version: 66.12
glider: 38
mission: 2
dive: 6
start: 1 7 115 1 31 23
data:
$ID,38
$MISSION,2
$DIVE,6
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,290
$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,3000
$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,3775
$C_ROLL_CLIMB,3775
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2627
$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,0
$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,3
$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
$GPS1,070115,012532,4743.3374,-12224.6738,3,1.5,19,16.3,0.0,0.0,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-57.0
$GPS2,070115,013050,4743.3335,-12224.6807,3,1.4,19,16.3,0.6,308.2,8,10.0
$SPEED_LIMITS,0.084,0.193
$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,349.7,2172,-24.4,-10.000,-27.35,1192
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.31,-78.2,105,3752,199,196,0.0,0.0,0,308,0.00,0.03,-284.40,0.144,16390,0.000,0.179,105,3779,2896,2870,2923,0,0,0,0,0,0,26.40,25.87,25.89
$GC,310,-1.31,-78.2,105,3780,2870,2923,3.2,-3.8,54,322,9.73,0.00,0.00,0.000,2054,0.273,0.000,2576,3780,2896,2870,2923,0,0,0,0,0,0,25.76,26.01,25.96
$GC,384,-1.31,-78.2,2576,3780,2871,2924,12.7,-13.0,68,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,26.36,26.38,26.38
$GC,451,-1.31,-78.2,2575,3780,2871,2924,20.5,-11.4,81,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2924,0,0,0,0,0,0,26.46,26.48,26.47
$GC,571,-1.31,-78.2,2576,3780,2871,2924,35.1,-11.4,93,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2924,0,0,0,0,0,0,26.58,26.60,26.59
$GC,691,-1.31,-78.2,2576,3780,2871,2924,47.8,-10.0,105,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,26.67,26.69,26.69
$GC,811,-1.31,-78.2,2575,3780,2871,2924,60.2,-10.9,117,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2924,0,0,0,0,0,0,26.74,26.76,26.75
$GC,931,-1.31,-78.2,2576,3780,2870,2923,72.8,-9.4,129,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,26.79,26.82,26.81
$GC,1052,-1.31,-78.2,2576,3780,2871,2923,85.9,-10.7,141,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,26.84,26.86,26.86
$GC,1171,-1.31,-78.2,2576,3780,2871,2923,99.2,-9.9,153,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,26.88,26.90,26.90
$GC,1291,-1.31,-78.2,2576,3780,2871,2923,111.6,-8.7,165,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,26.91,26.94,26.93
$GC,1413,-1.31,-78.2,2576,3780,2871,2923,120.6,-7.2,177,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,26.94,26.96,26.96
$GC,1531,-1.31,-78.2,2576,3780,2870,2923,131.0,-9.2,189,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,3780,2897,2871,2923,0,0,0,0,0,0,26.97,26.99,26.98
$GC,1651,-1.31,-78.2,2576,3780,2871,2923,142.2,-9.4,201,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,26.99,27.01,27.01
$GC,1771,-1.31,-78.2,2576,3780,2871,2923,153.7,-9.4,213,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,27.01,27.03,27.03
$GC,1891,-1.31,-78.2,2576,3780,2871,2923,164.6,-8.5,225,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2897,2871,2923,0,0,0,0,0,0,27.03,27.05,27.05
$GC,2011,-1.31,-78.2,2576,3780,2871,2923,175.0,-9.3,237,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,3780,2896,2871,2922,0,0,0,0,0,0,27.05,27.07,27.07
$STATE,2030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2030,begin apogee
$GC,2033,-0.26,0.0,2576,3780,2871,2923,176.6,-9.1,239,2093,1.05,0.00,56.00,0.889,10246,0.181,0.000,2920,3780,2627,2629,2626,0,0,0,0,0,0,26.64,25.71,25.14
$STATE,2094,end apogee,CONTROL_FINISHED_OK
$STATE,2094,begin climb
$GC,2095,1.31,78.2,2920,3780,2629,2626,177.4,0.0,245,2162,1.33,0.00,57.50,0.847,10246,0.122,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,25.77,25.15,24.62
$GC,2281,1.31,78.2,3403,3780,2363,2351,154.4,13.9,264,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.16,26.18,26.18
$GC,2401,1.31,78.2,3402,3780,2363,2351,137.3,14.5,276,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.40,26.42,26.42
$GC,2521,1.31,78.2,3403,3780,2363,2351,119.9,14.6,288,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.55,26.56,26.56
$GC,2641,1.31,78.2,3403,3780,2363,2351,105.4,12.2,300,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.65,26.67,26.67
$GC,2761,1.31,78.2,3403,3779,2363,2351,91.0,12.7,312,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.72,26.75,26.74
$GC,2882,1.31,78.2,3403,3780,2363,2351,75.7,13.1,324,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.79,26.81,26.80
$GC,3001,1.31,78.2,3403,3780,2363,2351,60.1,12.4,336,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.84,26.86,26.85
$GC,3121,1.31,78.2,3403,3779,2363,2351,44.8,12.8,348,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.88,26.91,26.89
$GC,3241,1.31,78.2,3402,3780,2363,2351,31.2,10.0,360,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.91,26.94,26.94
$GC,3361,1.31,78.2,3403,3780,2363,2351,20.4,8.9,372,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2357,2363,2351,0,0,0,0,0,0,26.95,26.97,26.96
$GC,3481,1.31,78.2,3403,3780,2363,2351,7.7,12.0,395,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,3780,2356,2363,2350,0,0,0,0,0,0,26.98,27.00,26.99
$STATE,3527,end climb,SURFACE_DEPTH_REACHED
$STATE,3527,begin surface coast
$FINISH,0.2,1.009086
$STATE,3553,end surface coast,CONTROL_FINISHED_OK
$STATE,3553,begin surface
$SM_CCo,3567,133.45,0.765,0,0,1627,290.20
$SM_GC,1.74,8.57,0.00,133.45,0.099,0.000,0.765,153,3780,1627,-8.84,0.14,290.20,0,0,0,0,0,0,26.70,27.01,24.68
$IRIDIUM_FIX,4722.92,-12225.08,070115,000655
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.61
$INTERNAL_PRESSURE,9.01645
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,6.5
$24V_AH,24.62,1.182
$10V_AH,10.51,0.428
$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,20.675,5.400,113.500,133.450,284.400,25.027,37.721,170.890,0.500,0.000,20.860,916.840,1733.629,487.309,868.787,38.667,0.000,858.625,0.000,610.183,0.000,5.455,0.000
$DEVICE_MAMPS,273.130,178.776,888.914,764.764,144.014,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,271.752,541.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322916
$DATA_FILE_SIZE,23604,409
$CAP_FILE_SIZE,54753,0
$CFSIZE,1024409600,1021100032
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2031.61,0x238aa6,2,5
$INTR,1,3556.18,0x238aa6,7,5
$GPS,070115,023402,4743.336,-12224.619,2,1.1,24,16.3,2.0,321.7,7,9.9