version: 66.12
glider: 38
mission: 2
dive: 12
start: 1 7 115 10 14 15
data:
$ID,38
$MISSION,2
$DIVE,12
$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,47
$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
$GPS1,070115,100836,4742.8057,-12224.8926,2,1.1,9,16.3,0.0,0.0,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.9
$GPS2,070115,101348,4742.7466,-12224.9268,4,0.9,12,16.3,0.0,0.0,8,9.4
$SPEED_LIMITS,0.067,0.224
$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,353.0,3290,-11.4,-6.667,-16.54,3301
$D_GRID,185
$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,-146.6,162,2179,1646,1609,0.0,0.0,0,160,0.00,0.00,-141.75,0.146,16386,0.000,0.000,162,2178,2905,2878,2933,0,0,0,0,0,0,26.31,28.83,26.32
$GC,162,-0.64,-146.6,161,2179,2878,2934,3.2,-3.5,26,192,9.98,2.20,-13.95,0.176,18692,0.261,0.092,2771,3578,3133,3109,3157,0,0,0,0,0,0,25.75,25.91,25.85
$GC,228,-0.64,-146.6,2771,3579,3109,3158,10.1,-7.9,38,235,0.00,2.10,0.00,0.000,1030,0.000,0.079,2771,2159,3134,3110,3158,0,0,0,0,0,0,26.10,26.03,26.12
$GC,297,-0.64,-146.6,2770,2159,3109,3158,15.6,-8.5,51,303,0.00,2.12,0.00,0.000,516,0.000,0.092,2771,761,3134,3110,3158,0,0,0,0,0,0,26.39,26.12,26.41
$GC,353,-0.64,-146.6,2770,761,3110,3158,20.5,-9.4,61,360,0.00,2.12,0.00,0.000,1030,0.000,0.077,2761,2166,3134,3110,3158,0,0,0,0,0,0,26.22,26.20,26.26
$GC,480,-0.64,-146.6,2761,2166,3109,3158,31.3,-8.2,74,484,0.00,2.12,0.00,0.000,260,0.000,0.094,2750,3572,3134,3110,3158,0,0,0,0,0,0,26.58,26.29,26.59
$GC,578,-0.64,-146.6,2750,3572,3109,3158,39.9,-8.5,83,586,0.10,2.10,0.00,0.000,3078,0.176,0.074,2784,2160,3133,3109,3157,0,0,0,0,0,0,26.27,26.39,26.35
$GC,705,-0.64,-146.6,2784,2160,3109,3158,49.1,-7.1,96,709,0.00,2.10,0.00,0.000,516,0.000,0.089,2784,769,3133,3109,3158,0,0,0,0,0,0,26.72,26.44,26.73
$GC,781,-0.64,-146.6,2784,769,3110,3157,55.1,-8.1,103,785,0.00,2.05,0.00,0.000,1030,0.000,0.077,2775,2174,3133,3109,3158,0,0,0,0,0,0,26.57,26.50,26.58
$GC,906,-0.64,-146.6,2776,2174,3110,3158,67.0,-9.5,115,910,0.00,2.10,0.00,0.000,260,0.000,0.094,2765,3572,3133,3110,3157,0,0,0,0,0,0,26.81,26.51,26.82
$GC,951,-0.64,-146.6,2765,3572,3110,3158,70.9,-8.7,119,955,0.00,2.05,0.00,0.000,1030,0.000,0.077,2765,2162,3133,3109,3158,0,0,0,0,0,0,26.63,26.55,26.65
$GC,1076,-0.64,-146.6,2764,2162,3109,3158,79.6,-8.4,131,1080,0.00,2.10,0.00,0.000,516,0.000,0.089,2764,759,3133,3109,3158,0,0,0,0,0,0,26.86,26.58,26.88
$GC,1185,-0.64,-146.6,2765,759,3110,3157,89.1,-8.4,141,1192,0.00,2.10,0.00,0.000,1030,0.000,0.074,2756,2175,3133,3109,3158,0,0,0,0,0,0,26.67,26.63,26.70
$GC,1312,-0.64,-146.6,2755,2174,3109,3157,99.2,-7.3,154,1316,0.00,2.10,0.00,0.000,260,0.000,0.094,2744,3582,3133,3109,3157,0,0,0,0,0,0,26.92,26.63,26.94
$GC,1377,-0.64,-146.6,2744,3582,3109,3157,104.5,-8.2,160,1382,0.12,2.03,0.00,0.000,3078,0.179,0.077,2788,2166,3133,3109,3157,0,0,0,0,0,0,26.57,26.67,26.70
$GC,1502,-0.64,-146.6,2788,2166,3109,3157,111.7,-5.3,172,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2166,3133,3110,3157,0,0,0,0,0,0,26.96,26.98,26.97
$GC,1622,-0.64,-146.6,2788,2166,3110,3157,118.4,-6.0,184,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2166,3133,3109,3157,0,0,0,0,0,0,26.98,27.01,27.00
$GC,1746,-0.64,-146.6,2788,2166,3109,3157,125.4,-5.8,196,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2166,3133,3110,3157,0,0,0,0,0,0,26.98,27.01,27.01
$GC,1872,-0.64,-146.6,2787,2166,3110,3157,133.6,-5.9,209,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2166,3133,3110,3157,0,0,0,0,0,0,27.02,27.05,27.04
$GC,1994,-0.64,-146.6,2787,2166,3109,3157,140.6,-5.7,221,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2166,3133,3109,3157,0,0,0,0,0,0,27.04,27.06,27.05
$GC,2112,-0.64,-146.6,2787,2166,3109,3157,148.1,-6.6,233,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2166,3133,3109,3157,0,0,0,0,0,0,27.05,27.08,27.08
$GC,2232,-0.64,-146.6,2787,2166,3109,3157,155.9,-6.7,245,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2166,3133,3109,3157,0,0,0,0,0,0,27.07,27.09,27.08
$GC,2352,-0.64,-146.6,2788,2166,3109,3157,163.8,-7.0,257,2356,0.00,2.12,0.00,0.000,260,0.000,0.094,2778,3583,3133,3110,3157,0,0,0,0,0,0,27.08,26.78,27.10
$GC,2411,-0.64,-146.6,2778,3583,3109,3157,167.3,-6.5,262,2418,0.00,2.08,0.00,0.000,1030,0.000,0.077,2778,2166,3133,3109,3157,0,0,0,0,0,0,26.86,26.82,26.88
$GC,2538,-0.64,-146.6,2778,2166,3109,3157,175.7,-6.5,275,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2166,3133,3110,3157,0,0,0,0,0,0,27.10,27.12,27.11
$STATE,2606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2607,begin apogee
$GC,2610,-0.26,0.0,2778,2166,3110,3157,180.1,-6.4,282,2719,0.38,0.00,104.70,0.896,10246,0.144,0.000,2914,2165,2627,2639,2616,0,0,0,0,0,0,26.76,25.22,24.65
$STATE,2720,end apogee,CONTROL_FINISHED_OK
$STATE,2720,begin climb
$GC,2721,0.64,146.6,2913,2165,2638,2616,182.9,0.0,293,2832,0.73,0.00,107.28,0.844,10246,0.122,0.000,3178,2165,2122,2134,2111,0,0,0,0,0,0,25.30,24.93,24.41
$GC,2949,0.64,146.6,3178,2165,2134,2111,169.9,7.5,316,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2164,2122,2134,2111,0,0,0,0,0,0,26.04,26.06,26.06
$GC,3069,0.64,146.6,3178,2165,2134,2111,161.3,7.1,328,3073,0.00,2.20,0.00,0.000,260,0.000,0.094,3178,3569,2122,2134,2111,0,0,0,0,0,0,26.32,26.03,26.33
$GC,3134,0.64,146.6,3178,3569,2134,2111,155.9,7.6,334,3139,0.00,2.08,0.00,0.000,1030,0.000,0.079,3187,2164,2122,2134,2111,0,0,0,0,0,0,26.22,26.14,26.24
$GC,3260,0.64,146.6,3186,2165,2134,2111,145.8,8.6,346,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2164,2122,2134,2111,0,0,0,0,0,0,26.54,26.56,26.56
$GC,3380,0.64,146.6,3186,2164,2134,2111,136.5,7.5,358,3383,0.00,2.12,0.00,0.000,516,0.000,0.092,3193,756,2122,2134,2111,0,0,0,0,0,0,26.63,26.36,26.65
$GC,3446,0.64,146.6,3193,756,2134,2111,132.2,6.6,364,3455,0.00,2.10,0.00,0.000,1030,0.000,0.077,3192,2168,2122,2134,2111,0,0,0,0,0,0,26.49,26.42,26.51
$GC,3575,0.64,146.6,3193,2168,2133,2111,124.4,6.5,377,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2168,2122,2134,2111,0,0,0,0,0,0,26.74,26.77,26.76
$GC,3695,0.64,146.6,3192,2168,2134,2111,115.8,7.9,389,3699,0.00,2.12,0.00,0.000,516,0.000,0.092,3193,764,2122,2134,2111,0,0,0,0,0,0,26.79,26.52,26.82
$GC,3784,0.64,146.6,3193,764,2134,2111,108.9,7.7,397,3791,0.00,2.10,0.00,0.000,1030,0.000,0.077,3192,2169,2122,2133,2111,0,0,0,0,0,0,26.61,26.58,26.63
$GC,3911,0.64,146.6,3192,2169,2134,2111,100.1,6.2,410,3914,0.00,2.12,0.00,0.000,260,0.000,0.094,3193,3576,2122,2134,2111,0,0,0,0,0,0,26.87,26.57,26.89
$GC,3969,0.64,146.6,3193,3576,2134,2111,96.3,7.7,415,3976,0.00,2.08,0.00,0.000,1030,0.000,0.079,3201,2173,2122,2134,2111,0,0,0,0,0,0,26.66,26.61,26.68
$GC,4096,0.64,146.6,3201,2173,2133,2111,86.9,7.5,428,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2173,2122,2134,2111,0,0,0,0,0,0,26.91,26.94,26.94
$GC,4216,0.64,146.6,3201,2172,2134,2111,79.3,6.0,440,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2173,2122,2134,2111,0,0,0,0,0,0,26.94,26.96,26.96
$GC,4336,0.64,146.6,3201,2172,2134,2111,72.8,5.1,452,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2173,2122,2134,2111,0,0,0,0,0,0,26.97,26.99,26.99
$GC,4457,0.64,146.6,3201,2172,2134,2111,65.1,6.3,464,4466,0.00,2.15,0.00,0.000,260,0.000,0.094,3201,3583,2122,2134,2111,0,0,0,0,0,0,26.99,26.70,27.01
$GC,4560,0.64,146.6,3201,3582,2134,2111,58.1,6.8,474,4568,0.00,2.10,0.00,0.000,1030,0.000,0.079,3210,2166,2122,2134,2111,0,0,0,0,0,0,26.77,26.73,26.80
$GC,4687,0.64,146.6,3210,2166,2134,2111,49.9,5.5,487,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2166,2122,2134,2110,0,0,0,0,0,0,27.03,27.05,27.05
$GC,4807,0.64,146.6,3209,2166,2134,2111,43.4,4.9,499,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2166,2122,2134,2111,0,0,0,0,0,0,27.04,27.07,27.06
$GC,4927,0.64,146.6,3209,2166,2134,2111,36.0,6.5,511,4931,0.00,2.08,0.00,0.000,516,0.000,0.094,3216,767,2122,2134,2111,0,0,0,0,0,0,27.05,26.78,27.08
$GC,5086,0.64,146.6,3216,767,2134,2111,26.3,6.3,526,5093,0.00,2.08,0.00,0.000,1030,0.000,0.077,3217,2166,2122,2134,2111,0,0,0,0,0,0,26.86,26.82,26.88
$GC,5213,0.64,146.6,3216,2166,2134,2111,18.1,6.5,541,5219,0.00,2.12,0.00,0.000,260,0.000,0.094,3217,3579,2122,2134,2111,0,0,0,0,0,0,27.09,26.79,27.11
$GC,5351,0.64,146.6,3216,3578,2133,2111,8.4,7.0,568,5358,0.00,2.03,0.00,0.000,1030,0.000,0.079,3224,2167,2122,2134,2111,0,0,0,0,0,0,26.91,26.82,26.93
$GC,5419,0.64,146.6,3224,2167,2134,2111,4.3,5.6,581,5426,0.00,2.08,0.00,0.000,516,0.000,0.092,3230,764,2122,2134,2111,0,0,0,0,0,0,27.11,26.83,27.13
$STATE,5446,end climb,SURFACE_DEPTH_REACHED
$STATE,5446,begin surface coast
$FINISH,0.5,0.999783
$STATE,5502,end surface coast,CONTROL_FINISHED_OK
$STATE,5502,begin surface
$SM_CCo,5518,92.10,0.782,0,0,1627,290.20
$SM_GC,1.55,7.85,2.10,92.10,0.084,0.077,0.782,154,2180,1627,-8.79,-0.96,290.20,0,0,0,0,0,0,26.84,26.85,24.99
$IRIDIUM_FIX,4722.92,-12225.08,070115,090047
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.82
$INTERNAL_PRESSURE,8.99692
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.4,75.2
$24V_AH,24.41,1.763
$10V_AH,10.51,0.645
$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,19.150,67.250,211.975,92.100,155.700,22.583,36.477,176.876,1.250,0.000,13.500,1444.024,2636.824,496.845,1313.930,52.520,0.000,1094.543,0.000,1045.309,0.000,10.382,0.000
$DEVICE_MAMPS,260.715,94.354,896.363,782.145,176.293,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.689,792.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322968
$DATA_FILE_SIZE,33492,597
$CAP_FILE_SIZE,89719,0
$CFSIZE,1024409600,1020674048
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4250.93,0x238aa6,7,5
$INTR,1,2607.55,0x238aa6,2,5
$GPS,070115,114857,4742.657,-12225.470,8,1.2,36,16.3,0.0,0.0,7,6.4