version: 66.12
glider: 38
mission: 7
dive: 16
start: 3 9 117 11 31 8
data:
$ID,38
$MISSION,7
$DIVE,16
$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,48
$R_STBD_OVSHOOT,32
$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,-20.629532
$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
$GPS1,090317,112321,4743.4155,-12224.5264,27,0.8,43,16.3,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.1
$GPS2,090317,113042,4743.3838,-12224.4834,19,0.9,22,16.3,0.0,0.0,9,4.6
$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,357.1,2067,-14.2,-7.500,-17.62,2973
$D_GRID,174
$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,14,begin dive
$GC,49,-0.75,-146.6,136,2270,1043,1029,1.4,0.9,6,241,0.00,0.00,-188.20,0.142,16386,0.000,0.000,136,2270,2182,2216,2149,0,0,0,0,0,0,26.20,28.83,26.22,8.54,6.64
$GC,244,-0.75,-146.6,136,2269,2216,2149,3.6,-4.8,36,297,11.40,0.00,-36.47,0.151,18694,0.273,0.000,3003,2270,2575,2605,2545,0,0,0,0,0,0,25.57,25.77,25.66,8.64,6.84
$GC,359,-0.75,-146.6,3003,2270,2605,2545,12.8,-7.8,56,365,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2269,2575,2605,2545,0,0,0,0,0,0,26.12,26.14,26.13,8.68,6.05
$GC,427,-0.75,-146.6,3003,2270,2604,2545,18.1,-7.0,69,435,0.00,2.47,0.00,0.000,516,0.000,0.092,3004,682,2574,2604,2545,0,0,0,0,0,0,26.21,25.91,26.22,8.69,6.60
$GC,535,-0.75,-146.6,3003,682,2602,2545,26.0,-7.0,81,542,0.00,2.42,0.00,0.000,1030,0.000,0.084,2994,2260,2573,2602,2545,0,0,0,0,0,0,26.13,26.03,26.14,8.68,7.03
$GC,662,-0.75,-146.6,2994,2260,2602,2545,36.4,-8.6,94,671,0.00,2.50,0.00,0.000,260,0.000,0.107,2982,3835,2573,2602,2545,0,0,0,0,0,0,26.42,26.10,26.43,8.69,6.72
$GC,696,-0.75,-146.6,2982,3835,2602,2545,39.0,-8.1,97,704,0.00,2.40,0.00,0.000,1030,0.000,0.082,2982,2251,2573,2602,2545,0,0,0,0,0,0,26.25,26.17,26.26,8.69,6.25
$GC,823,-0.75,-146.6,2982,2251,2601,2545,50.2,-8.4,110,833,0.00,2.42,0.00,0.000,516,0.000,0.094,2983,679,2573,2601,2545,0,0,0,0,0,0,26.51,26.20,26.52,8.69,6.84
$GC,897,-0.75,-146.6,2981,678,2600,2545,56.3,-8.7,117,906,0.12,2.42,0.00,0.000,3078,0.199,0.087,3011,2253,2572,2600,2545,0,0,0,0,0,0,26.17,26.25,26.29,8.69,6.40
$GC,1025,-0.75,-146.6,3011,2253,2600,2545,65.3,-7.2,130,1034,0.00,2.53,0.00,0.000,260,0.000,0.107,3001,3837,2572,2600,2545,0,0,0,0,0,0,26.59,26.28,26.60,8.69,6.40
$GC,1128,-0.75,-146.6,3000,3837,2600,2545,72.6,-6.5,140,1136,0.00,2.42,0.00,0.000,1030,0.000,0.082,3000,2248,2572,2600,2545,0,0,0,0,0,0,26.40,26.36,26.42,8.69,6.60
$GC,1256,-0.75,-146.6,3000,2249,2600,2545,83.0,-8.2,153,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2249,2572,2600,2545,0,0,0,0,0,0,26.67,26.68,26.67,8.69,6.60
$GC,1376,-0.75,-146.6,2999,2249,2600,2545,94.0,-8.8,165,1381,0.00,2.40,0.00,0.000,516,0.000,0.092,3001,675,2572,2600,2545,0,0,0,0,0,0,26.70,26.40,26.72,8.69,6.60
$GC,1462,-0.75,-146.6,2999,675,2598,2545,100.8,-8.3,173,1467,0.00,2.40,0.00,0.000,1030,0.000,0.084,2991,2250,2571,2598,2544,0,0,0,0,0,0,26.52,26.43,26.54,8.69,6.84
$GC,1594,-0.75,-146.6,2990,2250,2598,2545,111.8,-7.4,186,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2250,2571,2598,2545,0,0,0,0,0,0,26.75,26.77,26.76,8.69,6.56
$GC,1714,-0.75,-146.6,2989,2250,2598,2545,120.5,-7.4,198,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2250,2571,2598,2545,0,0,0,0,0,0,26.77,26.79,26.79,8.69,6.52
$GC,1834,-0.75,-146.6,2990,2250,2598,2544,129.5,-6.6,210,1843,0.00,2.42,0.00,0.000,516,0.000,0.094,2990,676,2571,2598,2544,0,0,0,0,0,0,26.79,26.49,26.81,8.69,6.64
$GC,1885,-0.75,-146.6,2990,675,2598,2545,134.0,-9.0,215,1890,0.00,2.40,0.00,0.000,1030,0.000,0.084,2981,2255,2571,2598,2545,0,0,0,0,0,0,26.60,26.51,26.62,8.69,6.72
$GC,2017,-0.75,-146.6,2979,2256,2598,2545,143.5,-7.1,228,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2255,2571,2598,2545,0,0,0,0,0,0,26.82,26.84,26.84,8.69,6.44
$GC,2137,-0.75,-146.6,2980,2256,2597,2545,153.7,-7.6,240,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2256,2571,2598,2545,0,0,0,0,0,0,26.84,26.85,26.85,8.69,7.31
$GC,2257,-0.75,-146.6,2979,2255,2598,2545,165.4,-9.5,252,2266,0.00,2.42,0.00,0.000,516,0.000,0.092,2980,671,2571,2597,2545,0,0,0,0,0,0,26.86,26.55,26.87,8.69,6.36
$GC,2319,-0.75,-146.6,2979,671,2597,2545,170.0,-7.8,258,2329,0.12,2.40,0.00,0.000,3078,0.196,0.084,3010,2256,2571,2597,2545,0,0,0,0,0,0,26.48,26.57,26.61,8.69,7.27
$STATE,2367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2367,begin apogee
$GC,2371,-0.25,0.0,3009,2256,2597,2545,174.1,-7.8,263,2480,0.47,0.00,104.55,0.956,10246,0.159,0.000,3175,2256,2070,2089,2052,0,0,0,0,0,0,26.51,24.94,24.37,8.69,6.84
$STATE,2481,end apogee,CONTROL_FINISHED_OK
$STATE,2481,begin climb
$GC,2482,0.75,146.6,3175,2256,2088,2053,177.5,0.0,274,2601,0.82,0.00,114.25,0.909,10246,0.129,0.000,3462,2256,1565,1567,1563,0,0,0,0,0,0,25.00,24.58,24.03,8.65,6.96
$GC,2719,0.82,146.6,3462,2256,1567,1562,165.6,5.6,298,2721,0.05,0.00,0.00,0.000,2054,0.184,0.000,3499,2256,1564,1567,1562,0,0,0,0,0,0,25.51,25.56,25.54,8.60,6.56
$GC,2839,0.82,146.6,3498,2256,1567,1562,158.3,6.6,310,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2256,1564,1567,1562,0,0,0,0,0,0,26.00,26.01,26.01,8.60,6.72
$GC,2959,0.82,146.6,3497,2256,1567,1562,149.8,6.8,322,2969,0.00,2.53,0.00,0.000,260,0.000,0.104,3499,3832,1564,1567,1562,0,0,0,0,0,0,26.17,25.86,26.18,8.60,6.44
$GC,2981,0.82,146.6,3498,3832,1567,1562,147.1,9.9,324,2991,0.00,2.42,0.00,0.000,1030,0.000,0.082,3510,2254,1564,1567,1562,0,0,0,0,0,0,26.01,25.93,26.03,8.60,6.68
$GC,3112,0.84,219.2,3510,2254,1567,1563,138.2,5.0,337,3172,0.00,0.00,56.50,0.894,8198,0.000,0.000,3510,2253,1315,1321,1309,0,0,0,0,0,0,26.32,25.12,24.59,8.60,6.52
$GC,3291,0.84,219.2,3509,2253,1321,1307,125.0,7.3,355,3301,0.00,2.50,0.00,0.000,516,0.000,0.092,3521,685,1314,1321,1307,0,0,0,0,0,0,25.90,25.61,25.91,8.58,6.44
$GC,3375,0.84,219.2,3520,684,1321,1307,118.8,7.5,363,3385,0.00,2.45,0.00,0.000,1030,0.000,0.087,3521,2255,1314,1321,1307,0,0,0,0,0,0,25.83,25.76,25.86,8.57,6.29
$GC,3504,0.84,219.2,3520,2255,1321,1307,107.1,9.2,376,3514,0.00,2.50,0.00,0.000,516,0.000,0.094,3528,675,1314,1321,1307,0,0,0,0,0,0,26.22,25.93,26.24,8.57,6.80
$GC,3588,0.84,219.2,3527,675,1321,1307,98.6,10.0,384,3596,0.00,2.47,0.00,0.000,1030,0.000,0.084,3528,2248,1314,1321,1307,0,0,0,0,0,0,26.06,26.01,26.09,8.58,6.76
$GC,3716,0.84,219.2,3527,2248,1321,1307,86.2,9.5,397,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2248,1314,1321,1307,0,0,0,0,0,0,26.40,26.41,26.41,8.57,6.68
$GC,3836,0.84,219.2,3527,2248,1321,1307,75.7,8.9,409,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,2248,1314,1321,1307,0,0,0,0,0,0,26.48,26.48,26.48,8.58,6.44
$GC,3956,0.84,219.2,3528,2248,1321,1307,64.8,9.2,421,3966,0.00,2.53,0.00,0.000,260,0.000,0.109,3528,3837,1314,1322,1307,0,0,0,0,0,0,26.53,26.22,26.55,8.57,6.44
$GC,4001,0.84,219.2,3527,3837,1322,1306,60.9,9.0,425,4010,0.00,2.42,0.00,0.000,1030,0.000,0.079,3537,2258,1314,1322,1306,0,0,0,0,0,0,26.32,26.28,26.36,8.57,6.84
$GC,4129,0.84,219.2,3536,2258,1322,1306,49.9,7.8,438,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2258,1314,1322,1306,0,0,0,0,0,0,26.60,26.62,26.61,8.57,6.44
$GC,4249,0.84,219.2,3536,2258,1321,1306,42.2,6.1,450,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2258,1314,1322,1306,0,0,0,0,0,0,26.64,26.65,26.65,8.57,6.33
$GC,4369,0.84,219.2,3536,2258,1322,1306,34.4,6.8,462,4379,0.00,2.42,0.00,0.000,516,0.000,0.094,3548,675,1314,1322,1306,0,0,0,0,0,0,26.67,26.38,26.69,8.57,6.21
$GC,4424,0.84,219.2,3547,675,1322,1306,30.3,7.8,467,4432,0.00,2.42,0.00,0.000,1030,0.000,0.087,3548,2255,1314,1322,1306,0,0,0,0,0,0,26.48,26.39,26.51,8.57,6.33
$GC,4551,0.84,219.2,3548,2255,1322,1306,18.4,9.2,481,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2255,1314,1322,1306,0,0,0,0,0,0,26.72,26.73,26.73,8.57,6.36
$GC,4620,0.84,219.2,3547,2255,1322,1306,11.8,10.2,494,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2255,1314,1322,1306,0,0,0,0,0,0,26.73,26.74,26.74,8.57,6.52
$GC,4687,0.84,219.2,3547,2255,1322,1306,5.6,10.3,507,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,2255,1314,1322,1306,0,0,0,0,0,0,26.74,26.77,26.76,8.57,7.27
$STATE,4699,end climb,SURFACE_DEPTH_REACHED
$STATE,4699,begin surface coast
$FINISH,0.2,1.022357
$STATE,4768,end surface coast,CONTROL_FINISHED_OK
$STATE,4768,begin surface
$SM_CCo,4784,65.40,0.829,0,0,1037,300.08
$SM_GC,1.16,8.70,0.00,65.40,0.077,0.000,0.829,131,2256,1037,-9.67,0.08,300.08,0,0,0,0,0,0,26.51,26.78,24.93
$IRIDIUM_FIX,4726.11,-12226.80,090317,095638
$TT8_MAMPS,0.02247,0.171521
$HUMID,7.00
$INTERNAL_PRESSURE,8.4952
$TCM_TEMP,7.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,19.7
$ALTIM_BOTTOM_PING,100.8,86.4
$24V_AH,24.03,57.746
$10V_AH,10.60,37.289
$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,21.700,58.725,275.300,65.400,224.675,22.858,35.706,285.497,1.000,0.000,23.661,1391.765,1935.707,632.367,1272.961,72.908,0.000,1209.858,0.000,905.043,0.000,7.424,0.000
$DEVICE_MAMPS,273.130,109.252,955.955,829.322,151.463,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.146,691.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322928
$DATA_FILE_SIZE,34830,522
$CAP_FILE_SIZE,80539,0
$CFSIZE,2047311872,2039578624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,163.03,1
$GPS,090317,125251,4743.828,-12224.211,14,0.8,18,16.3,0.0,0.0,10,4.6