version: 66.12
glider: 38
mission: 2
dive: 13
start: 1 7 115 11 55 16
data:
$ID,38
$MISSION,2
$DIVE,13
$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,40
$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
$GPS1,070115,114857,4742.6572,-12225.4697,8,1.2,36,16.3,0.0,0.0,7,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.4
$GPS2,070115,115449,4742.6226,-12225.5127,4,1.2,13,16.3,0.9,95.5,7,8.5
$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,3.6,3698,-11.4,-6.667,-16.54,3301
$D_GRID,189
$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,-0.64,-146.6,154,2180,1647,1608,0.0,0.0,0,164,0.00,0.00,-146.85,0.146,16386,0.000,0.000,154,2180,2941,2914,2968,0,0,0,0,0,0,26.35,28.83,26.37
$GC,167,-0.64,-146.6,154,2181,2913,2968,3.3,-4.0,27,196,10.02,2.15,-11.15,0.184,18692,0.261,0.094,2769,3578,3133,3108,3158,0,0,0,0,0,0,25.77,25.94,25.88
$GC,233,-0.64,-146.6,2769,3579,3109,3157,11.3,-8.4,39,239,0.00,2.10,0.00,0.000,1030,0.000,0.079,2769,2154,3133,3108,3158,0,0,0,0,0,0,26.13,26.06,26.15
$GC,301,-0.64,-146.6,2769,2154,3109,3158,17.2,-8.8,52,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2154,3133,3109,3158,0,0,0,0,0,0,26.41,26.43,26.43
$GC,368,-0.64,-146.6,2769,2154,3108,3158,22.9,-8.3,62,372,0.00,2.17,0.00,0.000,260,0.000,0.094,2759,3572,3133,3109,3158,0,0,0,0,0,0,26.49,26.20,26.51
$GC,474,-0.64,-146.6,2758,3572,3108,3158,31.8,-8.8,72,478,0.00,2.05,0.00,0.000,1030,0.000,0.077,2759,2162,3133,3109,3158,0,0,0,0,0,0,26.40,26.32,26.42
$GC,599,-0.64,-146.6,2759,2162,3108,3158,42.2,-8.1,84,603,0.00,2.10,0.00,0.000,516,0.000,0.092,2759,761,3133,3109,3158,0,0,0,0,0,0,26.67,26.40,26.69
$GC,764,-0.64,-146.6,2759,761,3108,3158,59.0,-10.2,100,769,0.12,2.05,0.00,0.000,3078,0.184,0.077,2791,2169,3133,3108,3158,0,0,0,0,0,0,26.39,26.50,26.51
$GC,889,-0.64,-146.6,2791,2169,3108,3157,69.1,-7.4,112,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2169,3133,3109,3157,0,0,0,0,0,0,26.81,26.84,26.82
$GC,1009,-0.64,-146.6,2791,2169,3109,3157,78.2,-7.0,124,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2169,3133,3109,3158,0,0,0,0,0,0,26.85,26.87,26.87
$GC,1131,-0.64,-146.6,2791,2169,3109,3158,86.3,-6.9,136,1139,0.00,2.10,0.00,0.000,260,0.000,0.094,2781,3573,3133,3109,3157,0,0,0,0,0,0,26.89,26.60,26.90
$GC,1194,-0.64,-146.6,2781,3573,3108,3157,90.5,-7.1,142,1201,0.00,2.08,0.00,0.000,1030,0.000,0.077,2780,2165,3133,3108,3158,0,0,0,0,0,0,26.67,26.65,26.70
$GC,1321,-0.64,-146.6,2781,2164,3108,3158,99.6,-7.0,155,1325,0.00,2.12,0.00,0.000,260,0.000,0.094,2772,3573,3133,3109,3157,0,0,0,0,0,0,26.94,26.64,26.95
$GC,1379,-0.64,-146.6,2772,3574,3108,3157,103.6,-7.0,160,1386,0.00,2.08,0.00,0.000,1030,0.000,0.077,2772,2167,3133,3109,3157,0,0,0,0,0,0,26.72,26.68,26.74
$GC,1506,-0.64,-146.6,2772,2167,3109,3157,111.9,-6.4,173,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2167,3133,3109,3157,0,0,0,0,0,0,26.97,26.99,26.99
$GC,1626,-0.64,-146.6,2772,2167,3109,3158,119.6,-6.5,185,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2167,3133,3109,3157,0,0,0,0,0,0,26.99,27.01,27.01
$GC,1746,-0.64,-146.6,2772,2167,3109,3157,126.9,-5.7,197,1750,0.00,2.12,0.00,0.000,260,0.000,0.094,2764,3582,3133,3108,3158,0,0,0,0,0,0,27.01,26.72,27.03
$GC,1806,-0.64,-146.6,2763,3581,3108,3157,130.4,-5.8,202,1813,0.00,2.08,0.00,0.000,1030,0.000,0.077,2763,2167,3133,3109,3157,0,0,0,0,0,0,26.79,26.75,26.82
$GC,1933,-0.64,-146.6,2763,2168,3109,3158,137.4,-5.1,215,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2167,3133,3109,3157,0,0,0,0,0,0,27.03,27.06,27.05
$GC,2053,-0.64,-146.6,2763,2167,3109,3158,144.5,-7.4,227,2057,0.00,2.08,0.00,0.000,516,0.000,0.089,2763,759,3133,3109,3157,0,0,0,0,0,0,27.05,26.77,27.07
$GC,2111,-0.64,-146.6,2763,759,3108,3157,148.0,-7.0,232,2115,0.00,2.05,0.00,0.000,1030,0.000,0.077,2753,2182,3132,3108,3157,0,0,0,0,0,0,26.87,26.79,26.89
$GC,2236,-0.64,-146.6,2754,2182,3109,3157,157.6,-8.9,244,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2182,3132,3109,3156,0,0,0,0,0,0,27.07,27.09,27.08
$GC,2356,-0.64,-146.6,2753,2182,3109,3157,165.4,-7.3,256,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2182,3133,3109,3157,0,0,0,0,0,0,27.08,27.10,27.10
$GC,2476,-0.64,-146.6,2754,2182,3109,3156,174.6,-7.9,268,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2182,3132,3108,3157,0,0,0,0,0,0,27.10,27.12,27.12
$STATE,2575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2575,begin apogee
$GC,2578,-0.26,0.0,2753,2182,3109,3157,180.5,-5.8,278,2687,0.45,0.00,104.50,0.896,10246,0.151,0.000,2914,2182,2627,2638,2616,0,0,0,0,0,0,26.75,25.22,24.65
$STATE,2688,end apogee,CONTROL_FINISHED_OK
$STATE,2688,begin climb
$GC,2689,0.64,146.6,2913,2182,2638,2616,181.9,0.0,289,2800,0.73,0.00,106.62,0.844,10502,0.122,0.000,3178,2182,2122,2133,2111,0,0,0,0,0,0,25.31,24.93,24.41
$GC,2921,0.64,146.6,3178,2182,2134,2110,168.2,7.9,312,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2182,2122,2133,2111,0,0,0,0,0,0,26.06,26.07,26.07
$GC,3041,0.64,146.6,3178,2182,2132,2111,159.5,9.0,324,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2182,2122,2134,2111,0,0,0,0,0,0,26.32,26.34,26.33
$GC,3161,0.64,146.6,3178,2182,2133,2111,149.5,7.8,336,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2182,2122,2134,2111,0,0,0,0,0,0,26.47,26.50,26.49
$GC,3281,0.64,146.6,3178,2182,2134,2112,140.8,6.9,348,3285,0.00,2.15,0.00,0.000,516,0.000,0.089,3189,770,2122,2133,2111,0,0,0,0,0,0,26.59,26.32,26.60
$GC,3319,0.64,146.6,3188,770,2134,2111,138.2,7.1,351,3327,0.00,2.10,0.00,0.000,1030,0.000,0.074,3189,2160,2122,2133,2111,0,0,0,0,0,0,26.40,26.36,26.41
$GC,3446,0.64,146.6,3188,2160,2134,2111,129.2,6.9,364,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2160,2122,2134,2111,0,0,0,0,0,0,26.70,26.72,26.71
$GC,3566,0.64,146.6,3188,2160,2133,2110,121.9,6.2,376,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2160,2122,2133,2111,0,0,0,0,0,0,26.75,26.77,26.77
$GC,3686,0.64,146.6,3188,2160,2134,2110,114.0,6.9,388,3690,0.00,2.12,0.00,0.000,516,0.000,0.092,3196,770,2122,2134,2111,0,0,0,0,0,0,26.80,26.53,26.82
$GC,3745,0.64,146.6,3196,770,2134,2111,110.0,7.5,393,3752,0.00,2.10,0.00,0.000,1030,0.000,0.077,3196,2170,2122,2134,2111,0,0,0,0,0,0,26.60,26.57,26.63
$GC,3872,0.64,146.6,3196,2171,2133,2111,102.4,5.1,406,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2171,2122,2134,2111,0,0,0,0,0,0,26.86,26.89,26.89
$GC,3993,0.64,146.6,3196,2171,2134,2110,95.6,5.8,418,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2171,2122,2134,2111,0,0,0,0,0,0,26.90,26.92,26.92
$GC,4112,0.64,146.6,3196,2171,2134,2110,87.9,6.4,430,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2171,2122,2134,2111,0,0,0,0,0,0,26.94,26.95,26.94
$GC,4232,0.64,146.6,3196,2171,2133,2110,79.8,5.2,442,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2171,2122,2133,2111,0,0,0,0,0,0,26.96,26.98,26.97
$GC,4352,0.64,146.6,3196,2170,2134,2111,72.7,6.2,454,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2171,2122,2134,2111,0,0,0,0,0,0,26.98,27.01,27.00
$GC,4472,0.64,146.6,3196,2171,2134,2111,66.0,4.9,466,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2171,2122,2133,2111,0,0,0,0,0,0,27.01,27.03,27.02
$GC,4592,0.64,146.6,3196,2171,2134,2111,58.1,6.1,478,4596,0.00,2.12,0.00,0.000,260,0.000,0.094,3196,3581,2122,2134,2111,0,0,0,0,0,0,27.02,26.73,27.04
$GC,4647,0.64,146.6,3196,3581,2133,2111,54.7,6.4,483,4651,0.00,2.05,0.00,0.000,1030,0.000,0.079,3206,2154,2122,2134,2111,0,0,0,0,0,0,26.84,26.76,26.86
$GC,4772,0.64,146.6,3206,2154,2133,2111,46.8,6.9,495,4776,0.00,2.08,0.00,0.000,516,0.000,0.092,3210,770,2122,2134,2111,0,0,0,0,0,0,27.04,26.77,27.06
$GC,4838,0.64,146.6,3209,770,2133,2111,42.0,7.4,501,4842,0.00,2.03,0.00,0.000,1030,0.000,0.077,3210,2172,2122,2133,2111,0,0,0,0,0,0,26.86,26.79,26.89
$GC,4963,0.64,146.6,3210,2171,2134,2111,34.3,6.0,513,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2172,2122,2134,2111,0,0,0,0,0,0,27.07,27.09,27.08
$GC,5083,0.64,146.6,3210,2172,2134,2111,26.7,6.3,525,5087,0.00,2.10,0.00,0.000,516,0.000,0.092,3210,767,2122,2133,2111,0,0,0,0,0,0,27.08,26.80,27.10
$GC,5195,0.64,146.6,3210,767,2134,2111,19.4,5.9,536,5201,0.00,2.03,0.00,0.000,1030,0.000,0.077,3210,2169,2122,2133,2111,0,0,0,0,0,0,26.90,26.83,26.92
$GC,5262,0.64,146.6,3210,2169,2134,2111,14.9,6.4,549,5269,0.00,2.10,0.00,0.000,260,0.000,0.094,3210,3571,2122,2133,2111,0,0,0,0,0,0,27.10,26.80,27.11
$GC,5411,0.64,146.6,3209,3571,2134,2111,5.0,7.0,578,5417,0.00,2.00,0.00,0.000,1030,0.000,0.077,3217,2167,2122,2134,2111,0,0,0,0,0,0,26.92,26.84,26.94
$STATE,5443,end climb,SURFACE_DEPTH_REACHED
$STATE,5443,begin surface coast
$FINISH,0.5,0.999703
$STATE,5484,end surface coast,CONTROL_FINISHED_OK
$STATE,5484,begin surface
$SM_CCo,5497,92.32,0.777,0,0,1628,290.20
$SM_GC,1.59,7.85,0.00,92.32,0.082,0.000,0.777,136,2166,1628,-8.85,-0.08,290.20,0,0,0,0,0,0,26.84,27.13,25.00
$IRIDIUM_FIX,4722.92,-12226.80,070115,100937
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.90
$INTERNAL_PRESSURE,9.00669
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.2,64.6
$24V_AH,24.41,1.859
$10V_AH,10.59,0.684
$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,19.175,54.300,211.125,92.325,158.000,23.428,16.502,224.979,2.500,0.000,13.464,1433.448,2675.354,468.102,1326.829,54.758,0.000,1057.944,0.000,1023.085,0.000,19.592,0.000
$DEVICE_MAMPS,260.715,94.354,896.363,777.179,183.742,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.636,786.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322928
$DATA_FILE_SIZE,33587,592
$CAP_FILE_SIZE,88630,0
$CFSIZE,1024409600,1020608512
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6059.23,0x238aa6,7,5
$INTR,1,2576.42,0x238aa6,2,5
$INTR,2,5486.97,0x238aa6,7,5
$GPS,070115,132933,4742.524,-12225.982,3,1.0,33,16.3,0.0,0.0,8,4.0