version: 66.12
glider: 38
mission: 2
dive: 10
start: 1 7 115 7 23 21
data:
$ID,38
$MISSION,2
$DIVE,10
$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,90
$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,2990
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,070115,071748,4744.1191,-12224.6084,1,1.1,8,16.3,0.6,280.1,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.6
$GPS2,070115,072253,4744.1406,-12224.6289,4,1.0,11,16.3,0.0,0.0,9,9.3
$SPEED_LIMITS,0.067,0.224
$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,159.3,2118,-11.4,-6.667,-16.54,3301
$D_GRID,175
$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,15,-0.64,-146.6,164,2173,1650,1606,0.0,0.0,0,117,0.00,0.00,-99.78,0.149,16386,0.000,0.000,164,2173,2567,2538,2597,0,0,0,0,0,0,26.34,28.83,26.36
$GC,119,-0.64,-146.6,164,2173,2539,2597,3.1,-2.5,18,176,10.02,2.15,-39.70,0.154,18692,0.263,0.092,2774,3575,3130,3108,3153,0,0,0,0,0,0,25.79,25.94,25.88
$GC,618,-0.64,-146.6,2774,3575,3108,3154,44.1,-7.6,88,622,0.00,2.08,0.00,0.000,1030,0.000,0.079,2774,2151,3131,3108,3154,0,0,0,0,0,0,26.51,26.44,26.53
$GC,743,-0.64,-146.6,2773,2150,3108,3154,52.8,-7.3,100,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2151,3131,3108,3154,0,0,0,0,0,0,26.76,26.78,26.78
$GC,863,-0.64,-146.6,2773,2150,3108,3154,61.5,-7.4,112,867,0.00,2.08,0.00,0.000,516,0.000,0.094,2774,765,3131,3108,3154,0,0,0,0,0,0,26.81,26.53,26.83
$GC,939,-0.64,-146.6,2774,765,3109,3154,66.8,-7.3,119,943,0.00,2.05,0.00,0.000,1030,0.000,0.077,2764,2171,3131,3108,3154,0,0,0,0,0,0,26.65,26.57,26.66
$GC,1064,-0.64,-146.6,2763,2172,3109,3154,75.0,-6.2,131,1068,0.00,2.10,0.00,0.000,260,0.000,0.094,2753,3574,3131,3108,3154,0,0,0,0,0,0,26.88,26.58,26.89
$GC,1250,-0.64,-146.6,2753,3573,3108,3154,88.1,-7.0,149,1259,0.00,2.05,0.00,0.000,1030,0.000,0.079,2753,2167,3131,3108,3154,0,0,0,0,0,0,26.73,26.65,26.75
$GC,1379,-0.64,-146.6,2752,2166,3108,3154,98.1,-7.4,162,1383,0.00,2.08,0.00,0.000,516,0.000,0.092,2753,769,3130,3108,3153,0,0,0,0,0,0,26.96,26.67,26.97
$GC,1475,-0.64,-146.6,2752,768,3108,3154,106.0,-8.6,171,1479,0.12,2.05,0.00,0.000,3078,0.184,0.077,2785,2183,3131,3109,3154,0,0,0,0,0,0,26.60,26.71,26.72
$GC,1600,-0.64,-146.6,2785,2183,3109,3154,114.3,-6.4,183,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2183,3131,3109,3154,0,0,0,0,0,0,26.99,27.01,27.01
$GC,1720,-0.64,-146.6,2785,2183,3108,3154,122.3,-6.3,195,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2183,3131,3109,3154,0,0,0,0,0,0,27.01,27.03,27.03
$GC,1841,-0.64,-146.6,2785,2183,3108,3154,130.2,-6.6,207,1850,0.00,2.12,0.00,0.000,516,0.000,0.089,2785,759,3131,3108,3154,0,0,0,0,0,0,27.03,26.75,27.05
$GC,1954,-0.64,-146.6,2785,759,3109,3154,137.7,-7.2,218,1961,0.00,2.10,0.00,0.000,1030,0.000,0.077,2777,2174,3131,3108,3154,0,0,0,0,0,0,26.82,26.79,26.84
$GC,2081,-0.64,-146.6,2777,2174,3108,3154,145.3,-5.6,231,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2174,3131,3109,3154,0,0,0,0,0,0,27.06,27.08,27.08
$GC,2202,-0.64,-146.6,2777,2174,3109,3154,152.6,-5.7,243,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2174,3131,3109,3154,0,0,0,0,0,0,27.08,27.09,27.09
$GC,2321,-0.64,-146.6,2777,2174,3108,3154,159.0,-4.5,255,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2174,3131,3109,3153,0,0,0,0,0,0,27.09,27.11,27.10
$GC,2441,-0.64,-146.6,2777,2174,3108,3154,165.4,-5.5,267,2445,0.00,2.08,0.00,0.000,260,0.000,0.094,2767,3572,3131,3108,3154,0,0,0,0,0,0,27.10,26.80,27.12
$GC,2540,-0.64,-146.6,2766,3572,3108,3154,171.7,-7.0,276,2547,0.00,2.08,0.00,0.000,1030,0.000,0.077,2767,2158,3131,3108,3154,0,0,0,0,0,0,26.88,26.84,26.91
$STATE,2575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2575,begin apogee
$GC,2579,-0.26,0.0,2766,2158,3109,3154,175.0,-8.4,280,2688,0.40,0.00,104.15,0.896,10246,0.144,0.000,2911,2156,2627,2639,2615,0,0,0,0,0,0,26.76,25.22,24.67
$STATE,2689,end apogee,CONTROL_FINISHED_OK
$STATE,2689,begin climb
$GC,2690,0.64,146.6,2912,2156,2639,2615,179.0,0.0,291,2801,0.73,0.00,107.45,0.842,10246,0.122,0.000,3179,2156,2122,2134,2110,0,0,0,0,0,0,25.32,24.93,24.41
$GC,2918,0.64,146.6,3178,2156,2134,2110,167.0,6.8,314,2922,0.00,2.25,0.00,0.000,260,0.000,0.094,3179,3577,2121,2133,2110,0,0,0,0,0,0,26.05,25.77,26.06
$GC,2994,0.64,146.6,3178,3577,2134,2110,162.1,7.6,321,2998,0.00,2.10,0.00,0.000,1030,0.000,0.079,3189,2167,2122,2134,2110,0,0,0,0,0,0,26.06,25.97,26.08
$GC,3119,0.64,146.6,3189,2167,2134,2110,152.9,7.4,333,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2167,2122,2134,2110,0,0,0,0,0,0,26.44,26.45,26.44
$GC,3239,0.64,146.6,3189,2167,2134,2111,144.9,7.4,345,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2167,2122,2134,2111,0,0,0,0,0,0,26.55,26.58,26.58
$GC,3359,0.64,146.6,3189,2167,2134,2111,136.2,7.5,357,3363,0.00,2.12,0.00,0.000,516,0.000,0.094,3196,762,2122,2134,2110,0,0,0,0,0,0,26.65,26.36,26.66
$GC,3434,0.64,146.6,3196,762,2134,2110,131.2,6.6,364,3439,0.00,2.08,0.00,0.000,1030,0.000,0.077,3196,2172,2122,2134,2110,0,0,0,0,0,0,26.51,26.44,26.52
$GC,3560,0.64,146.6,3196,2172,2134,2110,122.4,6.5,376,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2172,2122,2134,2110,0,0,0,0,0,0,26.75,26.78,26.77
$GC,3680,0.64,146.6,3196,2171,2134,2110,114.0,7.1,388,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2171,2122,2133,2111,0,0,0,0,0,0,26.81,26.83,26.82
$GC,3800,0.64,146.6,3196,2172,2133,2110,106.6,5.6,400,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2172,2122,2134,2111,0,0,0,0,0,0,26.85,26.87,26.86
$GC,3921,0.64,146.6,3196,2172,2134,2110,99.6,5.9,412,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2172,2122,2134,2110,0,0,0,0,0,0,26.89,26.91,26.91
$GC,4040,0.67,233.5,3196,2172,2134,2110,93.5,4.0,424,4104,0.00,0.00,61.90,0.832,8198,0.000,0.000,3196,2172,1823,1835,1812,0,0,0,0,0,0,26.92,25.60,25.08
$GC,4220,0.67,233.5,3196,2172,1835,1811,82.9,6.4,442,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2172,1823,1835,1811,0,0,0,0,0,0,26.30,26.32,26.32
$GC,4340,0.67,233.5,3196,2172,1835,1812,74.8,7.2,454,4344,0.00,2.15,0.00,0.000,260,0.000,0.094,3196,3580,1823,1835,1811,0,0,0,0,0,0,26.48,26.19,26.49
$GC,4426,0.67,233.5,3196,3580,1835,1812,68.3,7.8,462,4430,0.00,2.08,0.00,0.000,1030,0.000,0.082,3203,2170,1822,1834,1811,0,0,0,0,0,0,26.38,26.29,26.39
$GC,4551,0.67,233.5,3203,2169,1835,1812,59.8,6.8,474,4555,0.00,2.15,0.00,0.000,516,0.000,0.094,3210,767,1823,1835,1812,0,0,0,0,0,0,26.66,26.38,26.67
$GC,4629,0.67,233.5,3209,767,1835,1812,54.6,6.2,481,4637,0.00,2.12,0.00,0.000,1030,0.000,0.077,3209,2176,1823,1835,1812,0,0,0,0,0,0,26.48,26.44,26.51
$GC,4756,0.67,233.5,3209,2176,1835,1812,45.8,6.8,494,4760,0.00,2.12,0.00,0.000,260,0.000,0.097,3210,3572,1823,1835,1811,0,0,0,0,0,0,26.77,26.47,26.79
$GC,4822,0.67,233.5,3209,3572,1835,1812,41.0,7.3,500,4826,0.00,2.05,0.00,0.000,1030,0.000,0.079,3216,2163,1823,1835,1812,0,0,0,0,0,0,26.60,26.53,26.63
$GC,4947,0.67,233.5,3216,2163,1834,1811,31.8,7.3,512,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2163,1823,1835,1811,0,0,0,0,0,0,26.84,26.86,26.86
$GC,5067,0.67,233.5,3216,2163,1835,1812,22.6,6.9,524,5071,0.00,2.12,0.00,0.000,516,0.000,0.094,3216,760,1823,1835,1811,0,0,0,0,0,0,26.89,26.60,26.90
$GC,5208,0.67,233.5,3216,760,1835,1811,12.6,6.2,547,5214,0.00,2.08,0.00,0.000,1030,0.000,0.079,3217,2171,1823,1835,1811,0,0,0,0,0,0,26.73,26.65,26.74
$GC,5276,0.67,233.5,3217,2171,1835,1812,7.7,6.3,560,5282,0.00,2.12,0.00,0.000,260,0.000,0.094,3217,3575,1823,1835,1811,0,0,0,0,0,0,26.94,26.64,26.95
$STATE,5343,end climb,SURFACE_DEPTH_REACHED
$STATE,5343,begin surface coast
$FINISH,2.4,1.021066
$STATE,5354,end surface coast,CONTROL_FINISHED_OK
$STATE,5354,begin surface
$SM_CCo,5371,37.20,0.780,0,0,1628,290.20
$SM_GC,2.32,8.12,2.10,37.20,0.102,0.077,0.780,161,2159,1628,-8.80,1.19,290.20,0,0,0,0,0,0,26.63,26.68,25.48
$IRIDIUM_FIX,4726.11,-12224.09,070115,055200
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.04
$INTERNAL_PRESSURE,9.00669
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.2,80.4
$24V_AH,24.41,1.573
$10V_AH,10.58,0.576
$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,19.400,54.650,273.500,37.200,139.475,25.144,12.922,189.688,0.750,0.000,12.601,1397.113,2524.165,450.973,1310.305,51.580,0.000,1038.600,0.000,1051.614,0.000,7.234,0.000
$DEVICE_MAMPS,263.198,96.837,896.363,779.662,153.946,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.141,763.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322960
$DATA_FILE_SIZE,33562,575
$CAP_FILE_SIZE,84219,0
$CFSIZE,1024409600,1020805120
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5156.37,0x238aa6,7,5
$INTR,1,2576.68,0x238aa6,2,5
$GPS,070115,085439,4743.549,-12224.632,3,0.9,35,16.3,0.0,0.0,8,9.0