version: 66.12
glider: 38
mission: 2
dive: 9
start: 1 7 115 5 57 24
data:
$ID,38
$MISSION,2
$DIVE,9
$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,80
$T_MISSION,100
$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,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,2996
$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,48
$R_STBD_OVSHOOT,37
$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,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$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
$GPS1,070115,055052,4744.1411,-12224.6611,34,0.9,35,16.3,0.0,0.0,7,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.8
$GPS2,070115,055657,4744.1953,-12224.7178,5,1.0,40,16.3,0.6,110.8,7,3.0
$SPEED_LIMITS,0.075,0.235
$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,156.7,2230,-13.1,-7.500,-17.71,2947
$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,-0.73,-146.6,155,2183,1647,1608,0.0,0.0,0,132,0.00,0.00,-115.20,0.146,16386,0.000,0.000,155,2183,2694,2665,2723,0,0,0,0,0,0,26.39,28.83,26.42
$GC,135,-0.73,-146.6,156,2183,2666,2722,3.4,-3.2,21,181,10.07,2.22,-26.10,0.161,18948,0.268,0.089,2760,770,3134,3111,3157,0,0,0,0,0,0,25.79,25.98,25.91
$GC,582,-0.73,-146.6,2760,770,3112,3155,41.1,-8.3,84,586,0.00,2.08,0.00,0.000,1030,0.000,0.079,2750,2182,3133,3111,3156,0,0,0,0,0,0,26.51,26.42,26.52
$GC,707,-0.73,-146.6,2750,2182,3111,3155,52.0,-8.7,96,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2182,3133,3111,3156,0,0,0,0,0,0,26.75,26.77,26.77
$GC,827,-0.73,-146.6,2750,2182,3111,3155,63.1,-10.4,108,831,0.00,2.10,0.00,0.000,260,0.000,0.097,2740,3578,3133,3111,3155,0,0,0,0,0,0,26.81,26.51,26.82
$GC,996,-0.73,-146.6,2740,3578,3111,3156,75.1,-8.0,124,1003,0.00,2.10,0.00,0.000,1030,0.000,0.079,2740,2163,3133,3111,3156,0,0,0,0,0,0,26.65,26.60,26.66
$GC,1123,-0.73,-146.6,2739,2163,3111,3156,86.0,-8.0,137,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2163,3133,3111,3156,0,0,0,0,0,0,26.90,26.92,26.91
$GC,1243,-0.73,-146.6,2740,2163,3111,3156,95.5,-7.8,149,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2163,3133,3111,3156,0,0,0,0,0,0,26.94,26.96,26.95
$GC,1363,-0.73,-146.6,2740,2164,3111,3156,103.5,-6.6,161,1367,0.00,2.08,0.00,0.000,516,0.000,0.092,2739,763,3133,3111,3156,0,0,0,0,0,0,26.96,26.67,26.98
$GC,1428,-0.73,-146.6,2740,763,3111,3155,108.3,-7.7,167,1432,0.00,2.05,0.00,0.000,1030,0.000,0.077,2730,2176,3132,3110,3155,0,0,0,0,0,0,26.78,26.70,26.79
$GC,1553,-0.73,-146.6,2730,2176,3111,3155,117.2,-6.5,179,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2176,3133,3111,3155,0,0,0,0,0,0,26.99,27.01,27.01
$GC,1673,-0.73,-146.6,2730,2176,3111,3155,126.9,-8.4,191,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2176,3133,3111,3155,0,0,0,0,0,0,27.01,27.04,27.03
$GC,1793,-0.73,-146.6,2730,2176,3111,3155,137.3,-9.1,203,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2176,3133,3111,3155,0,0,0,0,0,0,27.03,27.05,27.05
$GC,1915,-0.73,-146.6,2729,2176,3112,3155,147.6,-8.5,215,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2176,3133,3111,3155,0,0,0,0,0,0,27.05,27.08,27.06
$GC,2033,-0.73,-146.6,2730,2176,3112,3155,157.2,-7.2,227,2038,0.08,2.10,0.00,0.000,2564,0.206,0.087,2763,757,3133,3111,3155,0,0,0,0,0,0,26.72,26.78,26.79
$GC,2243,-0.73,-146.6,2762,757,3111,3155,172.3,-7.1,247,2250,0.00,2.10,0.00,0.000,1030,0.000,0.077,2753,2173,3133,3112,3155,0,0,0,0,0,0,26.85,26.82,26.88
$STATE,2298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2298,begin apogee
$GC,2302,-0.26,0.0,2753,2173,3111,3154,176.7,-6.3,253,2411,0.45,0.00,104.65,0.881,10246,0.146,0.000,2913,2174,2627,2639,2615,0,0,0,0,0,0,26.74,25.22,24.66
$STATE,2412,end apogee,CONTROL_FINISHED_OK
$STATE,2412,begin climb
$GC,2413,0.73,146.6,2913,2173,2639,2615,179.6,0.0,264,2524,0.82,0.00,107.20,0.847,10246,0.122,0.000,3214,2174,2122,2134,2111,0,0,0,0,0,0,25.30,24.93,24.41
$GC,2641,0.73,146.6,3213,2173,2134,2111,165.9,7.8,287,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2173,2122,2134,2111,0,0,0,0,0,0,26.05,26.07,26.07
$GC,2761,0.73,146.6,3214,2173,2133,2110,156.2,7.9,299,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2173,2122,2134,2111,0,0,0,0,0,0,26.32,26.34,26.33
$GC,2881,0.73,146.6,3214,2173,2134,2111,146.5,8.2,311,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2173,2122,2134,2111,0,0,0,0,0,0,26.48,26.51,26.50
$GC,3001,0.73,146.6,3214,2173,2134,2110,137.2,8.3,323,3005,0.00,2.15,0.00,0.000,516,0.000,0.092,3225,762,2122,2134,2111,0,0,0,0,0,0,26.59,26.32,26.60
$GC,3070,0.73,146.6,3224,762,2134,2110,131.9,8.3,329,3077,0.00,2.12,0.00,0.000,1030,0.000,0.079,3225,2164,2122,2134,2111,0,0,0,0,0,0,26.42,26.39,26.44
$GC,3196,0.73,146.6,3224,2164,2134,2110,121.9,7.9,342,3200,0.00,2.15,0.00,0.000,260,0.000,0.097,3225,3583,2122,2134,2111,0,0,0,0,0,0,26.72,26.42,26.73
$GC,3272,0.73,146.6,3225,3583,2133,2111,114.9,8.7,349,3276,0.00,2.08,0.00,0.000,1030,0.000,0.079,3236,2158,2122,2134,2111,0,0,0,0,0,0,26.56,26.48,26.58
$GC,3397,0.73,146.6,3235,2158,2134,2111,104.1,7.7,361,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2158,2122,2134,2111,0,0,0,0,0,0,26.80,26.83,26.82
$GC,3517,0.73,146.6,3235,2158,2134,2111,93.7,8.3,373,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2158,2122,2133,2111,0,0,0,0,0,0,26.85,26.87,26.86
$GC,3638,0.73,146.6,3235,2158,2134,2111,83.9,8.5,385,3647,0.00,2.10,0.00,0.000,516,0.000,0.094,3246,759,2122,2134,2111,0,0,0,0,0,0,26.89,26.60,26.91
$GC,3731,0.73,146.6,3246,759,2134,2111,76.9,8.1,394,3739,0.00,2.12,0.00,0.000,1030,0.000,0.079,3246,2173,2122,2134,2111,0,0,0,0,0,0,26.68,26.65,26.71
$GC,3858,0.73,146.6,3246,2173,2134,2111,66.2,8.5,407,3862,0.00,2.12,0.00,0.000,260,0.000,0.097,3246,3576,2122,2134,2111,0,0,0,0,0,0,26.94,26.65,26.96
$GC,4054,0.73,146.6,3246,3575,2133,2111,49.9,7.9,426,4058,0.00,2.05,0.00,0.000,1030,0.000,0.082,3256,2167,2122,2133,2111,0,0,0,0,0,0,26.79,26.70,26.80
$GC,4179,0.73,146.6,3256,2166,2135,2111,39.9,8.3,438,4183,0.00,2.12,0.00,0.000,516,0.000,0.094,3265,760,2122,2134,2110,0,0,0,0,0,0,27.01,26.71,27.02
$GC,4336,0.73,146.6,3265,760,2134,2111,27.6,7.6,453,4345,0.12,2.08,0.00,0.000,5126,0.176,0.079,3223,2174,2122,2134,2111,0,0,0,0,0,0,26.67,26.76,26.78
$GC,4465,0.76,225.5,3222,2174,2134,2111,19.9,4.8,466,4525,0.00,0.00,55.50,0.785,8198,0.000,0.000,3223,2174,1850,1862,1838,0,0,0,0,0,0,27.04,25.82,25.32
$GC,4587,0.76,225.5,3222,2173,1862,1838,11.3,7.5,489,4593,0.00,2.20,0.00,0.000,516,0.000,0.092,3227,762,1850,1862,1838,0,0,0,0,0,0,26.34,26.07,26.36
$STATE,4709,end climb,SURFACE_DEPTH_REACHED
$STATE,4709,begin surface coast
$FINISH,2.0,1.020962
$STATE,4720,end surface coast,CONTROL_FINISHED_OK
$STATE,4720,begin surface
$SM_CCo,4737,43.97,0.760,0,0,1628,290.20
$SM_GC,2.47,8.23,2.15,43.97,0.099,0.077,0.760,165,2172,1628,-8.80,-1.02,290.20,0,0,0,0,0,0,26.25,26.28,25.10
$IRIDIUM_FIX,4722.92,-12222.38,070115,042224
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.61
$INTERNAL_PRESSURE,9.00669
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.4,81.4
$24V_AH,24.41,1.478
$10V_AH,10.55,0.539
$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,19.775,42.275,267.350,43.975,141.300,26.642,36.555,194.473,0.750,0.000,41.201,1224.915,2174.249,443.568,1274.013,48.439,0.000,981.573,0.000,960.003,0.000,7.237,0.000
$DEVICE_MAMPS,268.164,96.837,881.465,759.798,161.395,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.465,683.116,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322892
$DATA_FILE_SIZE,30295,515
$CAP_FILE_SIZE,74486,0
$CFSIZE,1024409600,1020903424
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5387.37,0x238aa6,7,5
$INTR,1,2300.05,0x238aa6,2,5
$INTR,2,2514.01,0x2356fe,1,24
$GPS,070115,071748,4744.119,-12224.608,1,1.1,8,16.3,0.6,280.1,8,9.1