version: 66.14
glider: 38
mission: 13
dive: 8
start: 7 11 118 4 26 21
data:
$ID,38
$MISSION,13
$DIVE,8
$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,45
$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,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
$GPS1,110718,041846,4744.0200,-12224.4727,5,0.8,13,16.3,0.0,0.0,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.5
$GPS2,110718,042543,4744.0200,-12224.5244,7,0.9,16,16.3,0.0,0.0,11,4.8
$SPEED_LIMITS,0.130,0.209
$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,172.1,1889,-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,-146.6,179,1971,647,618,0.0,0.0,0,228,0.00,0.00,-211.82,0.144,16390,0.000,0.000,180,1972,2179,2207,2152,0,0,0,0,0,0,26.13,25.70,25.63,8.22,18.06
$GC,231,-0.92,-146.6,179,1972,2208,2152,3.2,-4.2,35,252,11.15,2.53,0.00,0.000,2820,0.266,0.079,3085,398,2178,2205,2151,0,0,0,0,0,0,25.49,25.70,25.69,8.37,16.80
$GC,523,-0.84,-146.6,3085,398,2196,2151,39.2,-12.3,75,532,0.10,2.40,0.00,0.000,3078,0.219,0.072,3105,1973,2173,2196,2151,0,0,0,0,0,0,25.98,26.08,26.12,8.38,17.12
$GC,651,-0.84,-146.6,3105,1973,2196,2149,51.3,-8.1,88,655,0.00,2.45,0.00,0.000,260,0.000,0.097,3095,3564,2172,2196,2149,0,0,0,0,0,0,26.45,26.15,26.46,8.38,17.04
$GC,762,-0.84,-146.6,3094,3564,2196,2147,61.1,-8.3,99,772,0.00,2.40,0.00,0.000,1030,0.000,0.072,3095,1964,2172,2196,2148,0,0,0,0,0,0,26.32,26.25,26.33,8.37,17.04
$GC,892,-0.84,-146.6,3094,1964,2196,2147,71.7,-8.4,112,897,0.00,2.50,0.00,0.000,260,0.000,0.097,3084,3564,2172,2196,2148,0,0,0,0,0,0,26.57,26.25,26.58,8.37,17.78
$GC,926,-0.84,-146.6,3083,3564,2196,2147,74.6,-8.6,115,935,0.00,2.40,0.00,0.000,1030,0.000,0.074,3084,1976,2171,2196,2147,0,0,0,0,0,0,26.36,26.32,26.37,8.37,17.04
$GC,1054,-0.84,-146.6,3083,1977,2196,2147,86.7,-9.1,128,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1977,2171,2196,2146,0,0,0,0,0,0,26.62,26.63,26.63,8.37,17.27
$GC,1174,-0.84,-146.6,3083,1977,2196,2146,96.6,-7.7,140,1179,0.00,2.45,0.00,0.000,260,0.000,0.094,3073,3557,2171,2196,2147,0,0,0,0,0,0,26.65,26.34,26.66,8.36,17.23
$GC,1300,-0.84,-146.6,3073,3557,2196,2145,107.5,-8.8,152,1306,0.12,2.38,0.00,0.000,3078,0.196,0.074,3114,1958,2170,2196,2145,0,0,0,0,0,0,26.30,26.42,26.44,8.36,17.12
$GC,1553,-0.84,-146.6,3113,1957,2196,2145,126.7,-7.3,177,1562,0.00,2.50,0.00,0.000,260,0.000,0.097,3104,3565,2170,2196,2145,0,0,0,0,0,0,26.73,26.42,26.74,8.36,17.27
$GC,1617,-0.84,-146.6,3104,3565,2196,2144,131.7,-7.5,183,1625,0.00,2.40,0.00,0.000,1030,0.000,0.072,3104,1978,2170,2196,2144,0,0,0,0,0,0,26.51,26.47,26.53,8.36,17.31
$GC,1865,-0.84,-146.6,3104,1978,2196,2144,151.6,-8.1,208,1870,0.00,2.45,0.00,0.000,260,0.000,0.097,3094,3566,2170,2196,2144,0,0,0,0,0,0,26.77,26.46,26.78,8.35,17.75
$GC,1967,-0.84,-146.6,3093,3566,2196,2144,160.0,-8.0,218,1972,0.00,2.40,0.00,0.000,1030,0.000,0.074,3094,1952,2170,2196,2144,0,0,0,0,0,0,26.59,26.51,26.60,8.35,17.27
$STATE,2118,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2118,begin apogee
$GC,2123,-0.26,0.0,3091,2423,2196,2143,172.8,-8.8,233,2232,0.55,0.00,105.10,0.906,10246,0.159,0.000,3289,2424,1674,1697,1652,0,0,0,0,0,0,26.44,24.79,24.24,8.35,17.47
$STATE,2233,end apogee,CONTROL_FINISHED_OK
$STATE,2233,begin climb
$GC,2234,0.92,146.6,3289,2424,1697,1652,176.3,0.0,244,2361,0.95,2.55,114.03,0.879,10500,0.124,0.104,3636,3922,1168,1185,1151,0,0,0,0,0,0,24.88,24.41,24.01,8.30,17.15
$GC,2384,0.81,146.6,3635,3922,1185,1148,167.4,9.3,259,2394,0.00,2.42,0.00,0.000,1030,0.000,0.072,3646,2429,1167,1185,1149,0,0,0,0,0,0,25.14,25.07,25.15,8.26,16.88
$GC,2635,0.74,146.6,3646,2429,1185,1146,139.2,11.3,284,2645,0.10,2.47,0.00,0.000,4612,0.221,0.082,3625,847,1165,1184,1147,0,0,0,0,0,0,25.76,25.86,25.86,8.26,17.00
$GC,2739,0.74,146.6,3624,846,1183,1147,129.7,8.8,294,2748,0.00,2.47,0.00,0.000,1030,0.000,0.082,3625,2443,1165,1183,1147,0,0,0,0,0,0,26.08,25.99,26.10,8.26,17.82
$GC,2989,0.74,146.6,3625,2443,1183,1147,105.6,10.2,319,2999,0.00,2.53,0.00,0.000,516,0.000,0.084,3636,846,1165,1183,1147,0,0,0,0,0,0,26.46,26.17,26.48,8.25,17.04
$GC,3011,0.74,146.6,3635,847,1182,1147,103.3,10.5,321,3022,0.00,2.45,0.00,0.000,1030,0.000,0.082,3636,2440,1165,1183,1147,0,0,0,0,0,0,26.28,26.19,26.29,8.25,17.51
$GC,3262,0.74,146.6,3635,2441,1182,1147,78.4,10.0,346,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,2441,1165,1183,1147,0,0,0,0,0,0,26.58,26.59,26.59,8.25,17.55
$GC,3382,0.74,146.6,3635,2441,1183,1147,67.3,9.4,358,3391,0.00,2.35,0.00,0.000,260,0.000,0.104,3636,3922,1164,1183,1146,0,0,0,0,0,0,26.63,26.31,26.63,8.25,17.67
$GC,3404,0.74,146.6,3635,3922,1183,1145,65.0,9.6,360,3414,0.10,2.30,0.00,0.000,5126,0.219,0.074,3615,2430,1163,1182,1145,0,0,0,0,0,0,26.23,26.36,26.38,8.25,17.39
$GC,3534,0.74,146.6,3615,2430,1183,1146,54.6,6.9,373,3544,0.00,2.45,0.00,0.000,516,0.000,0.087,3626,844,1164,1182,1146,0,0,0,0,0,0,26.66,26.36,26.67,8.25,18.02
$GC,3658,0.77,207.5,3626,844,1182,1146,47.4,5.4,385,3718,0.00,2.42,53.33,0.819,9222,0.000,0.082,3626,2431,958,973,944,0,0,0,0,0,0,26.48,26.40,24.88,8.25,17.43
$GC,3838,0.82,207.5,3626,2432,971,938,33.1,8.3,403,3848,0.00,2.53,0.00,0.000,516,0.000,0.087,3635,841,953,969,938,0,0,0,0,0,0,26.09,25.80,26.10,8.23,17.51
$GC,3873,0.88,207.5,3635,841,967,938,30.5,7.9,406,3881,0.00,2.47,0.00,0.000,1030,0.000,0.082,3636,2422,952,967,938,0,0,0,0,0,0,25.96,25.88,25.98,8.23,17.51
$GC,4001,0.95,207.5,3635,2422,967,938,20.2,6.7,419,4002,0.00,0.00,0.00,0.000,2054,0.000,0.000,3636,2423,952,967,938,0,0,0,0,0,0,26.33,26.33,26.33,8.23,17.51
$GC,4123,1.06,207.5,3635,2423,967,937,11.4,7.5,442,4131,0.10,2.53,0.00,0.000,2564,0.134,0.087,3706,838,952,967,937,0,0,0,0,0,0,26.18,26.12,26.22,8.23,17.23
$GC,4144,1.15,207.5,3706,838,967,938,9.5,8.0,445,4152,0.00,2.47,0.00,0.000,3078,0.000,0.082,3706,2437,951,965,938,0,0,0,0,0,0,26.25,26.15,26.27,8.23,17.67
$GC,4214,1.24,207.5,3706,2437,967,938,4.0,7.1,458,4221,0.10,2.38,0.00,0.000,2308,0.129,0.104,3772,3918,952,967,937,0,0,0,0,0,0,26.25,26.17,26.27,8.23,17.31
$GC,4228,1.33,207.5,3770,3917,967,936,3.0,7.1,460,4236,0.00,2.33,0.00,0.000,1030,0.000,0.074,3781,2418,951,966,936,0,0,0,0,0,0,26.29,26.22,26.32,8.24,18.14
$STATE,4241,end climb,SURFACE_DEPTH_REACHED
$STATE,4241,begin surface coast
$FINISH,-0.2,0.999180
$STATE,4278,end surface coast,CONTROL_FINISHED_OK
$STATE,4278,begin surface
$SM_CCo,4295,80.88,0.782,0,0,642,300.08
$SM_GC,1.41,9.18,0.65,80.88,0.070,0.082,0.782,125,1957,642,-10.07,1.05,300.08,0,0,0,0,0,0,26.27,26.27,24.52
$IRIDIUM_FIX,4743.02,-12222.38,110718,030029
$TT8_MAMPS,0.02247,0.196238
$HUMID,17.15
$INTERNAL_PRESSURE,8.15339
$TCM_TEMP,12.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.9
$ALTIM_BOTTOM_PING,100.2,0.0
$24V_AH,24.01,23.486
$10V_AH,10.65,12.422
$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,22.450,69.750,272.450,80.875,211.825,24.090,37.336,267.443,1.000,0.000,17.218,1269.152,1651.957,591.349,1244.968,64.788,0.000,1135.631,0.000,870.803,0.000,7.051,0.000
$DEVICE_MAMPS,265.681,104.286,906.295,782.145,144.014,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.065,621.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,31321,469
$CAP_FILE_SIZE,74259,0
$CFSIZE,2047311872,2039644160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,170.59,1
$GPS,110718,054045,4743.533,-12224.659,9,1.4,49,16.3,0.2,0.0,9,6.3