version: 66.14
glider: 38
mission: 14
dive: 19
start: 9 7 118 20 27 12
data:
$ID,38
$MISSION,14
$DIVE,19
$N_DIVES,0
$STOP_T,9201819
$D_SURF,3
$D_FLARE,5
$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,75
$T_ABORT,1920
$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,150
$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,2564
$C_ROLL_CLIMB,2260
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,88
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2240
$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,2000
$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
$GPS1,070918,202150,3207.2485,-6428.3145,8,0.9,35,-14.9,0.5,298.6,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-50.4
$GPS2,070918,202637,3207.2444,-6428.3335,8,0.9,39,-14.9,0.4,194.7,8,5.0
$SPEED_LIMITS,0.173,0.230
$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,156.7,58146,-20.9,-10.000,-23.48,2226
$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,7,-1.32,-146.6,144,2612,191,201,0.0,0.0,0,244,0.00,0.00,-227.25,0.151,16390,0.000,0.000,144,2615,2744,2776,2712,0,0,0,0,0,0,26.77,26.16,26.09,8.63,17.19
$GC,246,-1.32,-146.6,143,2615,2775,2712,2.2,-1.3,36,260,9.68,0.00,0.00,0.000,2566,0.251,0.000,2825,2615,2741,2771,2712,0,0,0,0,0,0,26.00,26.20,26.16,8.90,17.12
$GC,322,-1.46,-146.6,2825,2615,2763,2710,0.5,1.6,50,330,0.00,0.00,-0.98,0.586,20486,0.000,0.000,2825,2615,2741,2770,2713,0,0,0,0,0,0,26.53,26.24,26.17,8.90,17.12
$GC,393,-1.81,-146.6,2825,2615,2769,2712,0.3,0.3,63,400,0.30,0.00,0.00,0.000,4102,0.092,0.000,2680,2615,2740,2769,2712,0,0,0,0,0,0,26.36,26.41,26.39,8.90,17.59
$GC,462,-2.10,-146.6,2679,2615,2768,2712,0.5,-0.2,76,469,0.17,0.00,0.00,0.000,4102,0.102,0.000,2571,2615,2740,2768,2712,0,0,0,0,0,0,26.45,26.48,26.47,8.91,18.34
$GC,532,-2.33,-146.6,2570,2615,2767,2711,0.3,0.0,89,539,0.10,2.40,0.00,0.000,4612,0.132,0.067,2487,1001,2738,2766,2711,0,0,0,0,0,0,26.48,26.47,26.49,8.91,17.78
$GC,547,-2.55,-146.6,2487,1001,2765,2711,0.3,0.8,91,555,0.08,2.25,0.00,0.000,5126,0.149,0.070,2436,2553,2738,2766,2711,0,0,0,0,0,0,26.44,26.46,26.51,8.91,17.71
$GC,618,-2.86,-146.6,2435,2557,2765,2711,0.6,-0.7,104,625,0.17,0.00,0.00,0.000,4102,0.109,0.000,2338,2557,2738,2765,2711,0,0,0,0,0,0,26.51,26.55,26.53,8.91,18.18
$GC,688,-3.15,-146.6,2337,2557,2765,2711,0.4,-0.3,117,695,0.15,2.25,0.00,0.000,4612,0.109,0.067,2247,1003,2737,2764,2711,0,0,0,0,0,0,26.55,26.53,26.57,8.91,18.06
$GC,859,-2.57,-146.6,2247,1003,2762,2711,1.9,-0.5,150,868,0.65,2.22,-1.12,0.574,19462,0.231,0.065,2427,2595,2746,2774,2718,0,0,0,0,0,0,26.41,26.60,26.46,8.91,17.63
$GC,931,-2.10,-146.6,2426,2595,2773,2718,1.5,-0.3,163,939,0.47,0.00,0.00,0.000,2054,0.214,0.000,2575,2596,2745,2773,2718,0,0,0,0,0,0,26.43,26.58,26.52,8.91,18.18
$GC,1003,-1.79,-146.6,2574,2596,2773,2718,1.5,-0.8,176,1011,0.30,2.30,0.00,0.000,2564,0.221,0.065,2680,997,2745,2773,2718,0,0,0,0,0,0,26.44,26.58,26.54,8.91,17.67
$GC,1018,-1.45,-146.6,2679,997,2773,2718,1.6,-0.6,178,1026,0.35,2.20,0.00,0.000,3078,0.209,0.065,2780,2559,2745,2773,2718,0,0,0,0,0,0,26.15,26.61,26.54,8.91,17.51
$GC,1089,-1.59,-146.6,2779,2559,2773,2718,0.5,2.0,191,1097,0.00,1.95,0.00,0.000,4356,0.000,0.087,2773,3908,2746,2774,2718,0,0,0,0,0,0,26.86,26.59,26.86,8.91,17.71
$GC,1109,-1.87,-146.6,2772,3909,2773,2718,0.6,0.4,194,1117,0.22,1.85,0.00,0.000,5126,0.094,0.062,2657,2518,2745,2773,2718,0,0,0,0,0,0,26.63,26.67,26.67,8.92,18.26
$GC,1180,-2.21,-146.6,2656,2516,2773,2718,0.4,0.2,207,1188,0.20,2.10,0.00,0.000,4612,0.102,0.070,2550,1059,2745,2772,2718,0,0,0,0,0,0,26.65,26.61,26.65,8.92,18.18
$GC,1230,-2.21,-146.6,2549,1058,2773,2718,0.3,0.0,216,1238,0.00,2.12,0.00,0.000,1030,0.000,0.070,2547,2557,2745,2773,2717,0,0,0,0,0,0,26.69,26.63,26.70,8.92,18.06
$GC,1300,-2.53,-146.6,2547,2560,2773,2718,0.4,0.7,229,1307,0.17,0.00,0.00,0.000,4102,0.107,0.000,2452,2560,2745,2773,2718,0,0,0,0,0,0,26.63,26.69,26.66,8.92,18.10
$GC,1370,-2.24,-146.6,2451,2560,2773,2717,1.6,-2.8,242,1378,0.25,2.17,0.00,0.000,2564,0.221,0.065,2530,1045,2745,2773,2717,0,0,0,0,0,0,26.48,26.64,26.58,8.91,18.02
$GC,1436,-1.92,-146.6,2529,1045,2772,2717,1.4,-0.1,254,1444,0.38,2.15,0.00,0.000,3078,0.209,0.065,2637,2572,2744,2772,2717,0,0,0,0,0,0,26.50,26.67,26.64,8.91,17.63
$GC,1507,-1.64,-146.6,2636,2572,2772,2716,1.6,-0.9,267,1515,0.25,1.90,0.00,0.000,2308,0.206,0.079,2711,3901,2744,2772,2716,0,0,0,0,0,0,26.50,26.63,26.60,8.92,17.67
$GC,1555,-1.47,-146.6,2711,3900,2772,2716,1.2,0.2,275,1564,0.20,1.77,0.00,0.000,3078,0.186,0.062,2779,2572,2744,2773,2716,0,0,0,0,0,0,26.54,26.72,26.66,8.92,17.75
$GC,1627,-1.63,-146.6,2778,2571,2772,2715,0.4,0.6,288,1634,0.08,0.00,0.00,0.000,4102,0.151,0.000,2721,2571,2744,2772,2716,0,0,0,0,0,0,26.68,26.72,26.72,8.92,17.78
$GC,1697,-1.95,-146.6,2719,2571,2772,2716,0.2,0.7,301,1704,0.15,1.95,0.00,0.000,4356,0.107,0.082,2615,3899,2744,2772,2716,0,0,0,0,0,0,26.68,26.64,26.70,8.92,18.34
$GC,1787,-2.24,-146.6,2614,3900,2773,2715,0.3,0.5,318,1795,0.15,1.77,0.00,0.000,5126,0.107,0.062,2510,2570,2743,2772,2715,0,0,0,0,0,0,26.67,26.73,26.72,8.92,17.98
$GC,1858,-2.51,-146.6,2509,2570,2772,2714,0.4,-0.1,331,1866,0.10,2.20,0.00,0.000,4612,0.129,0.065,2439,1020,2743,2772,2715,0,0,0,0,0,0,26.67,26.67,26.70,8.92,18.02
$GC,1887,-2.51,-146.6,2438,1020,2772,2715,0.7,0.0,336,1895,0.00,2.17,0.00,0.000,1030,0.000,0.067,2430,2555,2744,2773,2716,0,0,0,0,0,0,26.73,26.68,26.74,8.92,18.22
$GC,1960,-2.03,-146.6,2429,2555,2772,2714,2.1,-2.5,349,1967,0.52,0.00,0.00,0.000,2054,0.216,0.000,2593,2556,2743,2772,2714,0,0,0,0,0,0,26.52,26.67,26.63,8.92,17.71
$GC,2029,-1.72,-146.6,2592,2557,2772,2714,1.6,-1.2,362,2036,0.30,0.00,0.00,0.000,2054,0.206,0.000,2693,2557,2743,2772,2715,0,0,0,0,0,0,26.53,26.68,26.63,8.92,17.78
$GC,2099,-1.72,-146.6,2692,2557,2772,2715,1.0,-0.2,375,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2557,2743,2772,2715,0,0,0,0,0,0,26.93,26.94,26.94,8.92,18.61
$GC,2168,-2.00,-146.6,2692,2557,2772,2715,0.5,0.4,388,2175,0.12,0.00,0.00,0.000,4102,0.124,0.000,2617,2557,2743,2772,2715,0,0,0,0,0,0,26.67,26.73,26.71,8.92,18.77
$GC,2238,-1.79,-146.6,2616,2557,2772,2714,1.4,-1.2,401,2246,0.17,0.00,0.00,0.000,2054,0.211,0.000,2674,2558,2743,2772,2714,0,0,0,0,0,0,26.54,26.68,26.64,8.92,18.02
$STATE,2257,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2257,begin apogee
$GC,2262,-0.29,0.0,2674,2253,2772,2714,1.3,-0.1,404,2271,1.45,0.00,5.45,0.502,10242,0.199,0.000,3148,2251,2712,2739,2685,0,0,0,0,0,0,26.53,28.83,26.72,8.92,17.98
$STATE,2272,end apogee,SURFACE_DEPTH_REACHED
$STATE,2272,begin surface coast
$FINISH,0.5,1.023323
$STATE,2523,end surface coast,CONTROL_FINISHED_OK
$STATE,2524,begin surface
$SM_CCo,2539,469.10,0.663,0,0,517,500.22
$SM_GC,1.42,7.20,0.45,469.10,0.067,0.079,0.663,138,2570,517,-9.55,-1.58,500.22,0,0,0,0,0,0,26.69,26.69,24.89
$IRIDIUM_FIX,3208.42,-6428.70,070918,201754
$TT8_MAMPS,0.02247,0.225449
$HUMID,16.76
$INTERNAL_PRESSURE,8.67099
$TCM_TEMP,28.10
$XPDR_PINGS,8
$ALTIM_TOP_PING,1.4,999.0
$24V_AH,24.89,7.344
$10V_AH,10.93,2.427
$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,24.350,38.575,5.450,469.100,229.350,0.000,0.000,0.000,2.250,0.000,39.821,1228.969,318.062,799.144,728.192,43.637,0.000,1210.519,0.000,676.834,0.000,2.740,0.000
$DEVICE_MAMPS,250.783,86.905,501.566,662.961,585.988,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.196,603.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319320
$DATA_FILE_SIZE,31367,455
$CAP_FILE_SIZE,215046,0
$CFSIZE,2047311872,2036072448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152,248.73,1
$GPS,070918,211822,3207.112,-6428.577,8,0.8,22,-14.9,0.4,321.5,9,5.0