version: 66.12
glider: 38
mission: 7
dive: 12
start: 3 9 117 5 56 45
data:
$ID,38
$MISSION,7
$DIVE,12
$N_DIVES,0
$STOP_T,3101715
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$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,80
$T_MISSION,100
$T_ABORT,4120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,30
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,80211.703
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$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,2253
$C_ROLL_CLIMB,2253
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2070
$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,-20.749723
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$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
$GPS1,090317,054732,4744.7026,-12224.1191,2,0.9,16,16.3,0.0,0.0,8,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.3
$GPS2,090317,055619,4744.6904,-12224.1357,4,0.9,19,16.3,0.0,0.0,8,4.9
$SPEED_LIMITS,0.206,0.236
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,183.4,3163,-14.2,-7.500,-17.62,2973
$D_GRID,168
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,50,-0.75,-146.6,177,2248,1052,1018,1.4,-0.1,6,229,0.00,0.00,-176.23,0.142,16386,0.000,0.000,177,2248,2132,2171,2094,0,0,0,0,0,0,26.17,28.83,26.19,8.54,6.64
$GC,232,-0.75,-146.6,177,2248,2171,2093,3.2,-3.9,34,291,11.15,2.55,-40.85,0.151,18948,0.271,0.092,3003,676,2575,2611,2540,0,0,0,0,0,0,25.56,25.70,25.65,8.65,6.48
$GC,394,-0.75,-146.6,3002,677,2607,2540,17.3,-8.5,63,401,0.00,2.47,0.00,0.000,1030,0.000,0.084,2994,2252,2574,2608,2540,0,0,0,0,0,0,25.97,25.87,25.98,8.69,6.36
$GC,463,-0.75,-146.6,2993,2253,2607,2541,23.3,-7.9,72,473,0.00,2.55,0.00,0.000,260,0.000,0.107,2981,3840,2573,2607,2540,0,0,0,0,0,0,26.25,25.94,26.26,8.69,6.36
$GC,525,-0.75,-146.6,2981,3840,2607,2540,28.6,-8.1,78,536,0.00,2.45,0.00,0.000,1030,0.000,0.084,2981,2249,2573,2607,2540,0,0,0,0,0,0,26.10,26.03,26.13,8.69,6.40
$GC,656,-0.75,-146.6,2981,2249,2605,2540,40.1,-8.4,91,665,0.00,2.45,0.00,0.000,516,0.000,0.097,2981,677,2572,2605,2540,0,0,0,0,0,0,26.41,26.10,26.42,8.69,6.60
$GC,730,-0.70,-146.6,2981,677,2605,2540,46.3,-8.5,98,739,0.17,2.45,0.00,0.000,3078,0.186,0.087,3026,2254,2572,2605,2540,0,0,0,0,0,0,26.08,26.15,26.20,8.70,7.19
$GC,858,-0.70,-146.6,3026,2254,2605,2540,56.3,-7.4,111,859,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2253,2572,2605,2540,0,0,0,0,0,0,26.52,26.53,26.53,8.69,6.25
$GC,978,-0.70,-146.6,3026,2254,2604,2540,65.3,-7.3,123,987,0.00,2.47,0.00,0.000,516,0.000,0.094,3027,668,2571,2603,2540,0,0,0,0,0,0,26.58,26.27,26.59,8.69,6.88
$GC,1131,-0.70,-146.6,3026,668,2603,2540,77.4,-8.1,138,1141,0.00,2.45,0.00,0.000,1030,0.000,0.087,3017,2259,2571,2603,2540,0,0,0,0,0,0,26.42,26.32,26.44,8.69,6.56
$GC,1261,-0.70,-146.6,3016,2259,2603,2540,87.5,-7.2,151,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2259,2572,2603,2541,0,0,0,0,0,0,26.67,26.68,26.68,8.69,6.60
$GC,1381,-0.70,-146.6,3016,2259,2603,2540,95.4,-6.3,163,1391,0.00,2.45,0.00,0.000,516,0.000,0.094,3017,677,2571,2602,2540,0,0,0,0,0,0,26.70,26.39,26.72,8.69,6.40
$GC,1467,-0.70,-146.6,3016,677,2601,2540,101.3,-6.8,171,1477,0.00,2.42,0.00,0.000,1030,0.000,0.087,3007,2264,2571,2602,2540,0,0,0,0,0,0,26.51,26.41,26.53,8.69,7.19
$GC,1597,-0.70,-146.6,3006,2264,2601,2540,109.8,-6.3,184,1608,0.00,2.47,0.00,0.000,260,0.000,0.107,2995,3838,2570,2601,2540,0,0,0,0,0,0,26.75,26.44,26.76,8.69,6.48
$GC,1690,-0.70,-146.6,2994,3839,2602,2540,116.5,-7.2,193,1700,0.10,2.40,0.00,0.000,3078,0.194,0.084,3028,2250,2571,2602,2540,0,0,0,0,0,0,26.40,26.48,26.52,8.69,6.72
$GC,1820,-0.70,-146.6,3028,2249,2602,2540,123.7,-5.5,206,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2250,2571,2602,2540,0,0,0,0,0,0,26.79,26.80,26.80,8.69,6.88
$GC,1940,-0.70,-146.6,3028,2250,2601,2540,130.2,-5.6,218,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2250,2571,2602,2540,0,0,0,0,0,0,26.82,26.82,26.82,8.69,6.36
$GC,2060,-0.70,-146.6,3028,2250,2601,2541,136.9,-5.8,230,2070,0.00,2.40,0.00,0.000,516,0.000,0.094,3028,675,2570,2601,2540,0,0,0,0,0,0,26.83,26.52,26.84,8.70,6.60
$GC,2133,-0.70,-146.6,3028,674,2601,2540,141.6,-6.6,237,2142,0.00,2.42,0.00,0.000,1030,0.000,0.087,3019,2262,2571,2601,2541,0,0,0,0,0,0,26.63,26.53,26.65,8.69,6.56
$GC,2262,-0.70,-146.6,3018,2262,2601,2541,149.6,-6.4,250,2273,0.00,2.47,0.00,0.000,260,0.000,0.107,3006,3846,2570,2601,2540,0,0,0,0,0,0,26.86,26.53,26.86,8.69,6.84
$GC,2385,-0.70,-146.6,3006,3846,2601,2540,157.6,-6.3,262,2396,0.00,2.40,0.00,0.000,1030,0.000,0.082,3006,2248,2570,2601,2540,0,0,0,0,0,0,26.67,26.59,26.69,8.70,6.96
$GC,2516,-0.70,-146.6,3005,2248,2601,2540,165.7,-6.0,275,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2248,2570,2601,2540,0,0,0,0,0,0,26.88,26.89,26.89,8.70,6.68
$STATE,2544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2544,begin apogee
$GC,2548,-0.25,0.0,3006,2248,2601,2540,168.2,-7.7,278,2657,0.47,0.00,103.68,0.958,10246,0.154,0.000,3172,2246,2070,2086,2054,0,0,0,0,0,0,26.52,24.94,24.37,8.70,6.48
$STATE,2658,end apogee,CONTROL_FINISHED_OK
$STATE,2658,begin climb
$GC,2659,0.75,146.6,3173,2246,2087,2054,170.6,0.0,289,2777,0.82,0.00,113.78,0.916,10246,0.129,0.000,3459,2246,1565,1565,1565,0,0,0,0,0,0,25.01,24.58,24.03,8.65,6.40
$GC,2896,0.82,146.6,3459,2246,1565,1564,157.1,7.4,313,2898,0.08,0.00,0.00,0.000,2054,0.146,0.000,3505,2246,1565,1565,1565,0,0,0,0,0,0,25.51,25.57,25.55,8.61,6.13
$GC,3015,0.82,146.6,3504,2246,1565,1565,146.8,8.5,325,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2246,1565,1565,1565,0,0,0,0,0,0,26.01,26.03,26.03,8.60,6.52
$GC,3135,0.82,146.6,3504,2246,1565,1565,136.7,7.6,337,3146,0.00,2.60,0.00,0.000,260,0.000,0.107,3505,3846,1564,1565,1564,0,0,0,0,0,0,26.19,25.88,26.20,8.61,6.84
$GC,3241,0.82,146.6,3504,3846,1565,1565,129.5,6.8,347,3250,0.00,2.47,0.00,0.000,1030,0.000,0.084,3516,2256,1564,1565,1564,0,0,0,0,0,0,26.07,26.02,26.10,8.61,6.52
$GC,3369,0.82,146.6,3515,2255,1566,1564,119.6,8.3,360,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2256,1565,1565,1565,0,0,0,0,0,0,26.39,26.41,26.41,8.60,6.48
$GC,3489,0.82,146.6,3515,2255,1565,1565,110.6,7.8,372,3498,0.00,2.45,0.00,0.000,516,0.000,0.097,3526,677,1565,1565,1565,0,0,0,0,0,0,26.47,26.16,26.48,8.60,6.68
$GC,3572,0.82,146.6,3525,678,1565,1565,104.0,8.3,380,3581,0.00,2.45,0.00,0.000,1030,0.000,0.087,3526,2259,1565,1565,1565,0,0,0,0,0,0,26.31,26.21,26.33,8.60,6.40
$GC,3701,0.82,146.6,3526,2259,1565,1565,93.1,7.3,393,3711,0.00,2.53,0.00,0.000,260,0.000,0.109,3526,3846,1564,1565,1564,0,0,0,0,0,0,26.57,26.25,26.58,8.60,6.44
$GC,3764,0.82,146.6,3526,3845,1565,1565,87.7,9.2,399,3774,0.00,2.45,0.00,0.000,1030,0.000,0.084,3536,2244,1565,1565,1565,0,0,0,0,0,0,26.39,26.31,26.41,8.60,6.56
$GC,3894,0.82,146.6,3535,2244,1565,1564,77.2,8.0,412,3903,0.00,2.42,0.00,0.000,516,0.000,0.097,3547,675,1565,1566,1565,0,0,0,0,0,0,26.64,26.33,26.65,8.60,6.64
$GC,4059,0.82,146.6,3547,675,1565,1564,63.5,8.4,428,4067,0.10,2.45,0.00,0.000,5126,0.159,0.087,3513,2252,1565,1565,1565,0,0,0,0,0,0,26.33,26.39,26.41,8.60,6.48
$GC,4187,0.82,146.6,3512,2252,1566,1564,54.5,6.4,441,4197,0.00,2.45,0.00,0.000,516,0.000,0.097,3523,676,1565,1566,1564,0,0,0,0,0,0,26.72,26.41,26.72,8.60,6.80
$GC,4302,0.82,146.6,3522,676,1565,1565,46.2,7.0,452,4310,0.00,2.45,0.00,0.000,1030,0.000,0.087,3523,2257,1564,1565,1564,0,0,0,0,0,0,26.49,26.44,26.53,8.60,6.48
$GC,4429,0.82,146.6,3522,2257,1565,1565,36.7,7.2,465,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2257,1565,1566,1565,0,0,0,0,0,0,26.77,26.78,26.77,8.60,6.76
$GC,4549,0.82,146.6,3521,2257,1565,1564,28.0,7.2,477,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2257,1565,1565,1565,0,0,0,0,0,0,26.79,26.81,26.80,8.60,6.72
$GC,4670,0.82,146.6,3522,2257,1565,1564,19.4,7.3,489,4677,0.00,2.50,0.00,0.000,260,0.000,0.107,3523,3850,1565,1566,1565,0,0,0,0,0,0,26.79,26.50,26.79,8.60,6.60
$GC,4769,0.82,146.6,3522,3850,1565,1565,11.8,7.2,508,4776,0.00,2.42,0.00,0.000,1030,0.000,0.084,3532,2250,1565,1566,1564,0,0,0,0,0,0,26.63,26.53,26.65,8.60,6.60
$GC,4839,0.82,146.6,3531,2250,1566,1564,7.0,7.0,521,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,2250,1564,1566,1563,0,0,0,0,0,0,26.83,26.85,26.84,8.59,7.03
$STATE,4871,end climb,SURFACE_DEPTH_REACHED
$STATE,4871,begin surface coast
$FINISH,0.0,1.022109
$STATE,4958,end surface coast,CONTROL_FINISHED_OK
$STATE,4958,begin surface
$SM_CCo,4974,116.28,0.832,0,0,1037,300.08
$SM_GC,1.20,8.70,0.00,116.28,0.082,0.000,0.832,140,2248,1037,-9.66,-0.14,300.08,0,0,0,0,0,0,26.55,26.86,24.50
$IRIDIUM_FIX,4726.11,-12226.80,090317,054844
$TT8_MAMPS,0.02247,0.167027
$HUMID,6.33
$INTERNAL_PRESSURE,8.50497
$TCM_TEMP,8.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,19.7
$ALTIM_BOTTOM_PING,100.4,84.7
$24V_AH,24.03,57.303
$10V_AH,10.61,37.151
$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,21.600,68.950,217.450,116.275,217.075,50.316,60.386,257.844,1.000,0.000,20.728,1478.007,2044.132,645.710,1391.264,73.349,0.000,1248.428,0.000,996.002,0.000,7.420,0.000
$DEVICE_MAMPS,270.647,109.252,958.438,831.805,151.463,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.882,720.985,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322968
$DATA_FILE_SIZE,34782,544
$CAP_FILE_SIZE,83838,0
$CFSIZE,2047311872,2039971840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.206,179.79,1
$GPS,090317,072252,4743.588,-12224.371,39,0.9,41,16.3,0.0,0.0,9,4.5