version: 66.14
glider: 38
mission: 13
dive: 4
start: 7 10 118 22 34 16
data:
$ID,38
$MISSION,13
$DIVE,4
$N_DIVES,0
$STOP_T,7111819
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,6000
$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,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,80150
$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,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,1
$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,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,14.5
$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,2251
$C_ROLL_CLIMB,2251
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,1675
$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,-20.373196
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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,0.0043154242
$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
$GPS1,100718,222739,4742.7822,-12224.9326,4,0.9,13,16.3,0.0,161.7,8,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.1
$GPS2,100718,223340,4742.7959,-12224.9082,7,0.9,15,16.3,0.0,282.8,8,4.8
$SPEED_LIMITS,0.173,0.230
$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,15.3,3197,-20.9,-10.000,-23.48,2226
$D_GRID,185
$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,-1.53,-146.6,177,2233,185,202,0.0,0.0,0,275,0.00,0.00,-263.20,0.144,16390,0.000,0.000,177,2233,2180,2218,2142,0,0,0,0,0,0,26.61,25.98,25.86,8.24,17.04
$GC,278,-1.53,-146.6,177,2233,2218,2141,2.3,-1.2,43,298,10.23,2.60,0.00,0.000,2308,0.271,0.079,2815,3824,2177,2214,2140,0,0,0,0,0,0,25.72,25.92,25.91,8.44,16.52
$GC,343,-0.98,-146.6,2814,3824,2210,2138,3.9,-4.4,54,351,0.62,2.42,0.00,0.000,3078,0.223,0.065,3004,2245,2174,2210,2138,0,0,0,0,0,0,25.85,26.05,26.02,8.45,16.25
$GC,413,-0.74,-146.6,3004,2245,2204,2138,10.2,-10.8,67,422,0.22,2.42,-0.40,1.021,18948,0.199,0.074,3089,672,2178,2213,2144,0,0,0,0,0,0,25.98,25.84,25.30,8.45,16.17
$GC,810,-0.74,-146.6,3088,672,2206,2144,44.7,-10.2,117,815,0.00,2.38,0.00,0.000,1030,0.000,0.072,3079,2255,2174,2205,2144,0,0,0,0,0,0,26.45,26.37,26.46,8.43,16.84
$GC,942,-0.74,-146.6,3078,2254,2205,2144,56.1,-9.0,130,951,0.00,2.45,0.00,0.000,260,0.000,0.094,3067,3829,2174,2205,2143,0,0,0,0,0,0,26.69,26.38,26.70,8.43,16.76
$GC,1056,-0.74,-146.6,3066,3829,2205,2142,65.9,-8.8,141,1064,0.00,2.40,0.00,0.000,1030,0.000,0.067,3067,2247,2173,2205,2141,0,0,0,0,0,0,26.51,26.47,26.55,8.42,17.63
$GC,1184,-0.74,-146.6,3066,2248,2205,2141,76.2,-7.5,154,1193,0.00,2.40,0.00,0.000,516,0.000,0.079,3067,666,2173,2204,2142,0,0,0,0,0,0,26.75,26.46,26.76,8.41,17.47
$GC,1275,-0.74,-146.6,3066,665,2204,2142,85.3,-10.6,163,1280,0.00,2.38,0.00,0.000,1030,0.000,0.074,3056,2263,2173,2204,2142,0,0,0,0,0,0,26.57,26.49,26.58,8.41,16.92
$GC,1408,-0.74,-146.6,3055,2263,2204,2141,99.4,-10.7,176,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2263,2172,2204,2141,0,0,0,0,0,0,26.79,26.80,26.79,8.41,17.00
$GC,1527,-0.74,-146.6,3056,2263,2203,2141,112.1,-9.8,188,1536,0.00,2.45,0.00,0.000,516,0.000,0.082,3056,675,2172,2203,2141,0,0,0,0,0,0,26.81,26.52,26.82,8.41,17.15
$GC,1588,-0.74,-146.6,3055,675,2202,2141,118.3,-9.7,194,1598,0.10,2.35,0.00,0.000,3078,0.211,0.074,3078,2257,2171,2202,2141,0,0,0,0,0,0,26.43,26.53,26.56,8.40,16.92
$GC,1839,-0.80,-146.6,3077,2257,2202,2140,140.6,-9.5,219,1843,0.00,2.42,0.00,0.000,516,0.000,0.082,3078,679,2171,2202,2140,0,0,0,0,0,0,26.84,26.56,26.85,8.39,17.19
$GC,1904,-0.86,-146.6,3077,679,2201,2141,147.0,-10.2,225,1911,0.00,2.35,0.00,0.000,1030,0.000,0.077,3068,2263,2171,2201,2141,0,0,0,0,0,0,26.65,26.56,26.67,8.39,17.47
$GC,2151,-0.92,-146.6,3067,2263,2201,2140,174.0,-9.8,250,2153,0.05,0.00,0.00,0.000,4102,0.186,0.000,3027,2263,2170,2201,2140,0,0,0,0,0,0,26.65,26.71,26.69,8.39,17.82
$STATE,2199,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2200,begin apogee
$GC,2203,-0.34,0.0,3027,2264,2200,2140,179.5,-11.1,255,2312,0.52,0.00,105.18,0.904,10246,0.166,0.000,3206,2264,1674,1699,1650,0,0,0,0,0,0,26.47,24.92,24.37,8.38,17.23
$STATE,2313,end apogee,CONTROL_FINISHED_OK
$STATE,2313,begin climb
$GC,2314,1.53,146.6,3206,2264,1699,1650,186.2,0.0,266,2434,1.60,0.00,114.85,0.879,10758,0.134,0.000,3768,2264,1170,1189,1152,0,0,0,0,0,0,25.00,24.69,24.16,8.34,17.00
$GC,2672,1.39,146.6,3768,2264,1186,1145,143.3,15.5,302,2676,0.00,2.53,0.00,0.000,516,0.000,0.084,3779,681,1165,1186,1145,0,0,0,0,0,0,26.20,25.92,26.21,8.29,16.96
$GC,2734,1.24,146.6,3778,680,1185,1145,133.9,15.1,308,2739,0.22,2.40,0.00,0.000,5126,0.214,0.079,3714,2246,1164,1184,1145,0,0,0,0,0,0,25.86,26.01,26.03,8.28,17.71
$GC,2987,1.17,146.6,3714,2246,1185,1145,97.8,13.2,333,2996,0.00,2.47,0.00,0.000,516,0.000,0.084,3725,670,1164,1184,1145,0,0,0,0,0,0,26.51,26.22,26.53,8.28,17.39
$GC,3171,1.11,146.6,3724,670,1184,1145,73.2,13.3,351,3179,0.17,2.40,0.00,0.000,5126,0.228,0.077,3674,2261,1164,1184,1145,0,0,0,0,0,0,26.20,26.33,26.35,8.28,17.47
$GC,3298,1.11,146.6,3673,2262,1183,1145,58.8,10.3,364,3303,0.00,2.47,0.00,0.000,260,0.000,0.102,3674,3835,1164,1184,1144,0,0,0,0,0,0,26.65,26.34,26.67,8.28,17.59
$GC,3410,1.11,146.6,3672,3835,1183,1143,47.4,9.9,375,3420,0.00,2.42,0.00,0.000,1030,0.000,0.074,3685,2259,1163,1183,1143,0,0,0,0,0,0,26.49,26.41,26.51,8.28,17.35
$GC,3540,1.11,146.6,3684,2259,1184,1142,37.3,8.3,388,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,3685,2259,1163,1184,1143,0,0,0,0,0,0,26.72,26.73,26.73,8.28,18.18
$GC,3660,1.11,146.6,3684,2259,1183,1143,26.7,8.5,400,3665,0.00,2.45,0.00,0.000,516,0.000,0.087,3697,655,1163,1184,1143,0,0,0,0,0,0,26.74,26.46,26.76,8.27,17.63
$GC,3793,1.18,146.6,3696,655,1183,1143,15.5,8.7,418,3800,0.00,2.40,0.00,0.000,1030,0.000,0.079,3697,2253,1163,1183,1143,0,0,0,0,0,0,26.57,26.48,26.59,8.28,17.78
$GC,3863,1.28,146.6,3696,2253,1182,1143,9.6,8.3,431,3870,0.00,2.47,0.00,0.000,260,0.000,0.102,3697,3838,1162,1183,1142,0,0,0,0,0,0,26.77,26.47,26.79,8.27,17.71
$STATE,3946,end climb,SURFACE_DEPTH_REACHED
$STATE,3946,begin surface coast
$FINISH,0.6,1.021342
$STATE,3982,end surface coast,CONTROL_FINISHED_OK
$STATE,3983,begin surface
$SM_CCo,4001,247.93,0.772,0,0,229,420.05
$SM_GC,1.17,8.77,2.50,247.93,0.072,0.072,0.772,166,2236,229,-9.76,0.76,420.05,0,0,0,0,0,0,26.53,26.51,24.28
$IRIDIUM_FIX,4743.02,-12222.38,100718,222822
$TT8_MAMPS,0.021721,0.190246
$HUMID,17.47
$INTERNAL_PRESSURE,8.14363
$TCM_TEMP,15.10
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,100.3,93.7
$24V_AH,24.16,22.976
$10V_AH,10.68,12.267
$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,22.525,53.550,220.025,247.925,263.600,0.000,0.000,0.000,4.500,0.000,16.175,1217.992,1478.498,731.237,866.627,41.774,0.000,1226.086,0.000,842.749,0.000,7.335,0.000
$DEVICE_MAMPS,270.647,101.803,903.812,772.213,1020.513,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.927,601.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312568
$DATA_FILE_SIZE,31372,454
$CAP_FILE_SIZE,110271,1
$CFSIZE,2047311872,2040037376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,196.85,1
$GPS,100718,234601,4742.986,-12224.639,4,0.9,16,16.3,0.3,0.0,8,5.0