version: 66.14
glider: 38
mission: 13
dive: 5
start: 7 11 118 0 19 11
data:
$ID,38
$MISSION,13
$DIVE,5
$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,80
$T_MISSION,90
$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,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,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,300
$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,3376
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,19.6
$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,1971
$C_ROLL_CLIMB,2428
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,37
$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
$GPS1,110718,001443,4743.0200,-12224.4365,5,0.9,13,16.3,0.0,85.7,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.4
$GPS2,110718,001834,4743.0278,-12224.4092,7,0.9,14,16.3,0.0,23.4,9,4.6
$SPEED_LIMITS,0.130,0.209
$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,347.8,2729,-16.3,-7.500,-19.74,2948
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-0.92,-146.6,165,1934,210,235,0.0,0.0,0,280,0.00,0.00,-269.77,0.144,16390,0.000,0.000,166,1935,2179,2219,2140,0,0,0,0,0,0,26.58,25.95,25.82,8.22,17.43
$GC,282,-0.92,-146.6,166,1935,2219,2140,2.1,-0.5,43,296,11.15,0.00,0.00,0.000,2054,0.266,0.000,3078,1928,2178,2217,2139,0,0,0,0,0,0,25.67,25.92,25.87,8.42,16.45
$GC,359,-0.62,-146.6,3077,1928,2208,2139,6.1,-6.3,57,368,0.30,2.38,0.00,0.000,2564,0.204,0.079,3184,412,2173,2207,2140,0,0,0,0,0,0,25.86,25.99,25.96,8.43,16.17
$GC,621,-0.62,-146.6,3184,412,2199,2140,21.4,-5.5,105,629,0.00,2.35,-0.43,0.988,17414,0.000,0.070,3175,1965,2182,2213,2152,0,0,0,0,0,0,26.32,26.24,25.44,8.42,16.60
$GC,748,-0.62,-146.6,3174,1965,2212,2152,28.8,-6.1,118,752,0.00,2.42,0.00,0.000,516,0.000,0.084,3175,415,2182,2212,2152,0,0,0,0,0,0,26.58,26.29,26.58,8.42,16.68
$GC,861,-0.62,-146.6,3174,415,2212,2152,35.7,-5.9,129,870,0.00,2.38,0.00,0.000,1030,0.000,0.070,3164,1971,2181,2211,2152,0,0,0,0,0,0,26.39,26.34,26.41,8.41,16.64
$GC,989,-0.62,-146.6,3164,1971,2211,2152,45.1,-7.5,142,990,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1971,2181,2211,2151,0,0,0,0,0,0,26.67,26.67,26.67,8.41,16.92
$GC,1110,-0.68,-146.6,3164,1971,2211,2151,55.6,-9.3,154,1114,0.00,2.40,0.00,0.000,260,0.000,0.094,3152,3557,2181,2211,2152,0,0,0,0,0,0,26.70,26.39,26.71,8.40,16.88
$GC,1164,-0.73,-146.6,3152,3557,2211,2150,60.1,-9.0,159,1172,0.00,2.33,0.00,0.000,1030,0.000,0.072,3152,1988,2180,2211,2150,0,0,0,0,0,0,26.52,26.46,26.53,8.40,17.71
$GC,1292,-0.78,-146.6,3152,1988,2211,2150,70.7,-7.6,172,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1988,2180,2210,2150,0,0,0,0,0,0,26.74,26.75,26.74,8.40,17.19
$GC,1412,-0.84,-146.6,3150,1988,2210,2150,80.7,-8.3,184,1417,0.00,2.40,0.00,0.000,4356,0.000,0.092,3142,3562,2180,2210,2150,0,0,0,0,0,0,26.77,26.45,26.77,8.40,17.08
$GC,1494,-0.84,-146.6,3141,3562,2210,2149,87.9,-9.3,192,1499,0.00,2.38,0.00,0.000,5126,0.000,0.072,3142,1953,2179,2209,2149,0,0,0,0,0,0,26.60,26.51,26.61,8.39,17.67
$GC,1627,-0.84,-146.6,3141,1953,2210,2149,99.1,-8.2,205,1636,0.00,2.42,0.00,0.000,4356,0.000,0.092,3131,3551,2179,2210,2149,0,0,0,0,0,0,26.80,26.48,26.80,8.39,17.08
$GC,1726,-0.84,-146.6,3131,3551,2210,2148,107.6,-8.9,214,1733,0.00,2.35,0.00,0.000,1030,0.000,0.072,3131,1962,2179,2210,2148,0,0,0,0,0,0,26.61,26.54,26.63,8.38,17.47
$GC,1973,-0.84,-146.6,3131,1961,2209,2148,128.1,-8.4,239,1983,0.00,2.47,0.00,0.000,260,0.000,0.094,3121,3568,2178,2209,2148,0,0,0,0,0,0,26.83,26.51,26.84,8.37,17.55
$GC,2118,-0.84,-146.6,3120,3568,2209,2147,140.9,-9.3,253,2125,0.00,2.38,0.00,0.000,1030,0.000,0.072,3121,1960,2178,2209,2147,0,0,0,0,0,0,26.65,26.58,26.67,8.38,17.31
$GC,2365,-0.84,-146.6,3120,1960,2208,2147,161.5,-7.8,278,2370,0.00,2.45,0.00,0.000,260,0.000,0.094,3110,3557,2177,2208,2147,0,0,0,0,0,0,26.86,26.55,26.87,8.38,17.39
$GC,2460,-0.84,-146.6,3109,3557,2208,2146,169.6,-8.6,287,2467,0.00,2.35,0.00,0.000,1030,0.000,0.072,3110,1960,2177,2208,2147,0,0,0,0,0,0,26.67,26.60,26.69,8.37,17.31
$STATE,2486,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2486,begin apogee
$GC,2490,-0.26,0.0,3108,2431,2208,2146,171.9,-8.4,290,2601,0.50,0.00,106.68,0.904,10246,0.159,0.000,3289,2431,1674,1699,1650,0,0,0,0,0,0,26.50,24.88,24.33,8.36,17.98
$STATE,2602,end apogee,CONTROL_FINISHED_OK
$STATE,2602,begin climb
$GC,2603,0.92,146.6,3289,2431,1699,1650,175.0,0.0,301,2727,0.98,0.00,115.00,0.874,10758,0.112,0.000,3641,2431,1169,1188,1150,0,0,0,0,0,0,24.97,24.64,24.11,8.32,17.39
$GC,2967,0.85,146.6,3641,2431,1187,1145,136.6,11.2,338,2978,0.00,2.50,0.00,0.000,516,0.000,0.079,3652,857,1166,1186,1146,0,0,0,0,0,0,26.17,25.89,26.18,8.27,17.19
$GC,3030,0.78,146.6,3652,857,1185,1146,130.3,10.1,344,3041,0.00,2.45,0.00,0.000,1030,0.000,0.079,3652,2443,1165,1185,1146,0,0,0,0,0,0,26.07,25.98,26.09,8.27,17.35
$GC,3282,0.71,146.6,3651,2443,1185,1145,105.2,9.7,369,3291,0.15,2.33,0.00,0.000,4356,0.204,0.099,3604,3920,1165,1185,1145,0,0,0,0,0,0,26.09,26.18,26.19,8.27,17.71
$GC,3368,0.64,146.6,3603,3921,1185,1144,97.6,9.1,377,3376,0.12,2.28,0.00,0.000,5126,0.221,0.072,3576,2447,1164,1185,1144,0,0,0,0,0,0,26.14,26.27,26.29,8.27,17.63
$GC,3495,0.64,146.6,3575,2447,1185,1144,88.7,5.8,390,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2447,1164,1185,1144,0,0,0,0,0,0,26.59,26.60,26.60,8.27,17.51
$GC,3615,0.64,146.6,3575,2447,1185,1144,80.7,6.6,402,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2447,1164,1185,1144,0,0,0,0,0,0,26.63,26.65,26.65,8.26,17.35
$GC,3735,0.69,227.0,3575,2447,1184,1144,73.5,4.7,414,3809,0.00,0.00,71.55,0.829,8198,0.000,0.000,3576,2447,893,907,879,0,0,0,0,0,0,26.67,25.16,24.65,8.26,17.78
$GC,3926,0.77,227.0,3575,2447,902,870,60.0,8.2,433,3936,0.03,2.53,0.00,0.000,2564,0.288,0.082,3613,845,885,901,870,0,0,0,0,0,0,25.85,25.74,25.86,8.22,18.14
$GC,3991,0.84,227.0,3612,845,900,870,54.5,8.6,439,3999,0.00,2.45,0.00,0.000,1030,0.000,0.079,3613,2428,885,900,870,0,0,0,0,0,0,25.98,25.89,26.00,8.24,17.55
$GC,4119,0.89,227.0,3612,2428,900,869,43.7,8.3,452,4121,0.05,0.00,0.00,0.000,2054,0.191,0.000,3656,2428,884,900,869,0,0,0,0,0,0,26.13,26.18,26.17,8.23,18.02
$GC,4238,0.89,227.0,3654,2428,900,869,32.6,9.0,464,4243,0.00,2.53,0.00,0.000,516,0.000,0.087,3664,833,884,900,869,0,0,0,0,0,0,26.44,26.15,26.46,8.23,17.63
$GC,4350,0.89,227.0,3664,833,899,869,24.0,7.1,475,4359,0.00,2.45,0.00,0.000,1030,0.000,0.082,3663,2430,884,899,869,0,0,0,0,0,0,26.32,26.23,26.34,8.23,17.71
$GC,4482,0.96,227.0,3663,2429,899,869,13.2,7.9,496,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,3664,2430,884,899,869,0,0,0,0,0,0,26.58,26.60,26.60,8.23,17.51
$GC,4553,1.12,294.1,3663,2429,899,869,8.5,5.2,509,4623,0.10,0.00,63.88,0.785,10758,0.146,0.000,3728,2429,659,670,648,0,0,0,0,0,0,26.39,25.32,24.77,8.23,17.51
$STATE,4629,end climb,SURFACE_DEPTH_REACHED
$STATE,4629,begin surface coast
$FINISH,0.3,1.021294
$STATE,4666,end surface coast,CONTROL_FINISHED_OK
$STATE,4666,begin surface
$SM_CCo,4683,3.88,0.504,0,0,642,300.08
$SM_GC,2.41,9.20,0.73,3.88,0.072,0.084,0.504,159,1969,642,-9.96,1.07,300.08,0,0,0,0,0,0,25.65,25.60,25.00
$IRIDIUM_FIX,4744.48,-12222.38,110718,001113
$TT8_MAMPS,0.02247,0.195489
$HUMID,17.55
$INTERNAL_PRESSURE,8.16316
$TCM_TEMP,14.10
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,101.0,85.7
$24V_AH,24.11,23.121
$10V_AH,10.66,12.316
$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,22.575,54.400,357.100,3.875,270.200,0.000,0.000,0.000,2.500,0.000,15.218,1375.323,1765.815,632.060,952.645,47.921,0.000,1187.676,0.000,927.093,0.000,7.313,0.000
$DEVICE_MAMPS,288.028,99.320,903.812,504.049,988.234,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.232,699.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312536
$DATA_FILE_SIZE,34866,528
$CAP_FILE_SIZE,96298,0
$CFSIZE,2047311872,2039939072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,42.30,1
$GPS,110718,013811,4743.624,-12224.190,5,0.9,14,16.3,0.0,0.0,9,4.6