.40,8.30,26.61
$GC,3135,1.67,161.9,3911,2031,1637,1459,16.8,9.0,315,3143,0.00,0.00,0.00,0.000,4102,0.000,0.000,3912,2031,1548,1637,1459,0,0,0,0,0,0,26.82,26.84,26.84,8.31,26.92
$GC,3209,1.67,161.9,3911,2032,1637,1459,9.3,9.9,328,3216,0.00,2.47,0.00,0.000,4612,0.000,0.087,3921,448,1547,1636,1459,0,0,0,0,0,0,26.84,26.47,26.85,8.31,26.33
$GC,3769,1.71,313.2,3921,448,1636,1459,10.6,-0.3,437,3887,0.00,2.33,107.40,0.775,13318,0.000,0.070,3921,2020,1028,1125,931,0,0,0,0,0,0,26.74,26.64,24.59,8.31,27.20
$STATE,3908,end climb,SURFACE_DEPTH_REACHED
$STATE,3909,begin surface coast
$FINISH,0.5,1.019920
$STATE,3983,end surface coast,CONTROL_FINISHED_OK
$STATE,3983,begin surface
$SM_CCo,4002,26.73,0.725,0,0,902,350.04
$SM_GC,4.25,10.80,0.00,26.73,0.119,0.000,0.725,132,2021,902,-10.54,0.03,350.04,0,0,0,0,0,0,25.73,26.10,24.82
$IRIDIUM_FIX,4744.97,-12226.80,010519,130700
$TT8_MAMPS,0.02247,0.193991
$HUMID,26.05
$INTERNAL_PRESSURE,8.22175
$TCM_TEMP,13.10
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.6,18.9
$24V_AH,24.32,91.633
$10V_AH,10.42,48.815
$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,26.450,39.050,299.825,26.725,122.200,39.531,30.326,381.582,21.750,0.000,34.692,1393.537,1127.285,457.374,1457.471,202.816,0.000,965.334,0.000,905.108,0.000,196.436,0.000
$DEVICE_MAMPS,305.409,86.905,903.812,725.036,111.735,12.420,160.000,223.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.358,653.346,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,31351,472
$CAP_FILE_SIZE,70677,0
$CFSIZE,2047311872,2041413632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.153,9.19,1
$GPS,010519,160641,4744.306,-12224.929,20,1.0,36,16.3,0.4,39.3,8,4.7