version: 66.12
glider: 38
mission: 2
dive: 14
start: 1 7 115 13 35 24
data:
$ID,38
$MISSION,2
$DIVE,14
$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,50
$R_STBD_OVSHOOT,39
$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
$GPS1,070115,132933,4742.5244,-12225.9824,3,1.0,33,16.3,0.0,0.0,8,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.8
$GPS2,070115,133456,4742.5039,-12225.9854,4,1.0,12,16.3,0.6,124.7,8,8.8
$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,10.3,4134,-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,15,-0.64,-146.6,136,2166,1646,1609,0.0,0.0,0,166,0.00,0.00,-147.77,0.146,16386,0.000,0.000,136,2166,2945,2917,2973,0,0,0,0,0,0,26.34,28.83,26.36
$GC,168,-0.64,-146.6,136,2166,2918,2972,3.4,-3.3,27,198,10.12,2.12,-11.40,0.184,18948,0.261,0.092,2782,772,3133,3109,3157,0,0,0,0,0,0,25.78,25.95,25.87
$GC,234,-0.64,-146.6,2782,773,3109,3157,10.3,-8.1,39,241,0.00,2.08,0.00,0.000,1030,0.000,0.077,2773,2167,3133,3109,3157,0,0,0,0,0,0,26.13,26.06,26.15
$GC,303,-0.64,-146.6,2773,2167,3109,3157,15.4,-6.7,52,309,0.00,2.15,0.00,0.000,260,0.000,0.094,2762,3578,3133,3109,3157,0,0,0,0,0,0,26.41,26.13,26.42
$GC,407,-0.64,-146.6,2762,3577,3109,3157,24.3,-8.2,68,415,0.00,2.08,0.00,0.000,1030,0.000,0.077,2762,2156,3133,3109,3158,0,0,0,0,0,0,26.34,26.27,26.36
$GC,536,-0.64,-146.6,2762,2156,3109,3157,34.8,-7.9,81,540,0.00,2.08,0.00,0.000,516,0.000,0.089,2762,772,3133,3109,3157,0,0,0,0,0,0,26.63,26.35,26.65
$GC,774,-0.64,-146.6,2763,772,3109,3157,55.0,-9.1,104,781,0.00,2.10,0.00,0.000,1030,0.000,0.074,2752,2172,3132,3109,3156,0,0,0,0,0,0,26.54,26.51,26.57
$GC,901,-0.64,-146.6,2752,2172,3109,3156,65.9,-8.2,117,903,0.10,0.00,0.00,0.000,2054,0.196,0.000,2786,2172,3133,3109,3157,0,0,0,0,0,0,26.47,26.61,26.58
$GC,1022,-0.64,-146.6,2785,2172,3109,3157,74.8,-7.0,129,1031,0.00,2.10,0.00,0.000,260,0.000,0.094,2776,3574,3133,3109,3157,0,0,0,0,0,0,26.86,26.56,26.87
$GC,1122,-0.64,-146.6,2776,3573,3109,3157,81.3,-5.8,139,1126,0.00,2.03,0.00,0.000,1030,0.000,0.077,2776,2165,3132,3109,3156,0,0,0,0,0,0,26.69,26.61,26.71
$GC,1248,-0.64,-146.6,2776,2165,3109,3157,89.9,-7.7,151,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2165,3133,3109,3157,0,0,0,0,0,0,26.91,26.94,26.93
$GC,1368,-0.64,-146.6,2776,2165,3109,3157,96.7,-5.2,163,1371,0.00,2.08,0.00,0.000,516,0.000,0.089,2776,760,3133,3109,3157,0,0,0,0,0,0,26.94,26.67,26.96
$GC,1456,-0.64,-146.6,2776,761,3109,3156,101.2,-5.8,171,1463,0.00,2.10,0.00,0.000,1030,0.000,0.074,2767,2173,3132,3109,3156,0,0,0,0,0,0,26.74,26.70,26.77
$GC,1583,-0.64,-146.6,2767,2174,3109,3156,109.6,-6.9,184,1587,0.00,2.10,0.00,0.000,260,0.000,0.094,2757,3584,3132,3108,3156,0,0,0,0,0,0,26.98,26.70,27.00
$GC,1630,-0.64,-146.6,2757,3584,3109,3156,112.8,-7.3,188,1638,0.00,2.03,0.00,0.000,1030,0.000,0.077,2757,2166,3133,3109,3157,0,0,0,0,0,0,26.80,26.72,26.82
$GC,1759,-0.64,-146.6,2756,2166,3109,3156,122.0,-6.3,201,1763,0.00,2.05,0.00,0.000,516,0.000,0.089,2757,772,3132,3109,3156,0,0,0,0,0,0,27.01,26.73,27.03
$GC,1814,-0.64,-146.6,2756,773,3109,3156,125.0,-6.1,206,1819,0.12,2.03,0.00,0.000,3078,0.184,0.077,2790,2174,3132,3109,3156,0,0,0,0,0,0,26.65,26.75,26.77
$GC,1939,-0.64,-146.6,2789,2175,3109,3156,130.9,-5.1,218,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2174,3133,3110,3156,0,0,0,0,0,0,27.03,27.05,27.05
$GC,2059,-0.64,-146.6,2789,2174,3109,3156,137.6,-5.2,230,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2174,3132,3109,3156,0,0,0,0,0,0,27.05,27.08,27.06
$GC,2180,-0.64,-146.6,2789,2174,3109,3156,142.2,-4.6,242,2183,0.00,2.10,0.00,0.000,516,0.000,0.087,2790,760,3132,3109,3156,0,0,0,0,0,0,27.06,26.79,27.08
$GC,2275,-0.64,-146.6,2790,759,3109,3156,147.1,-4.7,251,2279,0.00,2.03,0.00,0.000,1030,0.000,0.077,2782,2171,3132,3109,3156,0,0,0,0,0,0,26.89,26.82,26.91
$GC,2400,-0.64,-146.6,2782,2171,3109,3156,152.4,-4.1,263,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2171,3132,3109,3156,0,0,0,0,0,0,27.09,27.11,27.10
$GC,2520,-0.64,-146.6,2782,2171,3109,3156,157.8,-4.3,275,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2171,3132,3109,3156,0,0,0,0,0,0,27.10,27.13,27.12
$GC,2640,-0.64,-146.6,2782,2171,3109,3156,162.8,-3.7,287,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2171,3132,3109,3156,0,0,0,0,0,0,27.11,27.13,27.13
$GC,2760,-0.64,-146.6,2782,2171,3109,3156,167.9,-4.1,299,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2171,3132,3109,3156,0,0,0,0,0,0,27.13,27.14,27.14
$GC,2880,-0.64,-146.6,2782,2171,3109,3155,172.9,-4.4,311,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2171,3132,3109,3156,0,0,0,0,0,0,27.13,27.15,27.15
$GC,3001,-0.64,-146.6,2782,2171,3109,3156,179.2,-5.5,323,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2170,3132,3109,3156,0,0,0,0,0,0,27.14,27.16,27.15
$STATE,3009,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3009,begin apogee
$GC,3012,-0.26,0.0,2782,2171,3109,3156,179.9,-5.4,324,3121,0.35,0.00,104.40,0.896,10246,0.146,0.000,2909,2171,2627,2638,2616,0,0,0,0,0,0,26.79,25.25,24.69
$STATE,3122,end apogee,CONTROL_FINISHED_OK
$STATE,3122,begin climb
$GC,3123,0.64,146.6,2909,2171,2638,2616,182.7,0.0,335,3235,0.73,0.00,107.28,0.849,10246,0.122,0.000,3176,2171,2122,2133,2111,0,0,0,0,0,0,25.33,24.93,24.41
$GC,3352,0.64,146.6,3176,2171,2133,2111,168.7,7.8,358,3356,0.00,2.17,0.00,0.000,260,0.000,0.094,3176,3573,2122,2133,2111,0,0,0,0,0,0,26.04,25.77,26.06
$GC,3410,0.64,146.6,3176,3573,2132,2111,163.9,8.2,363,3417,0.00,2.12,0.00,0.000,1030,0.000,0.074,3186,2174,2122,2133,2111,0,0,0,0,0,0,25.98,25.94,26.01
$GC,3537,0.64,146.6,3186,2174,2133,2111,154.3,7.1,376,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2174,2122,2133,2111,0,0,0,0,0,0,26.40,26.43,26.41
$GC,3657,0.64,146.6,3186,2174,2133,2111,145.1,7.7,388,3661,0.00,2.15,0.00,0.000,516,0.000,0.092,3196,763,2122,2133,2111,0,0,0,0,0,0,26.53,26.27,26.55
$GC,3756,0.64,146.6,3195,763,2134,2111,138.5,6.9,397,3763,0.00,2.12,0.00,0.000,1030,0.000,0.074,3196,2169,2122,2133,2111,0,0,0,0,0,0,26.40,26.36,26.41
$GC,3883,0.64,146.6,3195,2169,2134,2111,130.9,5.6,410,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2169,2122,2134,2111,0,0,0,0,0,0,26.70,26.71,26.71
$GC,4003,0.64,146.6,3195,2169,2133,2111,123.8,5.7,422,4007,0.00,2.12,0.00,0.000,260,0.000,0.094,3196,3580,2122,2133,2111,0,0,0,0,0,0,26.75,26.46,26.77
$GC,4041,0.64,146.6,3196,3580,2133,2111,121.8,5.5,425,4049,0.00,2.10,0.00,0.000,1030,0.000,0.077,3204,2169,2122,2133,2111,0,0,0,0,0,0,26.55,26.51,26.57
$GC,4168,0.64,146.6,3204,2169,2133,2111,112.5,7.4,438,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2169,2122,2133,2111,0,0,0,0,0,0,26.82,26.84,26.84
$GC,4288,0.64,146.6,3203,2169,2133,2111,102.9,7.5,450,4292,0.00,2.10,0.00,0.000,516,0.000,0.092,3213,762,2122,2133,2111,0,0,0,0,0,0,26.86,26.58,26.88
$GC,4367,0.64,146.6,3213,762,2134,2112,97.3,7.3,457,4374,0.00,2.10,0.00,0.000,1030,0.000,0.077,3213,2167,2122,2133,2111,0,0,0,0,0,0,26.67,26.63,26.69
$GC,4494,0.64,146.6,3213,2166,2133,2111,87.5,8.0,470,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2167,2122,2133,2111,0,0,0,0,0,0,26.91,26.94,26.94
$GC,4614,0.64,146.6,3213,2167,2134,2111,78.9,7.5,482,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2167,2122,2133,2111,0,0,0,0,0,0,26.94,26.96,26.96
$GC,4734,0.64,146.6,3213,2167,2134,2111,70.7,7.3,494,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2167,2122,2133,2111,0,0,0,0,0,0,26.97,26.99,26.98
$GC,4854,0.64,146.6,3213,2166,2133,2111,63.7,6.0,506,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2167,2122,2133,2111,0,0,0,0,0,0,26.99,27.01,27.01
$GC,4974,0.64,146.6,3213,2166,2133,2111,56.5,6.3,518,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2167,2122,2134,2111,0,0,0,0,0,0,27.01,27.03,27.03
$GC,5095,0.64,146.6,3213,2167,2133,2111,48.5,6.8,530,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2167,2122,2134,2111,0,0,0,0,0,0,27.03,27.05,27.05
$GC,5214,0.64,146.6,3213,2166,2133,2111,40.7,7.2,542,5218,0.00,2.12,0.00,0.000,516,0.000,0.092,3217,759,2122,2134,2111,0,0,0,0,0,0,27.05,26.77,27.05
$GC,5369,0.64,146.6,3216,759,2134,2111,30.2,6.7,557,5373,0.00,2.05,0.00,0.000,1030,0.000,0.077,3217,2179,2122,2133,2111,0,0,0,0,0,0,26.88,26.80,26.89
$GC,5494,0.64,146.6,3216,2179,2133,2111,22.5,6.3,569,5498,0.00,2.12,0.00,0.000,516,0.000,0.089,3216,767,2122,2133,2111,0,0,0,0,0,0,27.08,26.80,27.10
$GC,5555,0.64,146.6,3216,767,2134,2111,18.7,5.4,577,5561,0.00,2.03,0.00,0.000,1030,0.000,0.077,3217,2170,2122,2133,2111,0,0,0,0,0,0,26.90,26.82,26.91
$GC,5623,0.64,146.6,3215,2170,2134,2111,14.8,5.5,590,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2170,2122,2134,2111,0,0,0,0,0,0,27.09,27.11,27.10
$GC,5690,0.64,146.6,3215,2170,2134,2111,10.9,5.3,603,5696,0.00,2.08,0.00,0.000,260,0.000,0.094,3217,3572,2122,2133,2111,0,0,0,0,0,0,27.09,26.80,27.11
$GC,5772,0.64,146.6,3216,3572,2133,2111,5.7,6.2,619,5779,0.00,2.03,0.00,0.000,1030,0.000,0.077,3224,2148,2122,2133,2111,0,0,0,0,0,0,26.91,26.84,26.93
$STATE,5819,end climb,SURFACE_DEPTH_REACHED
$STATE,5819,begin surface coast
$FINISH,0.6,1.021005
$STATE,5876,end surface coast,CONTROL_FINISHED_OK
$STATE,5876,begin surface
$SM_CCo,5890,92.38,0.785,0,0,1627,290.20
$SM_GC,1.43,7.82,0.00,92.38,0.082,0.000,0.785,156,2146,1627,-8.78,-0.62,290.20,0,0,0,0,0,0,26.84,27.13,24.99
$IRIDIUM_FIX,4726.11,-12224.09,070115,115005
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.53
$INTERNAL_PRESSURE,9.00669
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.1,74.8
$24V_AH,24.41,1.953
$10V_AH,10.55,0.725
$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,19.250,62.650,211.675,92.375,159.175,23.288,15.529,203.007,1.750,0.000,13.620,1552.917,2815.595,496.897,1401.504,56.912,0.000,1133.468,0.000,1124.317,0.000,13.541,0.000
$DEVICE_MAMPS,260.715,94.354,896.363,784.628,183.742,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.359,848.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322940
$DATA_FILE_SIZE,36903,639
$CAP_FILE_SIZE,95696,0
$CFSIZE,1024409600,1020542976
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6007.46,0x238aa6,7,5
$INTR,1,3010.11,0x238aa6,2,5
$INTR,2,5879.05,0x238aa6,7,5
$GPS,070115,151600,4742.757,-12226.285,3,0.9,18,16.3,0.0,0.0,8,9.4