version: 66.14
glider: 38
mission: 12
dive: 19
start: 4 26 118 15 11 43
data:
$ID,38
$MISSION,12
$DIVE,19
$N_DIVES,20
$STOP_T,0
$D_SURF,2
$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,70
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80313
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00315
$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,500
$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,41
$R_STBD_OVSHOOT,26
$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,0
$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
$GPS1,260418,150430,4743.5811,-12224.3359,2,0.8,12,16.3,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-72.0
$GPS2,260418,151107,4743.5347,-12224.3184,10,0.9,15,16.3,0.0,0.0,9,4.8
$SPEED_LIMITS,0.173,0.255
$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,182.7,1016,-16.7,-10.000,-21.41,2884
$D_GRID,174
$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,-1.27,-195.5,183,2299,522,514,0.0,0.0,0,114,0.00,0.00,-104.35,0.146,16386,0.000,0.000,184,2299,1269,1308,1230,0,0,0,0,0,0,26.17,28.83,26.17,7.49,30.15
$GC,117,-1.27,-195.5,184,2299,1308,1231,3.5,-2.8,16,229,12.77,2.65,-87.43,0.146,18692,0.308,0.102,2998,3880,2585,2606,2564,0,0,0,0,0,0,24.93,25.50,25.34,7.57,29.40
$GC,473,-1.12,-195.5,2997,3880,2602,2552,61.3,-18.8,59,481,0.22,2.50,0.00,0.000,3078,0.206,0.072,3064,2282,2577,2602,2552,0,0,0,0,0,0,25.37,25.87,25.61,7.67,29.28
$GC,606,-1.06,-195.5,3064,2282,2600,2551,81.2,-13.5,72,618,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2282,2575,2599,2552,0,0,0,0,0,0,26.38,26.39,26.39,7.67,29.68
$GC,798,-0.99,-195.5,3064,2282,2598,2551,108.0,-14.2,85,811,0.10,2.62,0.00,0.000,2308,0.216,0.099,3088,3903,2574,2598,2551,0,0,0,0,0,0,25.82,25.79,25.87,7.67,29.95
$GC,839,-0.99,-195.5,3087,3903,2598,2550,114.6,-14.0,87,854,0.00,2.47,0.00,0.000,1030,0.000,0.074,3087,2314,2574,2598,2550,0,0,0,0,0,0,26.05,26.01,26.08,7.67,29.72
$GC,1107,-0.99,-195.5,3087,2314,2596,2550,150.7,-12.9,112,1111,0.00,2.58,0.00,0.000,260,0.000,0.099,3077,3890,2572,2595,2550,0,0,0,0,0,0,26.46,25.81,26.47,7.67,29.79
$GC,1141,-0.99,-195.5,3076,3890,2596,2549,155.3,-13.5,114,1154,0.00,2.50,0.00,0.000,1030,0.000,0.074,3077,2285,2573,2596,2550,0,0,0,0,0,0,26.13,26.03,26.16,7.67,30.27
$STATE,1281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1282,begin apogee
$GC,1285,-0.34,0.0,3077,2284,2595,2549,174.5,-13.4,127,1438,0.70,0.00,145.77,0.926,10246,0.179,0.000,3305,2281,1910,1936,1884,0,0,0,0,0,0,25.40,24.57,23.70,7.67,29.68
$STATE,1439,end apogee,CONTROL_FINISHED_OK
$STATE,1439,begin climb
$GC,1440,1.27,195.5,3304,2281,1936,1884,182.5,0.0,143,1609,1.42,2.58,155.98,0.899,10756,0.134,0.087,3801,725,1233,1250,1216,0,0,0,0,0,0,24.75,24.27,23.38,7.62,28.89
$GC,1663,1.16,195.5,3801,725,1248,1216,165.7,12.4,165,1672,0.00,2.53,0.00,0.000,1030,0.000,0.084,3802,2301,1232,1248,1216,0,0,0,0,0,0,25.07,25.03,25.10,7.56,28.46
$GC,1913,1.04,195.5,3801,2301,1248,1213,132.3,14.2,190,1924,0.15,2.60,0.00,0.000,4356,0.206,0.104,3755,3888,1230,1248,1212,0,0,0,0,0,0,25.48,25.60,25.58,7.56,29.36
$GC,2059,0.93,195.5,3755,3888,1248,1211,113.8,11.2,204,2069,0.15,2.47,0.00,0.000,5126,0.186,0.074,3718,2306,1229,1248,1211,0,0,0,0,0,0,25.53,25.88,25.65,7.56,29.32
$GC,2307,0.93,195.5,3718,2305,1248,1211,89.2,9.0,229,2317,0.00,2.50,0.00,0.000,516,0.000,0.089,3729,713,1229,1248,1211,0,0,0,0,0,0,26.43,25.83,26.44,7.56,30.03
$GC,2351,0.93,195.5,3728,713,1248,1211,85.6,8.5,233,2360,0.00,2.50,0.00,0.000,1030,0.000,0.084,3729,2309,1229,1247,1211,0,0,0,0,0,0,25.96,25.90,26.01,7.56,29.83
$GC,2479,0.93,195.5,3728,2309,1248,1211,75.1,8.7,246,2490,0.00,2.58,0.00,0.000,260,0.000,0.107,3729,3891,1229,1248,1211,0,0,0,0,0,0,26.48,25.82,26.49,7.56,29.64
$GC,2553,0.86,195.5,3728,3891,1248,1210,67.7,10.7,253,2563,0.12,2.47,0.00,0.000,5126,0.189,0.077,3700,2289,1229,1248,1211,0,0,0,0,0,0,25.67,26.03,25.77,7.55,30.15
$GC,2683,0.91,285.5,3700,2288,1247,1211,57.8,6.8,266,2775,0.00,2.55,84.22,0.832,8708,0.000,0.089,3712,713,923,939,908,0,0,0,0,0,0,26.52,24.96,24.10,7.56,30.03
$GC,2871,0.98,285.5,3711,713,935,905,43.3,9.0,284,2880,0.00,2.53,0.00,0.000,1030,0.000,0.082,3712,2310,920,935,905,0,0,0,0,0,0,25.64,25.50,25.68,7.53,29.44
$GC,3000,1.03,285.5,3711,2310,935,904,31.5,9.3,297,3009,0.00,2.55,0.00,0.000,2308,0.000,0.104,3712,3874,919,935,904,0,0,0,0,0,0,26.20,25.63,26.20,7.52,29.95
$GC,3094,1.03,285.5,3711,3875,935,902,20.9,11.6,306,3104,0.00,2.53,0.00,0.000,1030,0.000,0.074,3722,2294,918,935,902,0,0,0,0,0,0,25.91,25.86,25.94,7.52,30.58
$GC,3228,1.09,285.5,3721,2293,935,902,8.6,8.1,331,3235,0.00,0.00,0.00,0.000,2054,0.000,0.000,3722,2293,918,935,902,0,0,0,0,0,0,26.37,26.38,26.37,7.52,30.35
$GC,3297,1.26,424.1,3721,2293,935,902,3.9,5.1,344,3336,0.17,0.00,36.28,0.787,10754,0.099,0.000,3818,2293,801,813,790,0,0,0,0,0,0,26.11,28.83,26.14,7.52,29.79
$STATE,3337,end climb,SURFACE_DEPTH_REACHED
$STATE,3337,begin surface coast
$FINISH,0.4,1.009423
$STATE,3369,end surface coast,CONTROL_FINISHED_OK
$STATE,3369,begin surface
$SM_CCo,3385,170.82,0.780,0,0,199,496.74
$SM_CCo,3559,-1.48,0.459,0,0,200,496.74
$SM_CCo,3564,0.00,0.000,0,0,200,496.74
$SM_GC,1.63,9.43,0.00,0.00,0.072,0.000,0.000,167,2292,200,-10.08,-0.23,496.74,0,0,0,0,0,0,25.65,26.00,25.17
$IRIDIUM_FIX,4746.19,-12216.97,260418,141407
$TT8_MAMPS,0.02247,0.200732
$HUMID,28.93
$INTERNAL_PRESSURE,7.42094
$TCM_TEMP,9.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,108.0,0.0
$24V_AH,23.38,21.637
$10V_AH,10.27,11.949
$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,25.250,45.700,422.250,170.825,193.250,24.044,35.822,254.962,65.500,0.000,16.551,913.769,824.092,758.401,1425.188,72.124,0.000,1245.849,0.000,688.318,0.000,649.517,0.000
$DEVICE_MAMPS,307.892,106.769,926.159,779.662,459.355,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.658,471.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312624
$DATA_FILE_SIZE,27957,356
$CAP_FILE_SIZE,86830,0
$CFSIZE,2047311872,2038497280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3054.20,0x2139f6,7,24
$CURRENT,0.011,33.91,1
$GPS,260418,161210,4743.210,-12224.560,3,0.8,22,16.3,0.4,204.6,10,4.9