version: 66.14
glider: 38
mission: 13
dive: 10
start: 7 11 118 7 3 18
data:
$ID,38
$MISSION,13
$DIVE,10
$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,100
$T_MISSION,110
$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,43
$R_STBD_OVSHOOT,29
$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,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$GPS1,110718,065345,4743.0063,-12224.6553,9,0.8,15,16.3,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.1
$GPS2,110718,070241,4742.9517,-12224.7109,6,1.1,46,16.3,0.3,234.2,7,3.2
$SPEED_LIMITS,0.104,0.192
$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,0.3,2879,-13.1,-6.000,-17.33,3653
$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,-0.76,-146.6,132,1960,648,619,0.0,0.0,0,224,0.00,0.00,-209.02,0.144,16390,0.000,0.000,132,1960,2179,2204,2155,0,0,0,0,0,0,26.13,25.74,25.61,8.21,17.55
$GC,226,-0.76,-146.6,132,1961,2204,2155,2.9,-2.1,33,248,11.35,2.53,0.00,0.000,2820,0.261,0.084,3115,3554,2179,2205,2153,0,0,0,0,0,0,25.48,25.66,25.67,8.38,17.31
$GC,296,-0.52,-146.6,3115,3554,2205,2148,11.5,-10.9,45,304,0.30,2.42,0.00,0.000,3078,0.174,0.072,3212,1962,2176,2205,2148,0,0,0,0,0,0,25.70,25.81,25.82,8.38,16.49
$GC,370,-0.52,-146.6,3212,1963,2203,2148,17.4,-7.0,58,377,0.00,2.45,0.00,0.000,516,0.000,0.084,3214,404,2175,2202,2148,0,0,0,0,0,0,26.17,25.89,26.18,8.38,16.45
$GC,426,-0.52,-146.6,3212,404,2201,2148,21.6,-7.9,66,436,0.00,2.42,0.00,0.000,1030,0.000,0.072,3203,1980,2174,2201,2148,0,0,0,0,0,0,26.05,25.96,26.06,8.38,16.76
$GC,556,-0.52,-146.6,3202,1980,2201,2148,29.9,-6.1,79,567,0.00,2.50,0.00,0.000,516,0.000,0.084,3203,404,2174,2200,2148,0,0,0,0,0,0,26.36,26.08,26.37,8.38,16.88
$GC,590,-0.52,-146.6,3202,404,2199,2148,32.2,-6.2,82,599,0.00,2.40,0.00,0.000,1030,0.000,0.072,3192,1975,2173,2199,2148,0,0,0,0,0,0,26.19,26.10,26.21,8.37,16.76
$GC,721,-0.52,-146.6,3192,1975,2199,2148,39.9,-5.2,95,731,0.00,2.42,0.00,0.000,260,0.000,0.097,3180,3555,2173,2199,2147,0,0,0,0,0,0,26.46,26.16,26.48,8.37,17.15
$GC,827,-0.52,-146.6,3180,3555,2199,2146,46.9,-6.7,105,836,0.00,2.40,0.00,0.000,1030,0.000,0.072,3181,1968,2172,2199,2146,0,0,0,0,0,0,26.29,26.25,26.32,8.37,17.04
$GC,955,-0.52,-146.6,3180,1967,2199,2146,55.1,-5.8,118,956,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1968,2172,2199,2146,0,0,0,0,0,0,26.56,26.58,26.58,8.36,16.96
$GC,1075,-0.52,-146.6,3180,1968,2198,2146,62.8,-6.6,130,1084,0.00,2.47,0.00,0.000,260,0.000,0.094,3170,3558,2172,2198,2146,0,0,0,0,0,0,26.60,26.30,26.62,8.36,16.92
$GC,1229,-0.52,-146.6,3169,3558,2199,2145,73.7,-6.9,145,1241,0.12,2.38,0.00,0.000,3078,0.164,0.072,3217,1959,2172,2199,2145,0,0,0,0,0,0,26.31,26.39,26.41,8.36,17.19
$GC,1361,-0.61,-146.6,3217,1959,2199,2145,80.7,-5.4,158,1370,0.00,2.45,0.00,0.000,4356,0.000,0.094,3208,3557,2171,2198,2145,0,0,0,0,0,0,26.68,26.37,26.69,8.36,17.00
$GC,1424,-0.69,-146.6,3206,3557,2198,2145,83.7,-4.9,164,1434,0.05,2.35,0.00,0.000,5126,0.124,0.072,3168,1968,2172,2199,2145,0,0,0,0,0,0,26.37,26.43,26.44,8.36,17.12
$GC,1554,-0.69,-146.6,3167,1968,2199,2145,91.9,-6.9,177,1564,0.00,2.47,0.00,0.000,260,0.000,0.094,3157,3565,2171,2198,2145,0,0,0,0,0,0,26.71,26.40,26.72,8.35,17.04
$GC,1598,-0.69,-146.6,3156,3565,2198,2144,95.3,-7.9,181,1608,0.00,2.38,0.00,0.000,1030,0.000,0.072,3157,1975,2171,2199,2144,0,0,0,0,0,0,26.53,26.45,26.54,8.36,17.27
$GC,1728,-0.69,-146.6,3156,1975,2199,2144,104.8,-7.6,194,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1974,2172,2199,2145,0,0,0,0,0,0,26.73,26.74,26.74,8.35,17.43
$GC,1968,-0.69,-146.6,3156,1975,2198,2144,122.8,-7.5,218,1977,0.00,2.45,0.00,0.000,260,0.000,0.094,3147,3558,2171,2199,2144,0,0,0,0,0,0,26.77,26.46,26.77,8.35,17.75
$GC,2074,-0.69,-146.6,3146,3558,2198,2144,130.7,-7.0,228,2082,0.00,2.40,0.00,0.000,1030,0.000,0.072,3147,1966,2171,2198,2144,0,0,0,0,0,0,26.55,26.52,26.57,8.34,17.98
$GC,2323,-0.69,-146.6,3146,1966,2198,2143,148.4,-6.8,253,2333,0.00,2.42,0.00,0.000,260,0.000,0.097,3136,3554,2171,2198,2144,0,0,0,0,0,0,26.80,26.50,26.81,8.34,17.19
$GC,2387,-0.69,-146.6,3136,3554,2198,2143,153.2,-7.7,259,2400,0.00,2.35,0.00,0.000,1030,0.000,0.074,3136,1963,2170,2198,2143,0,0,0,0,0,0,26.59,26.54,26.60,8.34,17.12
$GC,2638,-0.69,-146.6,3136,1962,2198,2143,174.7,-8.4,284,2648,0.00,2.47,0.00,0.000,260,0.000,0.094,3126,3562,2170,2198,2143,0,0,0,0,0,0,26.82,26.52,26.84,8.34,17.35
$STATE,2711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2711,begin apogee
$GC,2717,-0.26,0.0,3126,2423,2197,2143,180.7,-8.3,291,2831,0.45,0.00,105.03,0.911,10246,0.151,0.000,3293,2416,1674,1697,1652,0,0,0,0,0,0,26.48,24.79,24.23,8.34,17.23
$STATE,2832,end apogee,CONTROL_FINISHED_OK
$STATE,2833,begin climb
$GC,2834,0.76,146.6,3293,2416,1697,1652,184.3,0.0,303,2957,0.80,2.58,113.93,0.889,10756,0.119,0.087,3594,850,1169,1185,1154,0,0,0,0,0,0,24.93,24.54,23.98,8.30,17.15
$GC,3008,0.69,146.6,3593,849,1181,1153,176.0,7.2,320,3015,0.00,2.53,0.00,0.000,1030,0.000,0.077,3594,2437,1167,1181,1153,0,0,0,0,0,0,25.28,25.20,25.30,8.25,16.84
$GC,3257,0.62,146.6,3594,2437,1181,1150,158.0,7.5,345,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,2437,1166,1181,1151,0,0,0,0,0,0,26.15,26.16,26.16,8.25,17.12
$GC,3496,0.55,146.6,3593,2437,1181,1150,141.0,7.0,369,3498,0.15,0.00,0.00,0.000,4102,0.181,0.000,3545,2438,1165,1181,1150,0,0,0,0,0,0,26.03,26.19,26.15,8.25,17.19
$GC,3735,0.55,146.6,3544,2437,1181,1150,125.4,6.9,393,3740,0.00,2.55,0.00,0.000,516,0.000,0.084,3555,837,1165,1181,1150,0,0,0,0,0,0,26.52,26.22,26.53,8.25,17.82
$GC,3810,0.55,146.6,3555,836,1181,1150,120.0,8.1,400,3818,0.00,2.47,0.00,0.000,1030,0.000,0.079,3556,2433,1165,1181,1149,0,0,0,0,0,0,26.32,26.31,26.34,8.25,17.35
$GC,4059,0.55,146.6,3555,2433,1181,1149,101.6,7.5,425,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2433,1165,1180,1150,0,0,0,0,0,0,26.63,26.64,26.64,8.24,17.19
$GC,4298,0.55,146.6,3555,2433,1181,1149,85.3,6.5,449,4302,0.00,2.50,0.00,0.000,516,0.000,0.082,3566,844,1165,1181,1149,0,0,0,0,0,0,26.69,26.39,26.70,8.24,17.39
$GC,4421,0.55,146.6,3565,844,1180,1149,76.7,6.9,461,4425,0.00,2.42,0.00,0.000,1030,0.000,0.079,3566,2433,1165,1181,1149,0,0,0,0,0,0,26.51,26.43,26.53,8.24,17.90
$GC,4553,0.55,146.6,3565,2433,1181,1149,66.7,7.2,474,4563,0.00,2.35,0.00,0.000,260,0.000,0.102,3566,3921,1165,1181,1149,0,0,0,0,0,0,26.72,26.42,26.74,8.24,17.43
$GC,4648,0.55,146.6,3565,3921,1181,1148,59.1,8.1,483,4656,0.00,2.30,0.00,0.000,1030,0.000,0.072,3576,2435,1164,1181,1148,0,0,0,0,0,0,26.53,26.49,26.54,8.24,17.47
$GC,4776,0.55,146.6,3576,2434,1181,1148,50.6,6.4,496,4786,0.00,2.45,0.00,0.000,516,0.000,0.084,3585,843,1165,1181,1149,0,0,0,0,0,0,26.76,26.46,26.77,8.24,17.51
$GC,4868,0.55,146.6,3584,842,1181,1149,45.3,5.5,505,4874,0.10,2.40,0.00,0.000,5126,0.176,0.082,3549,2432,1165,1181,1149,0,0,0,0,0,0,26.43,26.48,26.53,8.24,17.86
$GC,5002,0.55,146.6,3548,2431,1182,1149,38.3,5.0,518,5011,0.00,2.35,0.00,0.000,260,0.000,0.102,3549,3924,1164,1181,1147,0,0,0,0,0,0,26.78,26.48,26.79,8.24,17.78
$GC,5094,0.55,146.6,3548,3924,1181,1148,33.1,5.7,527,5099,0.00,2.28,0.00,0.000,1030,0.000,0.072,3552,2432,1164,1181,1148,0,0,0,0,0,0,26.60,26.55,26.62,8.24,18.02
$GC,5227,0.66,222.5,3551,2431,1181,1148,27.5,3.9,540,5299,0.00,2.55,65.43,0.814,10756,0.000,0.087,3552,844,906,921,892,0,0,0,0,0,0,26.81,25.34,24.80,8.24,17.59
$GC,5362,0.83,222.5,3551,844,916,889,21.2,4.6,553,5367,0.17,2.50,0.00,0.000,3078,0.117,0.079,3631,2433,902,916,889,0,0,0,0,0,0,25.65,25.65,25.73,8.22,17.43
$GC,5493,0.90,222.5,3631,2433,916,888,12.8,5.6,575,5499,0.00,0.00,0.00,0.000,2054,0.000,0.000,3632,2433,902,916,888,0,0,0,0,0,0,26.19,26.20,26.20,8.21,17.23
$GC,5562,1.00,222.5,3631,2433,915,888,9.1,5.3,588,5570,0.10,0.00,0.00,0.000,2054,0.127,0.000,3696,2432,902,916,888,0,0,0,0,0,0,26.04,26.08,26.06,8.21,17.86
$GC,5634,1.06,222.5,3695,2433,916,887,3.9,8.5,601,5641,0.00,2.53,0.00,0.000,516,0.000,0.087,3697,840,901,916,887,0,0,0,0,0,0,26.34,26.05,26.36,8.22,17.27
$STATE,5646,end climb,SURFACE_DEPTH_REACHED
$STATE,5647,begin surface coast
$FINISH,2.4,1.021574
$STATE,5660,end surface coast,CONTROL_FINISHED_OK
$STATE,5660,begin surface
$SM_CCo,5677,69.10,0.787,0,0,641,300.08
$SM_GC,1.08,9.15,1.85,69.10,0.084,0.074,0.787,173,1969,641,-9.97,-0.68,300.08,0,0,0,0,0,0,26.06,26.08,24.53
$IRIDIUM_FIX,4742.17,-12225.08,110718,054158
$TT8_MAMPS,0.02247,0.193991
$HUMID,16.96
$INTERNAL_PRESSURE,8.15339
$TCM_TEMP,12.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.1
$ALTIM_BOTTOM_PING,100.5,0.0
$24V_AH,23.98,23.722
$10V_AH,10.65,12.505
$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,22.750,86.525,284.375,69.100,209.025,26.587,16.113,360.462,1.500,0.000,48.038,1663.587,2182.438,626.610,1716.121,116.065,0.000,1311.954,0.000,1253.350,0.000,10.573,0.000
$DEVICE_MAMPS,260.715,101.803,911.261,787.111,144.014,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.351,908.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312500
$DATA_FILE_SIZE,38264,605
$CAP_FILE_SIZE,218470,0
$CFSIZE,2047311872,2039250944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2394.08,0x2368ac,0,24
$CURRENT,0.155,197.77,1
$GPS,110718,084021,4743.080,-12224.560,9,1.0,37,16.3,0.5,205.6,8,5.0