version: 66.14
glider: 38
mission: 14
dive: 7
start: 9 5 118 22 40 45
data:
$ID,38
$MISSION,14
$DIVE,7
$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,75
$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,500
$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,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,3249
$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,150
$C_ROLL_CLIMB,150
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2475
$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
$GPS1,050918,223616,3219.8342,-6434.6562,5,0.9,19,-14.9,0.4,47.9,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-61.8
$GPS2,050918,224021,3219.8474,-6434.6528,7,0.9,22,-14.9,0.3,345.4,8,4.8
$SPEED_LIMITS,0.173,0.173
$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,147.8,83404,-27.8,-10.000,-30.00,1253
$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,-1.68,-73.3,147,145,754,726,0.0,0.0,0,206,0.00,0.00,-192.98,0.151,16390,0.000,0.000,148,145,2728,2748,2709,0,0,0,0,0,0,26.80,26.27,26.14,8.69,19.64
$GC,209,-1.68,-73.3,148,144,2747,2709,1.9,-0.4,31,222,9.82,0.00,0.00,0.000,2054,0.273,0.000,2710,143,2726,2745,2708,0,0,0,0,0,0,26.00,26.25,26.20,8.90,18.73
$GC,285,-2.10,-73.3,2709,143,2737,2706,0.6,-0.6,45,292,0.25,0.00,0.00,0.000,4102,0.092,0.000,2575,143,2721,2737,2706,0,0,0,0,0,0,26.38,26.42,26.41,8.91,19.32
$GC,355,-2.53,-73.3,2575,143,2737,2704,0.5,0.4,58,363,0.25,0.00,-0.70,0.790,20486,0.092,0.000,2440,143,2725,2739,2711,0,0,0,0,0,0,26.46,26.36,26.27,8.91,18.41
$GC,426,-2.95,-73.3,2438,143,2738,2711,0.5,-0.4,71,433,0.25,0.00,0.00,0.000,4102,0.097,0.000,2291,143,2724,2738,2711,0,0,0,0,0,0,26.50,26.53,26.52,8.91,18.65
$GC,495,-3.33,-73.3,2291,143,2738,2710,0.4,0.0,84,502,0.17,0.00,0.00,0.000,4102,0.109,0.000,2187,143,2724,2738,2710,0,0,0,0,0,0,26.54,26.58,26.56,8.91,18.97
$GC,563,-3.33,-73.3,2187,143,2738,2709,0.4,1.3,97,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,143,2723,2738,2709,0,0,0,0,0,0,26.81,26.82,26.82,8.91,18.73
$GC,633,-2.90,-73.3,2187,143,2738,2707,1.3,3.9,110,640,0.43,0.00,0.00,0.000,2054,0.221,0.000,2319,143,2722,2738,2707,0,0,0,0,0,0,26.37,26.55,26.49,8.92,18.85
$GC,703,-2.64,-73.3,2318,143,2738,2706,1.1,1.9,123,710,0.25,0.00,0.00,0.000,2054,0.228,0.000,2397,142,2722,2738,2707,0,0,0,0,0,0,26.38,26.57,26.51,8.92,18.77
$GC,774,-2.35,-73.3,2396,143,2738,2706,1.5,-0.3,136,781,0.30,0.00,0.00,0.000,2054,0.219,0.000,2491,143,2722,2738,2706,0,0,0,0,0,0,26.39,26.59,26.52,8.92,18.89
$GC,844,-2.61,-73.3,2490,143,2738,2706,0.3,2.4,149,851,0.10,0.00,0.00,0.000,4102,0.139,0.000,2431,143,2722,2738,2706,0,0,0,0,0,0,26.63,26.67,26.65,8.92,18.85
$GC,914,-3.05,-73.3,2430,143,2738,2706,0.7,-0.8,162,921,0.30,0.00,0.00,0.000,4102,0.082,0.000,2254,143,2722,2738,2706,0,0,0,0,0,0,26.68,26.71,26.70,8.92,19.04
$GC,984,-3.43,-73.3,2254,142,2738,2706,0.6,0.0,175,991,0.17,0.00,0.00,0.000,4102,0.099,0.000,2137,143,2722,2738,2706,0,0,0,0,0,0,26.68,26.72,26.71,8.92,18.73
$GC,1055,-3.64,-73.3,2137,143,2738,2706,0.9,-1.1,188,1062,0.08,0.00,0.00,0.000,4102,0.149,0.000,2078,143,2721,2737,2706,0,0,0,0,0,0,26.70,26.74,26.72,8.92,18.65
$GC,1124,-3.25,-73.3,2077,143,2738,2705,1.2,5.1,201,1131,0.40,0.00,0.00,0.000,2054,0.219,0.000,2201,142,2721,2738,2705,0,0,0,0,0,0,26.46,26.63,26.58,8.92,18.57
$GC,1194,-2.94,-73.3,2200,142,2738,2705,1.4,1.1,214,1201,0.32,0.00,0.00,0.000,2054,0.236,0.000,2300,142,2721,2738,2705,0,0,0,0,0,0,26.44,26.63,26.56,8.92,19.08
$GC,1264,-2.63,-73.3,2299,142,2738,2705,1.6,-0.2,227,1272,0.32,0.00,0.00,0.000,2054,0.221,0.000,2402,142,2721,2738,2705,0,0,0,0,0,0,26.46,26.65,26.58,8.92,18.61
$GC,1335,-2.48,-73.3,2402,142,2738,2705,1.3,0.2,240,1342,0.15,0.00,0.00,0.000,2054,0.223,0.000,2450,142,2721,2738,2705,0,0,0,0,0,0,26.48,26.65,26.59,8.92,18.34
$GC,1404,-2.48,-73.3,2449,142,2738,2705,1.0,0.8,253,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,142,2721,2738,2705,0,0,0,0,0,0,26.94,26.96,26.95,8.92,18.57
$GC,1474,-2.29,-73.3,2449,142,2738,2705,1.4,1.1,266,1481,0.17,0.00,0.00,0.000,2054,0.199,0.000,2511,142,2721,2738,2705,0,0,0,0,0,0,26.52,26.67,26.62,8.92,19.08
$GC,1543,-2.55,-73.3,2511,142,2738,2705,0.7,1.6,279,1551,0.10,0.00,0.00,0.000,4102,0.127,0.000,2437,142,2721,2738,2705,0,0,0,0,0,0,26.74,26.77,26.74,8.92,18.69
$GC,1614,-2.86,-73.3,2436,142,2738,2705,0.8,-1.3,292,1622,0.17,0.00,-0.75,0.775,20486,0.114,0.000,2345,142,2727,2740,2714,0,0,0,0,0,0,26.67,26.63,26.53,8.92,18.41
$GC,1684,-3.25,-73.3,2344,142,2740,2714,0.5,0.3,305,1691,0.25,0.00,0.00,0.000,4102,0.099,0.000,2215,142,2726,2740,2713,0,0,0,0,0,0,26.72,26.73,26.72,8.92,18.41
$GC,1754,-3.62,-73.3,2215,142,2740,2714,0.6,1.0,318,1760,0.22,0.00,0.00,0.000,4102,0.089,0.000,2077,142,2727,2740,2714,0,0,0,0,0,0,26.72,26.77,26.74,8.92,18.69
$GC,1824,-3.08,-73.3,2076,142,2740,2713,2.0,-3.1,331,1832,0.62,0.00,0.00,0.000,2054,0.243,0.000,2258,142,2727,2740,2714,0,0,0,0,0,0,26.45,26.65,26.58,8.92,18.38
$GC,1896,-2.68,-73.3,2258,142,2740,2713,1.9,-1.4,344,1903,0.43,0.00,0.00,0.000,2054,0.228,0.000,2388,142,2726,2740,2713,0,0,0,0,0,0,26.46,26.65,26.58,8.92,18.26
$GC,1966,-2.51,-73.3,2387,142,2740,2714,1.4,-0.3,357,1972,0.17,0.00,0.00,0.000,2054,0.233,0.000,2442,142,2726,2740,2713,0,0,0,0,0,0,26.48,26.66,26.60,8.92,18.30
$GC,2036,-2.51,-73.3,2441,142,2740,2714,1.3,-0.1,370,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,143,2727,2740,2714,0,0,0,0,0,0,26.96,26.98,26.97,8.93,18.06
$GC,2105,-2.51,-73.3,2441,142,2740,2713,1.1,0.2,383,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,142,2726,2740,2713,0,0,0,0,0,0,26.96,26.98,26.97,8.92,18.34
$GC,2173,-2.51,-73.3,2441,142,2740,2713,1.5,0.0,396,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,142,2726,2740,2713,0,0,0,0,0,0,26.96,26.98,26.98,8.93,18.85
$GC,2242,-2.59,-73.3,2441,142,2740,2713,1.0,1.3,409,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,142,2727,2740,2714,0,0,0,0,0,0,26.97,26.98,26.98,8.93,18.34
$GC,2311,-2.87,-73.3,2441,142,2740,2713,0.6,1.3,422,2318,0.17,0.00,0.00,0.000,4102,0.112,0.000,2347,142,2727,2740,2714,0,0,0,0,0,0,26.71,26.76,26.75,8.92,18.22
$GC,2381,-3.20,-73.3,2346,142,2740,2714,1.0,-1.1,435,2389,0.20,0.00,0.00,0.000,4102,0.097,0.000,2218,142,2727,2740,2714,0,0,0,0,0,0,26.74,26.77,26.75,8.93,18.53
$GC,2453,-2.72,-73.3,2217,143,2740,2714,1.7,1.2,448,2460,0.50,0.00,0.00,0.000,2054,0.221,0.000,2372,142,2727,2740,2714,0,0,0,0,0,0,26.50,26.68,26.62,8.93,18.26
$GC,2523,-2.49,-73.3,2372,142,2740,2713,1.6,-0.2,461,2530,0.22,0.00,0.00,0.000,2054,0.219,0.000,2444,142,2727,2740,2714,0,0,0,0,0,0,26.51,26.68,26.62,8.93,18.18
$GC,2593,-2.56,-73.3,2444,142,2740,2714,1.0,0.6,474,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,142,2727,2740,2714,0,0,0,0,0,0,26.98,26.98,26.98,8.93,18.18
$GC,2662,-2.47,-73.3,2444,142,2739,2713,1.3,0.4,487,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,142,2727,2740,2714,0,0,0,0,0,0,26.97,26.98,26.98,8.93,19.01
$STATE,2709,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2709,begin apogee
$GC,2713,-0.29,0.0,2444,142,2740,2714,1.3,0.1,496,2723,2.17,0.00,4.78,0.479,10242,0.199,0.000,3155,142,2702,2716,2688,0,0,0,0,0,0,26.49,28.83,26.69,8.93,18.06
$STATE,2724,end apogee,SURFACE_DEPTH_REACHED
$STATE,2724,begin surface coast
$FINISH,0.7,1.013376
$STATE,2910,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2910,begin surface
$SM_CCo,2925,409.42,0.663,0,0,753,500.22
$SM_GC,1.50,7.12,0.00,409.42,0.062,0.000,0.663,129,142,753,-9.55,-0.23,500.22,0,0,0,0,0,0,26.72,26.96,24.91
$IRIDIUM_FIX,3219.32,-6433.41,050918,223259
$TT8_MAMPS,0.02247,0.256158
$HUMID,16.96
$INTERNAL_PRESSURE,8.71005
$TCM_TEMP,26.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,1.5,999.0
$24V_AH,24.91,4.248
$10V_AH,10.72,1.189
$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,26.125,0.000,4.775,409.425,194.425,0.000,0.000,0.000,0.500,0.000,22.895,1417.364,390.107,725.049,829.786,44.217,0.000,1189.291,0.000,791.170,0.000,2.737,0.000
$DEVICE_MAMPS,273.130,0.000,479.219,662.961,789.594,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.744,708.374,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319352
$DATA_FILE_SIZE,34927,534
$CAP_FILE_SIZE,91962,0
$CFSIZE,2047311872,2037940224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,35.11,1
$GPS,050918,233726,3219.934,-6434.545,8,1.0,36,-14.9,0.2,319.8,8,4.3