version: 66.14
glider: 38
mission: 14
dive: 5
start: 9 5 118 18 43 10
data:
$ID,38
$MISSION,14
$DIVE,5
$N_DIVES,0
$STOP_T,9131819
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,6050
$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,90
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80388.797
$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,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,630
$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,150
$PITCH_MAX,3880
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,14
$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,1971
$C_ROLL_CLIMB,2428
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00059000001
$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,-19.499046
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043154242
$SEABIRD_T_H,0.00062410574
$SEABIRD_T_I,2.302181e-05
$SEABIRD_T_J,2.4339581e-06
$SEABIRD_C_G,-9.7676115
$SEABIRD_C_H,1.1309991
$SEABIRD_C_I,-0.0018490348
$SEABIRD_C_J,0.00021460596
$SEABIRD_C_Z,2943.3999
$GPS1,050918,183857,3219.9036,-6434.6851,5,0.8,17,-14.9,0.0,282.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-53.9
$GPS2,050918,184233,3219.9141,-6434.7046,6,0.8,20,-14.9,0.0,0.0,10,4.9
$SPEED_LIMITS,0.173,0.289
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,10000.000
$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,122.1,83551,-16.1,-10.000,-19.07,3691
$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,5,begin dive
$GC,7,-1.29,-244.4,145,1966,214,220,0.0,0.0,0,289,0.00,0.00,-274.02,0.151,16390,0.000,0.000,144,1966,3242,3276,3208,0,0,0,0,0,0,26.88,26.30,26.16,8.71,19.12
$GC,291,-1.29,-244.4,144,1966,3275,3208,2.7,-1.3,44,305,9.77,0.00,0.00,0.000,2054,0.261,0.000,2782,1963,3241,3274,3208,0,0,0,0,0,0,26.03,26.29,26.24,9.01,18.53
$GC,367,-0.87,-244.4,2782,1964,3265,3207,9.8,-13.7,58,376,0.43,2.33,0.00,0.000,2308,0.214,0.077,2904,3567,3235,3264,3207,0,0,0,0,0,0,26.22,26.39,26.33,9.02,18.53
$GC,778,-0.87,-244.4,2904,3567,3262,3201,52.7,-6.1,104,785,0.00,2.20,0.00,0.000,1030,0.000,0.065,2905,1965,3230,3260,3201,0,0,0,0,0,0,26.71,26.66,26.72,9.00,18.89
$GC,905,-0.87,-244.4,2904,1965,3260,3201,60.7,-6.4,117,909,0.00,2.30,0.00,0.000,260,0.000,0.079,2894,3555,3230,3260,3201,0,0,0,0,0,0,26.93,26.63,26.94,8.99,19.04
$GC,1176,-0.87,-244.4,2893,3564,3260,3199,81.2,-7.3,144,1181,0.00,2.20,0.00,0.000,1030,0.000,0.065,2894,1963,3229,3260,3199,0,0,0,0,0,0,26.77,26.72,26.78,8.97,19.12
$GC,1308,-0.87,-244.4,2893,1963,3258,3198,92.4,-9.1,157,1317,0.00,2.22,0.00,0.000,516,0.000,0.074,2894,408,3228,3258,3199,0,0,0,0,0,0,26.96,26.69,26.97,8.94,19.01
$GC,1370,-0.82,-244.4,2893,407,3257,3199,98.0,-9.9,163,1380,0.17,2.20,0.00,0.000,3078,0.186,0.065,2942,1983,3228,3257,3199,0,0,0,0,0,0,26.55,26.70,26.70,8.94,19.20
$GC,1499,-0.82,-244.4,2941,1982,3256,3199,108.2,-8.4,176,1504,0.00,2.22,0.00,0.000,260,0.000,0.082,2931,3547,3227,3256,3199,0,0,0,0,0,0,26.97,26.67,26.98,8.93,19.95
$GC,1661,-0.82,-244.4,2930,3548,3257,3197,122.4,-9.2,192,1666,0.00,2.17,0.00,0.000,1030,0.000,0.065,2931,1962,3226,3256,3197,0,0,0,0,0,0,26.79,26.74,26.79,8.91,20.11
$GC,1913,-0.82,-244.4,2930,1961,3252,3197,147.9,-10.3,217,1917,0.00,2.28,0.00,0.000,260,0.000,0.082,2921,3543,3224,3252,3197,0,0,0,0,0,0,26.98,26.68,26.99,8.90,19.71
$GC,2064,-0.82,-244.4,2920,3544,3252,3195,164.8,-11.2,232,2069,0.00,2.17,0.00,0.000,1030,0.000,0.065,2921,1959,3224,3252,3196,0,0,0,0,0,0,26.79,26.74,26.81,8.88,19.87
$STATE,2204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2204,begin apogee
$GC,2209,-0.36,0.0,2919,2437,3251,3195,180.9,-11.5,246,2378,0.45,0.00,164.43,0.812,10246,0.164,0.000,3080,2438,2399,2430,2369,0,0,0,0,0,0,26.58,25.39,24.87,8.87,19.99
$STATE,2379,end apogee,CONTROL_FINISHED_OK
$STATE,2379,begin climb
$GC,2380,1.29,244.4,3080,2438,2430,2368,189.3,0.0,263,2562,1.40,2.40,170.18,0.792,10756,0.134,0.074,3589,885,1555,1576,1534,0,0,0,0,0,0,25.49,25.37,24.84,8.80,19.20
$GC,2683,1.19,244.4,3589,885,1571,1534,152.7,15.9,293,2690,0.00,2.25,0.00,0.000,1030,0.000,0.072,3590,2434,1552,1571,1534,0,0,0,0,0,0,26.28,26.22,26.29,8.69,19.01
$GC,2931,1.07,244.4,3589,2434,1571,1534,110.5,17.5,318,2933,0.15,0.00,0.00,0.000,4102,0.196,0.000,3541,2435,1552,1571,1533,0,0,0,0,0,0,26.36,26.53,26.50,8.69,19.91
$GC,3171,1.01,244.4,3541,2435,1571,1532,75.8,13.0,342,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2436,1552,1571,1533,0,0,0,0,0,0,26.86,26.87,26.86,8.68,20.34
$GC,3290,1.01,244.4,3541,2435,1571,1532,62.0,10.4,354,3300,0.00,2.33,0.00,0.000,516,0.000,0.074,3552,864,1551,1571,1532,0,0,0,0,0,0,26.89,26.60,26.90,8.68,20.50
$GC,3332,1.01,244.4,3551,863,1571,1533,57.2,11.0,358,3336,0.00,2.25,0.00,0.000,1030,0.000,0.070,3551,2426,1551,1571,1532,0,0,0,0,0,0,26.70,26.64,26.72,8.68,20.54
$GC,3457,1.01,244.4,3550,2426,1571,1532,42.9,11.0,370,3462,0.00,2.22,0.00,0.000,260,0.000,0.089,3551,3918,1551,1571,1532,0,0,0,0,0,0,26.91,26.63,26.93,8.68,20.54
$GC,3639,1.08,369.1,3550,3918,1571,1530,25.9,6.5,388,3761,0.00,2.10,115.03,0.700,9222,0.000,0.065,3562,2434,1129,1136,1122,0,0,0,0,0,0,26.77,26.72,25.05,8.69,20.66
$GC,3825,1.21,369.1,3561,2434,1116,1102,13.6,8.7,412,3832,0.00,2.30,0.00,0.000,260,0.000,0.089,3562,3917,1108,1116,1101,0,0,0,0,0,0,26.32,26.05,26.34,8.66,19.95
$GC,3854,1.33,369.1,3561,3917,1116,1098,11.2,8.7,417,3863,0.10,2.17,0.00,0.000,3078,0.142,0.065,3625,2430,1107,1116,1098,0,0,0,0,0,0,26.14,26.22,26.22,8.66,20.03
$GC,3925,1.41,369.1,3624,2430,1112,1097,4.1,10.3,430,3932,0.00,2.28,0.00,0.000,260,0.000,0.089,3625,3907,1104,1112,1097,0,0,0,0,0,0,26.58,26.28,26.58,8.67,20.38
$STATE,3938,end climb,SURFACE_DEPTH_REACHED
$STATE,3938,begin surface coast
$FINISH,-0.0,1.023168
$STATE,3964,end surface coast,CONTROL_FINISHED_OK
$STATE,3964,begin surface
$SM_CCo,3982,208.32,0.673,0,0,230,630.07
$SM_GC,1.00,8.48,2.88,208.32,0.067,0.065,0.673,139,1968,230,-9.41,1.47,630.07,0,0,0,0,0,0,26.41,26.41,24.95
$IRIDIUM_FIX,3219.08,-6456.21,050918,183513
$TT8_MAMPS,0.02247,0.226947
$HUMID,19.87
$INTERNAL_PRESSURE,8.57333
$TCM_TEMP,28.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,24.84,3.933
$10V_AH,10.80,1.087
$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,20.950,46.125,449.625,208.325,274.025,0.000,0.000,0.000,0.250,0.000,20.970,1121.795,1346.071,839.601,933.884,41.912,0.000,1400.341,0.000,888.319,0.000,2.634,0.000
$DEVICE_MAMPS,260.715,89.388,811.941,672.893,151.463,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,288.522,576.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319336
$DATA_FILE_SIZE,27996,437
$CAP_FILE_SIZE,86429,0
$CFSIZE,2047311872,2038169600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.134,235.66,1
$GPS,050918,195437,3219.510,-6434.546,17,1.5,57,-14.9,0.3,21.2,6,3.7