version: 66.14
glider: 38
mission: 12
dive: 17
start: 4 26 118 13 4 4
data:
$ID,38
$MISSION,12
$DIVE,17
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,83
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,350
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80313
$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,400
$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,3
$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,3420
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,1910
$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,-21.153936
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,2
$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
$GPS1,260418,125102,4744.0234,-12224.1201,5,1.2,27,16.3,0.0,283.0,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.4
$GPS2,260418,130325,4743.9883,-12224.1523,8,0.9,22,16.3,0.2,151.8,9,5.0
$SPEED_LIMITS,0.172,0.306
$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,170.2,1881,-10.7,-8.032,-14.71,6340
$D_GRID,173
$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,-0.94,-342.1,130,2311,242,264,0.0,0.0,0,156,0.00,0.00,-146.38,0.144,16386,0.000,0.000,130,2312,1245,1275,1216,0,0,0,0,0,0,26.20,28.83,26.22,7.46,30.35
$GC,158,-0.94,-342.1,130,2312,1275,1216,3.5,-3.4,23,313,13.12,2.55,-131.27,0.144,19204,0.298,0.087,3113,714,3088,3113,3064,0,0,0,0,0,0,24.91,25.46,25.15,7.57,29.24
$GC,439,-0.88,-342.1,3112,714,3100,3064,32.6,-12.4,62,447,0.00,2.47,0.00,0.000,1030,0.000,0.082,3113,2297,3082,3100,3064,0,0,0,0,0,0,25.79,25.63,25.83,7.72,28.85
$GC,566,-0.80,-342.1,3112,2297,3099,3061,51.8,-15.3,75,572,0.15,2.58,0.00,0.000,2308,0.196,0.102,3153,3880,3079,3097,3061,0,0,0,0,0,0,25.61,25.65,25.69,7.71,29.40
$GC,609,-0.80,-342.1,3152,3880,3097,3059,58.2,-15.3,79,614,0.00,2.47,0.00,0.000,1030,0.000,0.074,3153,2304,3078,3097,3059,0,0,0,0,0,0,25.99,25.90,26.03,7.72,29.72
$GC,742,-0.80,-342.1,3152,2302,3095,3059,74.0,-10.0,92,751,0.00,2.47,0.00,0.000,516,0.000,0.084,3152,712,3077,3095,3059,0,0,0,0,0,0,26.41,25.75,26.43,7.71,29.79
$GC,767,-0.80,-342.1,3152,712,3094,3059,76.4,-10.0,94,774,0.00,2.47,0.00,0.000,1030,0.000,0.082,3142,2312,3076,3094,3059,0,0,0,0,0,0,25.95,25.79,25.99,7.71,29.68
$GC,896,-0.80,-342.1,3141,2312,3094,3058,90.4,-10.0,107,901,0.00,2.55,0.00,0.000,260,0.000,0.104,3130,3884,3076,3094,3058,0,0,0,0,0,0,26.43,25.75,26.44,7.71,29.60
$GC,970,-0.80,-342.1,3129,3884,3093,3057,98.5,-10.7,114,979,0.10,2.50,0.00,0.000,3078,0.181,0.074,3164,2306,3075,3094,3057,0,0,0,0,0,0,25.70,26.05,25.77,7.71,29.72
$GC,1098,-0.80,-342.1,3163,2306,3093,3057,110.6,-9.4,127,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2306,3075,3094,3057,0,0,0,0,0,0,26.52,26.53,26.53,7.71,30.19
$GC,1338,-0.80,-342.1,3163,2306,3093,3056,135.0,-9.3,151,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2306,3074,3093,3056,0,0,0,0,0,0,26.56,26.58,26.58,7.71,30.31
$GC,1578,-0.80,-342.1,3163,2306,3093,3056,158.4,-9.1,175,1583,0.00,2.58,0.00,0.000,260,0.000,0.102,3155,3883,3074,3093,3055,0,0,0,0,0,0,26.60,25.80,26.60,7.71,30.23
$GC,1623,-0.80,-342.1,3154,3883,3093,3053,162.5,-9.6,179,1631,0.00,2.47,0.00,0.000,1030,0.000,0.077,3155,2291,3073,3093,3054,0,0,0,0,0,0,26.20,26.12,26.23,7.71,30.39
$STATE,1639,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1639,begin apogee
$GC,1643,-0.34,0.0,3154,2290,3093,3054,164.7,-9.9,181,1902,0.47,0.00,254.93,0.914,10246,0.169,0.000,3315,2288,1910,1938,1882,0,0,0,0,0,0,25.23,24.30,23.45,7.71,30.98
$STATE,1904,end apogee,CONTROL_FINISHED_OK
$STATE,1904,begin climb
$GC,1905,0.94,342.1,3314,2288,1938,1880,177.1,0.0,207,2226,1.08,2.67,309.33,0.886,10756,0.134,0.089,3694,721,730,730,730,0,0,0,0,0,0,24.49,24.00,23.12,7.62,29.48
$GC,2394,0.94,342.1,3693,721,718,722,141.2,10.4,256,2405,0.00,2.50,0.00,0.000,1030,0.000,0.084,3694,2297,720,718,722,0,0,0,0,0,0,25.56,25.43,25.60,7.51,29.48
$GC,2645,0.94,342.1,3693,2297,718,717,117.9,8.4,281,2655,0.00,2.58,0.00,0.000,260,0.000,0.107,3694,3879,717,718,717,0,0,0,0,0,0,26.26,25.71,26.27,7.50,29.91
$GC,2700,0.88,342.1,3693,3879,718,717,112.7,9.6,286,2708,0.00,2.50,0.00,0.000,1030,0.000,0.074,3705,2289,717,718,717,0,0,0,0,0,0,25.98,25.89,26.03,7.50,29.83
$GC,2948,0.88,342.1,3704,2289,718,717,87.4,10.2,311,2957,0.00,2.62,0.00,0.000,260,0.000,0.107,3704,3887,717,718,716,0,0,0,0,0,0,26.42,25.81,26.44,7.51,29.87
$GC,3011,0.80,342.1,3704,3887,718,717,80.4,11.6,317,3020,0.10,2.47,0.00,0.000,5126,0.179,0.077,3681,2300,717,718,716,0,0,0,0,0,0,25.72,26.01,25.82,7.51,30.54
$GC,3140,0.80,342.1,3680,2298,718,716,68.3,8.4,330,3150,0.00,2.60,0.00,0.000,260,0.000,0.107,3680,3882,717,718,716,0,0,0,0,0,0,26.48,25.84,26.49,7.50,30.07
$GC,3184,0.80,342.1,3680,3882,718,715,64.2,9.5,334,3193,0.00,2.50,0.00,0.000,1030,0.000,0.074,3689,2301,716,718,715,0,0,0,0,0,0,26.09,26.04,26.13,7.50,30.15
$GC,3313,0.80,342.1,3689,2300,718,715,52.6,8.4,347,3322,0.00,2.47,0.00,0.000,516,0.000,0.089,3691,718,716,718,715,0,0,0,0,0,0,26.51,25.89,26.53,7.50,29.95
$GC,3365,0.80,342.1,3690,718,717,715,48.1,7.9,352,3375,0.00,2.45,0.00,0.000,1030,0.000,0.084,3691,2306,716,717,715,0,0,0,0,0,0,26.09,25.94,26.15,7.51,29.87
$GC,3495,0.80,342.1,3690,2306,717,715,37.8,7.8,365,3505,0.00,2.55,0.00,0.000,260,0.000,0.107,3690,3876,716,717,715,0,0,0,0,0,0,26.55,25.85,26.55,7.50,30.11
$GC,3539,0.80,342.1,3690,3876,717,715,34.0,9.0,369,3547,0.00,2.50,0.00,0.000,1030,0.000,0.077,3699,2298,716,717,715,0,0,0,0,0,0,26.12,26.07,26.15,7.50,30.78
$GC,3667,0.80,342.1,3698,2298,717,715,22.9,8.5,382,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,3699,2298,715,716,715,0,0,0,0,0,0,26.56,26.58,26.58,7.50,29.95
$GC,3790,0.80,342.1,3698,2298,716,715,14.0,7.1,402,3797,0.00,2.60,0.00,0.000,260,0.000,0.104,3699,3883,716,717,715,0,0,0,0,0,0,26.58,25.86,26.59,7.50,30.31
$GC,3859,0.80,342.1,3698,3884,717,714,9.1,6.9,415,3867,0.00,2.47,0.00,0.000,1030,0.000,0.077,3700,2296,715,717,714,0,0,0,0,0,0,26.22,26.13,26.26,7.50,30.27
$GC,3930,0.80,342.1,3699,2295,717,714,4.5,6.5,428,3937,0.00,2.47,0.00,0.000,516,0.000,0.089,3709,710,715,717,714,0,0,0,0,0,0,26.60,25.90,26.60,7.50,30.23
$STATE,3983,end climb,SURFACE_DEPTH_REACHED
$STATE,3983,begin surface coast
$FINISH,1.7,1.018968
$STATE,4005,end surface coast,CONTROL_FINISHED_OK
$STATE,4005,begin surface
$SM_CCo,4024,49.62,0.807,0,0,533,400.00
$SM_GC,2.19,9.30,2.53,49.62,0.089,0.079,0.807,177,2308,533,-10.10,-0.71,400.00,0,0,0,0,0,0,25.78,25.98,24.37
$IRIDIUM_FIX,4745.83,-12224.09,260418,125408
$TT8_MAMPS,0.021721,0.191744
$HUMID,29.95
$INTERNAL_PRESSURE,7.45024
$TCM_TEMP,9.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,19.4
$ALTIM_BOTTOM_PING,90.4,92.2
$24V_AH,23.12,21.333
$10V_AH,10.22,11.884
$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,24.325,65.725,564.250,49.625,277.650,75.017,98.986,332.375,1.250,0.000,23.619,1071.310,1501.456,831.933,1375.188,66.624,0.000,1385.521,0.000,815.356,0.000,7.323,0.000
$DEVICE_MAMPS,297.960,141.531,913.744,806.975,144.014,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.439,585.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312596
$DATA_FILE_SIZE,31507,442
$CAP_FILE_SIZE,71152,0
$CFSIZE,2047311872,2038726656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.144,48.58,1
$GPS,260418,141258,4743.677,-12224.176,9,0.8,21,16.3,0.2,141.0,10,4.9