version: 66.12
glider: 38
mission: 2
dive: 3
start: 1 6 115 21 23 46
data:
$ID,38
$MISSION,2
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,300
$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_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78054
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12224.5
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,19
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2169
$C_ROLL_CLIMB,2169
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2614
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1022.0887
$PRESSURE_SLOPE,0.00093318848
$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,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,060115,211957,4743.3174,-12224.5107,1,1.4,16,16.3,0.0,0.0,7,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-54.5
$GPS2,060115,212318,4743.3247,-12224.5215,3,1.0,17,16.3,0.0,0.0,7,9.3
$SPEED_LIMITS,0.100,0.260
$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,344.4,2176,-17.5,-10.000,-21.04,2226
$D_GRID,176
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.96,-146.6,164,2170,202,199,0.0,0.0,0,326,0.00,0.00,-307.30,0.144,16386,0.000,0.000,164,2170,3059,3032,3087,0,0,0,0,0,0,26.76,28.83,26.78
$GC,328,-0.96,-146.6,163,2170,3032,3087,3.1,-3.8,57,348,9.65,2.20,-3.75,0.266,18692,0.263,0.094,2690,3582,3119,3099,3140,0,0,0,0,0,0,25.91,26.08,26.01
$GC,374,-0.96,-146.6,2690,3582,3100,3141,8.5,-8.7,65,380,0.00,2.10,0.00,0.000,1030,0.000,0.082,2695,2160,3119,3099,3140,0,0,0,0,0,0,26.25,26.17,26.27
$GC,442,-0.96,-146.6,2694,2161,3099,3140,15.2,-11.2,78,448,0.00,2.17,0.00,0.000,260,0.000,0.097,2685,3578,3120,3099,3141,0,0,0,0,0,0,26.54,26.25,26.55
$GC,975,-0.96,-146.6,2684,3578,3099,3140,70.4,-8.8,136,979,0.00,2.05,0.00,0.000,1030,0.000,0.082,2685,2162,3119,3099,3140,0,0,0,0,0,0,26.70,26.62,26.72
$GC,1100,-0.96,-146.6,2684,2162,3099,3140,81.6,-8.4,148,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2162,3119,3099,3140,0,0,0,0,0,0,26.94,26.96,26.95
$GC,1220,-0.96,-146.6,2685,2162,3099,3140,91.3,-7.4,160,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2162,3119,3099,3140,0,0,0,0,0,0,26.96,26.98,26.98
$GC,1341,-0.96,-146.6,2684,2162,3099,3140,100.6,-8.0,172,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2162,3119,3099,3140,0,0,0,0,0,0,26.96,26.98,26.98
$GC,1460,-0.96,-146.6,2685,2162,3100,3140,109.2,-7.2,184,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2163,3119,3099,3140,0,0,0,0,0,0,27.02,27.04,27.03
$GC,1580,-0.96,-146.6,2685,2162,3099,3140,119.6,-10.0,196,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2162,3119,3099,3139,0,0,0,0,0,0,27.04,27.06,27.05
$GC,1700,-0.96,-146.6,2685,2162,3099,3140,132.4,-11.4,208,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2162,3120,3100,3140,0,0,0,0,0,0,27.06,27.08,27.08
$GC,1820,-0.96,-146.6,2685,2162,3099,3139,143.3,-9.2,220,1824,0.00,2.10,0.00,0.000,516,0.000,0.092,2685,757,3119,3099,3139,0,0,0,0,0,0,27.08,26.79,27.09
$GC,1898,-0.96,-146.6,2685,757,3099,3138,150.2,-8.7,227,1906,0.00,2.10,0.00,0.000,1030,0.000,0.079,2675,2170,3119,3099,3139,0,0,0,0,0,0,26.86,26.81,26.88
$GC,2025,-0.96,-146.6,2674,2169,3098,3138,162.3,-9.2,240,2029,0.00,2.08,0.00,0.000,260,0.000,0.094,2664,3572,3119,3100,3139,0,0,0,0,0,0,27.10,26.79,27.12
$STATE,2110,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2110,begin apogee
$GC,2115,-0.26,0.0,2664,2168,3099,3139,170.3,-9.6,248,2223,0.73,0.00,104.07,0.901,10246,0.164,0.000,2919,2167,2614,2626,2602,0,0,0,0,0,0,26.72,25.25,24.69
$STATE,2224,end apogee,CONTROL_FINISHED_OK
$STATE,2224,begin climb
$GC,2226,0.96,146.6,2919,2167,2626,2602,173.2,0.0,259,2341,1.05,0.00,106.85,0.837,10246,0.127,0.000,3299,2167,2109,2122,2097,0,0,0,0,0,0,25.34,25.03,24.51
$GC,2461,0.96,146.6,3298,2167,2122,2097,152.5,10.4,283,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2167,2109,2122,2097,0,0,0,0,0,0,26.19,26.21,26.20
$GC,2581,0.96,146.6,3298,2167,2122,2096,139.0,11.2,295,2585,0.00,2.15,0.00,0.000,516,0.000,0.094,3309,759,2108,2121,2096,0,0,0,0,0,0,26.44,26.16,26.46
$GC,2678,0.96,146.6,3309,759,2121,2096,129.5,9.1,304,2686,0.00,2.10,0.00,0.000,1030,0.000,0.082,3309,2171,2109,2122,2097,0,0,0,0,0,0,26.38,26.29,26.39
$GC,2807,0.96,146.6,3309,2171,2122,2097,115.3,12.4,317,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2171,2109,2122,2096,0,0,0,0,0,0,26.68,26.70,26.70
$GC,2927,0.96,146.6,3309,2171,2122,2096,100.1,11.5,329,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2171,2109,2122,2097,0,0,0,0,0,0,26.77,26.79,26.78
$GC,3048,0.96,146.6,3309,2171,2122,2097,84.2,12.6,341,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2171,2109,2122,2096,0,0,0,0,0,0,26.83,26.85,26.84
$GC,3166,0.96,146.6,3309,2171,2122,2096,70.7,12.0,353,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2171,2109,2122,2097,0,0,0,0,0,0,26.88,26.90,26.89
$GC,3287,0.96,146.6,3309,2171,2122,2097,57.5,10.5,365,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2171,2109,2122,2097,0,0,0,0,0,0,26.92,26.94,26.94
$GC,3407,0.96,146.6,3309,2171,2122,2097,45.4,9.6,377,3410,0.00,2.10,0.00,0.000,260,0.000,0.097,3309,3575,2108,2121,2096,0,0,0,0,0,0,26.95,26.65,26.98
$GC,3546,0.96,146.6,3309,3574,2121,2097,29.5,11.8,390,3553,0.00,2.08,0.00,0.000,1030,0.000,0.084,3320,2173,2109,2121,2097,0,0,0,0,0,0,26.79,26.70,26.81
$GC,3672,0.96,146.6,3320,2172,2121,2097,15.5,10.4,407,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2172,2108,2120,2097,0,0,0,0,0,0,27.01,27.04,27.03
$GC,3739,0.96,146.6,3320,2172,2121,2097,8.4,10.5,420,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2172,2109,2121,2097,0,0,0,0,0,0,27.03,27.05,27.05
$STATE,3805,end climb,SURFACE_DEPTH_REACHED
$STATE,3806,begin surface coast
$FINISH,0.3,1.008711
$STATE,3842,end surface coast,CONTROL_FINISHED_OK
$STATE,3842,begin surface
$SM_CCo,3856,162.43,0.750,0,0,1237,400.00
$SM_GC,1.57,8.15,0.00,162.43,0.089,0.000,0.750,160,2171,1237,-8.85,0.06,400.00,0,0,0,0,0,0,26.74,27.07,24.69
$IRIDIUM_FIX,4722.92,-12226.80,060115,211501
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.59
$INTERNAL_PRESSURE,8.98716
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,115.5,10.0
$24V_AH,24.51,0.803
$10V_AH,10.53,0.332
$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,19.575,25.300,210.925,162.425,311.050,0.000,0.000,0.000,1.750,0.000,19.018,972.552,1652.405,633.276,810.529,29.277,0.000,1097.532,0.000,783.178,0.000,14.555,0.000
$DEVICE_MAMPS,263.198,96.837,901.329,749.866,265.681,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.936,582.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323000
$DATA_FILE_SIZE,23625,440
$CAP_FILE_SIZE,73162,0
$CFSIZE,1024409600,1021280256
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2548.84,0x238aa6,7,5
$INTR,1,3845.33,0x238aa6,7,5
$GPS,060115,223134,4743.407,-12224.514,2,0.8,15,16.3,0.0,0.0,9,8.0