version: 66.12
glider: 38
mission: 9
dive: 25
start: 4 11 117 16 6 31
data:
$ID,38
$MISSION,9
$DIVE,25
$N_DIVES,0
$STOP_T,0
$D_SURF,5
$D_FLARE,3
$D_TGT,1080
$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,240
$T_MISSION,390
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,80833
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,0
$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,400
$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,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3037
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,1767
$C_ROLL_CLIMB,1712
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,87
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2348
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,2
$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,-20.293694
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$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,0.004410191
$SEABIRD_T_H,0.00064652628
$SEABIRD_T_I,2.6235177e-05
$SEABIRD_T_J,3.227025e-06
$SEABIRD_C_G,-9.5423679
$SEABIRD_C_H,1.1030561
$SEABIRD_C_I,-0.0018197452
$SEABIRD_C_J,0.00021177332
$SEABIRD_C_Z,2945.9399
$GPS1,110417,160135,2816.1665,-7804.9404,31,0.8,34,-8.0,0.7,19.5,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-45.1
$GPS2,110417,160601,2816.2444,-7804.9165,5,0.8,15,-8.0,0.6,347.2,10,4.9
$SPEED_LIMITS,0.150,0.431
$TGT_NAME,HEADING
$TGT_LATLONG,2921.039,-7804.917
$TGT_RADIUS,1852.000
$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,5.5,120000,-16.8,-15.000,-19.18,4444
$D_GRID,1080
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.12,-438.0,153,1733,192,200,0.0,0.0,0,300,0.00,0.00,-281.20,0.146,16386,0.000,0.000,152,1733,2743,2773,2713,0,0,0,0,0,0,26.88,28.83,26.89,8.83,8.22
$GC,302,-1.12,-438.0,152,1733,2773,2713,3.1,-3.3,28,372,9.30,2.40,-51.42,0.154,18692,0.256,0.072,2666,3318,3857,3896,3818,0,0,0,0,0,0,26.07,26.22,26.13,9.10,7.98
$GC,538,-1.17,-438.0,2666,3317,3893,3817,37.4,-14.0,51,545,0.00,2.22,0.00,0.000,1030,0.000,0.062,2666,1772,3854,3892,3816,0,0,0,0,0,0,26.49,26.47,26.51,9.22,7.94
$GC,845,-1.17,-438.0,2666,1771,3891,3815,82.9,-14.5,82,855,0.00,2.35,0.00,0.000,516,0.000,0.079,2666,202,3852,3890,3815,0,0,0,0,0,0,26.87,26.59,26.88,9.23,8.06
$GC,940,-1.17,-438.0,2666,202,3890,3815,97.2,-15.9,91,948,0.00,2.17,0.00,0.000,1030,0.000,0.057,2655,1771,3852,3890,3815,0,0,0,0,0,0,26.74,26.70,26.74,9.23,7.86
$GC,1247,-1.17,-438.0,2655,1772,3889,3814,143.6,-14.5,122,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1772,3852,3890,3814,0,0,0,0,0,0,26.98,27.00,26.98,9.23,8.33
$GC,1547,-1.17,-438.0,2654,1772,3889,3814,191.4,-16.2,139,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1772,3852,3890,3814,0,0,0,0,0,0,27.03,27.05,27.03,9.24,8.22
$GC,1847,-1.17,-438.0,2654,1772,3889,3814,238.1,-15.6,154,1851,0.00,2.22,0.00,0.000,260,0.000,0.074,2643,3319,3851,3889,3813,0,0,0,0,0,0,27.06,26.79,27.07,9.23,8.18
$GC,1886,-1.17,-438.0,2643,3319,3889,3813,244.0,-16.1,156,1890,0.00,2.17,0.00,0.000,1030,0.000,0.062,2643,1761,3851,3889,3813,0,0,0,0,0,0,26.89,26.84,26.90,9.23,8.06
$GC,2204,-1.17,-438.0,2643,1761,3889,3813,295.8,-15.5,172,2209,0.00,2.30,0.00,0.000,516,0.000,0.079,2643,197,3851,3889,3813,0,0,0,0,0,0,27.09,26.82,27.10,9.22,8.18
$GC,2271,-1.17,-438.0,2643,197,3889,3813,305.9,-16.7,175,2275,0.00,2.20,0.00,0.000,1030,0.000,0.060,2632,1780,3851,3889,3813,0,0,0,0,0,0,26.92,26.87,26.93,9.22,8.02
$GC,2594,-1.17,-438.0,2632,1779,3889,3813,363.7,-17.9,186,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1779,3851,3889,3813,0,0,0,0,0,0,27.11,27.12,27.12,9.21,8.02
$GC,2893,-1.17,-438.0,2632,1779,3889,3813,417.9,-18.3,196,2897,0.00,2.22,0.00,0.000,260,0.000,0.074,2621,3319,3851,3889,3813,0,0,0,0,0,0,27.12,26.84,27.13,9.20,7.94
$GC,2949,-1.17,-438.0,2620,3319,3889,3813,428.6,-18.5,198,2954,0.12,2.17,0.00,0.000,3078,0.186,0.062,2664,1760,3851,3889,3813,0,0,0,0,0,0,26.75,26.89,26.88,9.20,7.90
$GC,3277,-1.17,-438.0,2664,1760,3889,3812,482.5,-16.5,209,3283,0.00,2.30,0.00,0.000,516,0.000,0.079,2665,203,3850,3889,3812,0,0,0,0,0,0,27.13,26.85,27.13,9.19,8.22
$GC,3339,-1.17,-438.0,2664,203,3889,3812,493.0,-16.8,211,3343,0.00,2.20,0.00,0.000,1030,0.000,0.060,2654,1763,3850,3889,3812,0,0,0,0,0,0,26.94,26.92,26.95,9.19,8.26
$GC,3667,-1.17,-438.0,2653,1763,3888,3811,549.2,-17.4,222,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1763,3850,3889,3812,0,0,0,0,0,0,27.13,27.15,27.14,9.19,8.22
$GC,3966,-1.17,-438.0,2653,1763,3888,3812,601.9,-17.6,232,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1764,3850,3888,3812,0,0,0,0,0,0,27.14,27.15,27.15,9.17,8.22
$GC,4267,-1.17,-438.0,2653,1763,3888,3811,656.1,-18.1,242,4273,0.00,2.28,0.00,0.000,260,0.000,0.074,2642,3320,3849,3888,3811,0,0,0,0,0,0,27.14,26.86,27.15,9.17,8.18
$GC,4305,-1.17,-438.0,2642,3320,3888,3811,661.3,-17.9,243,4309,0.00,2.20,0.00,0.000,1030,0.000,0.060,2642,1757,3849,3888,3811,0,0,0,0,0,0,26.96,26.91,26.97,9.17,7.86
$GC,4621,-1.17,-438.0,2641,1757,3887,3810,723.2,-19.7,254,4625,0.00,2.30,0.00,0.000,516,0.000,0.079,2642,207,3849,3887,3811,0,0,0,0,0,0,27.14,26.86,27.15,9.15,8.06
$GC,4690,-1.17,-438.0,2642,207,3886,3810,734.5,-19.6,256,4695,0.00,2.20,0.00,0.000,1030,0.000,0.060,2631,1772,3848,3887,3810,0,0,0,0,0,0,26.97,26.92,26.98,9.15,8.53
$GC,5009,-1.17,-438.0,2631,1773,3886,3810,801.0,-20.7,267,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1773,3848,3886,3810,0,0,0,0,0,0,27.13,27.13,27.14,9.13,8.14
$GC,5308,-1.12,-438.0,2631,1773,3886,3809,867.2,-22.8,277,5315,0.12,2.35,0.00,0.000,2564,0.201,0.077,2675,206,3847,3885,3809,0,0,0,0,0,0,26.78,26.87,26.86,9.11,8.57
$GC,5356,-1.12,-438.0,2675,206,3885,3809,873.8,-22.7,278,5360,0.00,2.20,0.00,0.000,1030,0.000,0.060,2666,1755,3847,3885,3809,0,0,0,0,0,0,26.98,26.94,26.98,9.11,8.06
$GC,5668,-1.12,-438.0,2665,1769,3884,3808,941.4,-21.2,289,5674,0.00,2.28,0.00,0.000,260,0.000,0.074,2654,3334,3846,3884,3808,0,0,0,0,0,0,27.15,26.87,27.16,9.08,8.02
$GC,5706,-1.12,-438.0,2653,3335,3884,3808,947.9,-21.3,290,5710,0.00,2.22,0.00,0.000,1030,0.000,0.062,2654,1761,3846,3884,3808,0,0,0,0,0,0,26.97,26.91,26.98,9.07,8.33
$STATE,5752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5752,begin apogee
$GC,5756,-0.29,0.0,2653,1761,3883,3808,959.0,-20.6,292,6087,0.85,0.00,327.17,1.403,10246,0.161,0.000,2944,1761,2348,2383,2313,0,0,0,0,0,0,26.77,24.86,24.14,9.07,8.06
$STATE,6088,end apogee,CONTROL_FINISHED_OK
$STATE,6088,begin climb
$GC,6089,1.12,438.0,2944,1761,2382,2312,984.8,0.0,303,6512,1.17,2.53,395.40,1.368,11012,0.122,0.084,3361,184,837,823,852,0,0,0,0,3,0,25.01,24.52,23.98,8.92,7.70
$GC,6627,1.44,760.6,3360,184,814,846,969.4,7.5,321,6807,0.28,2.28,168.68,1.351,11270,0.089,0.060,3488,1745,199,195,203,0,0,0,0,0,0,25.76,25.77,24.07,8.72,7.66
$GC,7105,1.54,888.8,3487,1745,193,200,911.0,12.0,337,7106,0.00,0.00,0.00,0.000,2054,0.000,0.000,3488,1745,197,193,201,0,0,0,0,0,0,26.44,26.45,26.45,8.64,7.86
$GC,7405,1.60,888.8,3487,1745,193,200,868.4,14.6,347,7412,0.08,2.40,0.00,0.000,2564,0.139,0.079,3556,171,197,193,201,0,0,0,0,0,0,26.51,26.45,26.55,8.64,8.45
$GC,7472,1.60,888.8,3556,171,193,200,857.7,16.0,349,7476,0.00,2.20,0.00,0.000,1030,0.000,0.060,3556,1698,197,193,201,0,0,0,0,0,0,26.59,26.54,26.60,8.64,8.26
$GC,7795,1.60,888.8,3555,1699,193,200,792.8,21.1,360,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1699,196,193,200,0,0,0,0,0,0,26.88,26.89,26.89,8.64,8.45
$GC,8095,1.54,888.8,3555,1699,193,200,731.3,21.0,370,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1699,196,192,200,0,0,0,0,0,0,26.94,26.96,26.96,8.66,8.33
$GC,8395,1.46,888.8,3556,1699,193,200,666.3,22.1,380,8397,0.15,0.00,0.00,0.000,4102,0.191,0.000,3508,1705,196,193,200,0,0,0,0,0,0,26.62,26.79,26.77,8.67,8.69
$GC,8694,1.46,888.8,3508,1705,193,200,606.4,19.8,390,8701,0.00,2.33,0.00,0.000,516,0.000,0.082,3519,173,196,193,200,0,0,0,0,0,0,27.03,26.74,27.04,8.68,9.00
$GC,8754,1.46,888.8,3518,173,193,200,593.8,20.6,392,8758,0.00,2.20,0.00,0.000,1030,0.000,0.060,3519,1721,196,193,200,0,0,0,0,0,0,26.86,26.82,26.87,8.69,8.61
$GC,9081,1.39,888.8,3518,1722,193,200,519.6,23.6,403,9083,0.12,0.00,0.00,0.000,4102,0.214,0.000,3482,1724,196,193,200,0,0,0,0,0,0,26.67,26.85,26.82,8.71,9.40
$GC,9380,1.39,888.8,3481,1724,193,200,456.5,20.9,413,9385,0.00,2.35,0.00,0.000,516,0.000,0.079,3492,167,196,193,200,0,0,0,0,0,0,27.07,26.79,27.08,8.72,9.04
$GC,9425,1.39,888.8,3492,167,193,200,449.7,21.1,414,9429,0.00,2.20,0.00,0.000,1030,0.000,0.060,3493,1713,196,193,200,0,0,0,0,0,0,26.91,26.86,26.91,8.72,8.92
$GC,9742,1.39,888.8,3492,1726,193,200,378.4,21.2,425,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1726,196,193,200,0,0,0,0,0,0,27.09,27.10,27.10,8.74,9.55
$GC,10042,1.39,888.8,3492,1726,193,200,314.7,21.1,435,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1726,196,192,200,0,0,0,0,0,0,27.10,27.11,27.10,8.74,8.37
$GC,10352,1.39,888.8,3492,1725,193,200,246.7,22.2,449,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1726,196,193,200,0,0,0,0,0,0,27.10,27.12,27.11,8.75,9.24
$GC,10654,1.39,888.8,3492,1726,193,200,180.8,22.0,464,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1726,196,192,200,0,0,0,0,0,0,27.11,27.13,27.13,8.77,9.12
$GC,10953,1.34,888.8,3492,1726,193,200,112.2,23.9,487,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1726,196,192,200,0,0,0,0,0,0,27.12,27.13,27.13,8.79,9.20
$GC,11253,1.28,888.8,3492,1726,193,200,41.9,24.2,517,11255,0.15,0.00,0.00,0.000,4102,0.191,0.000,3443,1726,196,193,200,0,0,0,0,0,0,26.75,26.92,26.89,8.80,9.16
$STATE,11441,end climb,SURFACE_DEPTH_REACHED
$STATE,11441,begin surface coast
$FINISH,0.3,1.025181
$STATE,11462,end surface coast,CONTROL_FINISHED_OK
$STATE,11462,begin surface
$SM_CCo,11537,0.00,0.000,0,0,196,625.13
$SM_GC,0.60,8.00,0.00,0.00,0.067,0.000,0.000,174,1732,196,-8.89,-0.96,625.13,0,0,0,0,0,0,26.83,27.13,26.90
$IRIDIUM_FIX,2756.73,-7808.32,110417,123306
$TT8_MAMPS,0.021721,0.226947
$HUMID,8.77
$INTERNAL_PRESSURE,8.75888
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.0
$ALTIM_BOTTOM_PING,826.5,179.6
$24V_AH,23.98,11.501
$10V_AH,10.66,2.134
$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,20.350,63.450,891.250,0.000,332.625,22.590,37.553,119.230,1.250,0.000,16.630,1537.034,7710.652,1072.410,1425.233,71.892,0.000,1848.605,0.000,1203.934,0.000,15.616,0.000
$DEVICE_MAMPS,255.749,84.422,1402.895,0.000,153.946,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.296,714.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284264
$DATA_FILE_SIZE,38331,538
$CAP_FILE_SIZE,93616,0
$CFSIZE,2047311872,2038431744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.371,33.38,1
$GPS,110417,191958,2820.837,-7803.735,33,1.0,37,-8.0,0.5,42.2,8,4.7