version: 66.12
glider: 38
mission: 7
dive: 15
start: 3 9 117 10 3 8
data:
$ID,38
$MISSION,7
$DIVE,15
$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,120
$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,43
$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,-20.547415
$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
$GPS1,090317,095521,4743.2134,-12224.6729,3,1.0,19,16.3,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.5
$GPS2,090317,100242,4743.1943,-12224.6729,6,1.0,25,16.3,0.0,0.0,9,5.0
$SPEED_LIMITS,0.206,0.236
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-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,4.9,2427,-14.2,-7.500,-17.62,2973
$D_GRID,177
$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,-146.6,164,2255,1044,1028,1.6,-0.9,6,241,0.00,0.00,-187.98,0.142,16386,0.000,0.000,165,2255,2186,2220,2153,0,0,0,0,0,0,26.15,28.83,26.16,8.53,6.40
$GC,244,-0.75,-146.6,165,2255,2220,2153,3.3,-4.1,36,297,11.48,2.65,-34.83,0.151,18692,0.281,0.104,2992,3847,2575,2607,2544,0,0,0,0,0,0,25.51,25.67,25.63,8.64,6.40
$GC,330,-0.75,-146.6,2991,3847,2607,2544,12.8,-11.1,50,338,0.00,2.47,0.00,0.000,1030,0.000,0.082,2991,2248,2575,2607,2544,0,0,0,0,0,0,25.86,25.77,25.87,8.69,6.56
$GC,399,-0.75,-146.6,2991,2249,2606,2544,19.4,-9.5,63,406,0.00,2.45,0.00,0.000,516,0.000,0.094,2992,680,2574,2605,2544,0,0,0,0,0,0,26.14,25.84,26.15,8.69,6.21
$GC,483,-0.75,-146.6,2991,680,2605,2544,27.0,-9.0,72,492,0.00,2.47,0.00,0.000,1030,0.000,0.087,2981,2263,2574,2604,2544,0,0,0,0,0,0,26.04,25.96,26.06,8.68,6.29
$GC,613,-0.75,-146.6,2980,2263,2604,2544,39.4,-10.4,85,618,0.00,2.53,0.00,0.000,260,0.000,0.109,2970,3838,2573,2603,2544,0,0,0,0,0,0,26.36,26.05,26.36,8.68,6.52
$GC,725,-0.75,-146.6,2969,3838,2604,2544,51.7,-11.1,96,735,0.12,2.42,0.00,0.000,3078,0.194,0.082,3009,2254,2573,2603,2544,0,0,0,0,0,0,26.06,26.16,26.19,8.69,6.36
$GC,855,-0.75,-146.6,3008,2254,2603,2544,63.6,-8.8,109,859,0.00,2.45,0.00,0.000,516,0.000,0.094,3009,673,2573,2603,2544,0,0,0,0,0,0,26.51,26.20,26.51,8.69,6.44
$GC,916,-0.75,-146.6,3009,673,2602,2544,68.8,-8.3,115,921,0.00,2.45,0.00,0.000,1030,0.000,0.087,2999,2260,2573,2602,2544,0,0,0,0,0,0,26.32,26.22,26.34,8.69,6.25
$GC,1048,-0.75,-146.6,2999,2260,2602,2544,79.9,-8.3,128,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2260,2573,2602,2544,0,0,0,0,0,0,26.58,26.60,26.59,8.70,6.64
$GC,1168,-0.75,-146.6,2999,2260,2602,2544,89.7,-8.5,140,1177,0.00,2.50,0.00,0.000,260,0.000,0.107,2987,3840,2573,2602,2544,0,0,0,0,0,0,26.63,26.31,26.64,8.69,6.88
$GC,1239,-0.75,-146.6,2986,3839,2602,2543,95.4,-8.4,147,1244,0.00,2.42,0.00,0.000,1030,0.000,0.082,2987,2242,2572,2601,2544,0,0,0,0,0,0,26.46,26.37,26.47,8.69,7.00
$GC,1375,-0.75,-146.6,2987,2241,2601,2544,105.3,-7.6,160,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2242,2573,2601,2545,0,0,0,0,0,0,26.67,26.68,26.68,8.69,6.64
$GC,1501,-0.75,-146.6,2987,2241,2601,2544,115.1,-8.3,173,1511,0.00,2.40,0.00,0.000,516,0.000,0.094,2987,673,2572,2600,2544,0,0,0,0,0,0,26.72,26.41,26.73,8.69,6.56
$GC,1576,-0.75,-146.6,2987,673,2600,2544,121.4,-8.8,180,1584,0.00,2.45,0.00,0.000,1030,0.000,0.084,2980,2261,2572,2600,2544,0,0,0,0,0,0,26.48,26.46,26.52,8.69,6.56
$GC,1704,-0.75,-146.6,2979,2261,2600,2544,131.6,-7.8,193,1714,0.00,2.45,0.00,0.000,516,0.000,0.092,2979,673,2572,2600,2544,0,0,0,0,0,0,26.76,26.45,26.77,8.69,6.56
$GC,1817,-0.75,-146.6,2979,673,2599,2544,140.3,-7.7,204,1827,0.12,2.42,0.00,0.000,3078,0.199,0.084,3009,2265,2571,2599,2544,0,0,0,0,0,0,26.40,26.48,26.53,8.69,6.88
$GC,1947,-0.75,-146.6,3009,2265,2599,2544,150.1,-7.7,217,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2265,2571,2599,2544,0,0,0,0,0,0,26.80,26.82,26.81,8.69,6.80
$GC,2067,-0.75,-146.6,3008,2265,2599,2544,158.9,-9.0,229,2077,0.00,2.45,0.00,0.000,516,0.000,0.092,3010,672,2571,2599,2544,0,0,0,0,0,0,26.82,26.51,26.83,8.69,6.84
$GC,2123,-0.75,-146.6,3009,672,2598,2544,163.3,-8.3,234,2130,0.00,2.42,0.00,0.000,1030,0.000,0.087,3000,2263,2571,2599,2544,0,0,0,0,0,0,26.62,26.53,26.64,8.70,6.52
$GC,2249,-0.75,-146.6,2999,2263,2599,2544,174.9,-9.1,247,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2263,2572,2600,2544,0,0,0,0,0,0,26.84,26.86,26.85,8.69,6.96
$STATE,2278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2278,begin apogee
$GC,2282,-0.25,0.0,2998,2263,2599,2544,177.3,-8.1,250,2391,0.50,0.00,104.68,0.958,10246,0.161,0.000,3170,2262,2070,2089,2052,0,0,0,0,0,0,26.47,24.91,24.34,8.69,6.64
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2393,begin climb
$GC,2394,0.75,146.6,3171,2263,2089,2052,180.0,0.0,261,2520,0.85,2.67,114.07,0.914,10756,0.132,0.094,3468,680,1564,1566,1563,0,0,0,0,0,0,24.97,24.60,24.02,8.65,6.48
$GC,2544,0.83,213.6,3467,680,1566,1563,173.4,5.2,276,2605,0.03,2.53,53.05,0.899,11270,0.164,0.084,3493,2242,1334,1338,1330,0,0,0,0,0,0,24.98,25.02,24.08,8.61,6.84
$GC,2723,0.83,213.6,3492,2242,1338,1329,161.0,7.4,294,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,2242,1333,1337,1329,0,0,0,0,0,0,25.71,25.72,25.72,8.58,6.29
$GC,2843,0.88,213.6,3492,2242,1338,1328,151.8,6.8,306,2854,0.00,2.65,0.00,0.000,2308,0.000,0.107,3493,3852,1333,1339,1328,0,0,0,0,0,0,26.01,25.69,26.01,8.58,6.76
$GC,2876,0.88,213.6,3493,3851,1341,1328,148.9,8.6,309,2886,0.00,2.50,0.00,0.000,1030,0.000,0.082,3502,2249,1334,1340,1328,0,0,0,0,0,0,25.86,25.78,25.87,8.58,6.25
$GC,3006,0.88,213.6,3502,2249,1340,1328,138.1,7.3,322,3016,0.00,2.47,0.00,0.000,516,0.000,0.094,3513,673,1334,1340,1328,0,0,0,0,0,0,26.21,25.91,26.22,8.58,6.68
$GC,3119,0.88,213.6,3513,673,1340,1328,127.7,9.7,333,3128,0.00,2.47,0.00,0.000,1030,0.000,0.087,3513,2261,1334,1341,1328,0,0,0,0,0,0,26.12,26.03,26.13,8.58,6.48
$GC,3248,0.88,213.6,3512,2261,1340,1327,116.2,8.1,346,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2261,1334,1340,1328,0,0,0,0,0,0,26.41,26.42,26.42,8.58,6.48
$GC,3369,0.88,213.6,3513,2261,1340,1328,106.8,8.1,358,3379,0.00,2.50,0.00,0.000,516,0.000,0.094,3520,666,1334,1341,1328,0,0,0,0,0,0,26.48,26.17,26.48,8.57,6.60
$GC,3425,0.88,213.6,3520,666,1340,1328,102.3,8.2,363,3432,0.00,2.47,0.00,0.000,1030,0.000,0.087,3520,2263,1334,1341,1327,0,0,0,0,0,0,26.30,26.20,26.32,8.58,6.88
$GC,3551,0.88,213.6,3519,2263,1340,1328,90.7,8.9,376,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2262,1334,1341,1327,0,0,0,0,0,0,26.55,26.58,26.57,8.58,6.29
$GC,3671,0.88,213.6,3520,2263,1341,1328,80.4,8.1,388,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2263,1334,1340,1328,0,0,0,0,0,0,26.60,26.62,26.62,8.58,6.92
$GC,3791,0.88,213.6,3520,2263,1340,1328,70.5,8.5,400,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2263,1334,1341,1328,0,0,0,0,0,0,26.65,26.66,26.65,8.58,7.11
$GC,3911,0.88,213.6,3520,2263,1340,1328,60.8,8.2,412,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2263,1334,1341,1327,0,0,0,0,0,0,26.68,26.70,26.70,8.57,7.23
$GC,4031,0.88,213.6,3520,2263,1340,1328,51.7,8.3,424,4041,0.00,2.47,0.00,0.000,260,0.000,0.107,3520,3837,1334,1341,1328,0,0,0,0,0,0,26.72,26.40,26.72,8.58,6.44
$GC,4073,0.88,213.6,3520,3837,1341,1328,48.1,8.7,428,4084,0.00,2.42,0.00,0.000,1030,0.000,0.082,3529,2229,1334,1341,1328,0,0,0,0,0,0,26.53,26.45,26.54,8.57,6.40
$GC,4204,0.88,213.6,3528,2230,1342,1328,37.1,8.3,441,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2229,1334,1341,1328,0,0,0,0,0,0,26.74,26.76,26.76,8.57,6.40
$GC,4324,0.88,213.6,3528,2229,1341,1328,27.1,8.8,453,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,3529,2229,1334,1341,1327,0,0,0,0,0,0,26.77,26.79,26.78,8.57,6.96
$GC,4445,0.88,213.6,3528,2229,1341,1327,16.3,7.1,469,4452,0.00,2.35,0.00,0.000,516,0.000,0.094,3536,679,1334,1341,1328,0,0,0,0,0,0,26.79,26.48,26.81,8.57,6.44
$GC,4543,0.88,213.6,3536,679,1341,1328,8.2,7.9,488,4552,0.00,2.40,0.00,0.000,1030,0.000,0.087,3537,2268,1334,1341,1328,0,0,0,0,0,0,26.60,26.51,26.63,8.57,6.40
$STATE,4582,end climb,SURFACE_DEPTH_REACHED
$STATE,4582,begin surface coast
$FINISH,0.7,1.022125
$STATE,4649,end surface coast,CONTROL_FINISHED_OK
$STATE,4649,begin surface
$SM_CCo,4665,69.82,0.829,0,0,1037,300.08
$SM_GC,1.28,8.68,0.00,69.82,0.079,0.000,0.829,137,2268,1037,-9.66,0.42,300.08,0,0,0,0,0,0,26.55,26.84,24.92
$IRIDIUM_FIX,4726.11,-12224.09,090317,082410
$TT8_MAMPS,0.02247,0.162533
$HUMID,6.40
$INTERNAL_PRESSURE,8.4952
$TCM_TEMP,7.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,105.3,85.0
$24V_AH,24.02,57.629
$10V_AH,10.61,37.251
$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,21.775,69.350,271.800,69.825,222.800,26.290,20.177,292.527,1.250,0.000,26.447,1358.032,1868.622,620.645,1270.178,73.008,0.000,1209.767,0.000,898.972,0.000,11.844,0.000
$DEVICE_MAMPS,280.579,109.252,958.438,829.322,151.463,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.679,672.971,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322932
$DATA_FILE_SIZE,31270,508
$CAP_FILE_SIZE,80535,0
$CFSIZE,2047311872,2039709696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,92.78,0x237cae,0,24
$CURRENT,0.139,203.77,1
$GPS,090317,112321,4743.416,-12224.526,27,0.8,43,16.3,0.0,0.0,10,4.6