version: 66.12
glider: 38
mission: 2
dive: 15
start: 1 7 115 15 23 24
data:
$ID,38
$MISSION,2
$DIVE,15
$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,75
$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,90
$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,53
$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
$GPS1,070115,151600,4742.7573,-12226.2852,3,0.9,18,16.3,0.0,0.0,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-65.5
$GPS2,070115,152258,4742.7783,-12226.2617,6,0.9,33,16.3,0.0,0.0,8,9.9
$SPEED_LIMITS,0.080,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,4742.778,-12210.212
$TGT_RADIUS,1852.000
$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,73.7,20000,-14.0,-8.000,-18.40,2768
$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,-0.78,-146.6,156,2146,1647,1607,0.0,0.0,0,160,0.00,0.00,-141.80,0.146,16386,0.000,0.000,156,2146,2893,2867,2920,0,0,0,0,0,0,26.38,28.83,26.40
$GC,162,-0.78,-146.6,156,2146,2867,2920,3.2,-2.3,26,197,9.85,2.12,-15.43,0.174,18948,0.261,0.089,2735,777,3133,3109,3157,0,0,0,0,0,0,25.80,25.98,25.89
$GC,299,-0.78,-146.6,2735,777,3109,3157,17.0,-9.3,52,305,0.00,2.08,0.00,0.000,1030,0.000,0.077,2726,2178,3133,3109,3157,0,0,0,0,0,0,26.24,26.17,26.25
$GC,367,-0.78,-146.6,2725,2178,3109,3156,23.0,-9.4,62,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2178,3133,3109,3157,0,0,0,0,0,0,26.50,26.51,26.51
$GC,487,-0.78,-146.6,2725,2178,3109,3157,34.8,-9.4,74,490,0.00,2.10,0.00,0.000,260,0.000,0.092,2715,3571,3133,3109,3157,0,0,0,0,0,0,26.60,26.32,26.62
$GC,555,-0.78,-146.6,2715,3571,3109,3156,41.5,-10.1,80,562,0.00,2.08,0.00,0.000,1030,0.000,0.074,2715,2168,3133,3109,3157,0,0,0,0,0,0,26.44,26.39,26.46
$GC,682,-0.78,-146.6,2714,2168,3109,3157,54.8,-10.2,93,686,0.00,2.08,0.00,0.000,516,0.000,0.087,2715,772,3133,3109,3157,0,0,0,0,0,0,26.72,26.45,26.74
$GC,838,-0.78,-146.6,2715,772,3109,3156,69.1,-9.1,108,842,0.10,2.05,0.00,0.000,3078,0.191,0.077,2738,2179,3132,3109,3156,0,0,0,0,0,0,26.44,26.53,26.55
$GC,963,-0.78,-146.6,2738,2179,3109,3156,79.9,-8.9,120,966,0.00,2.10,0.00,0.000,260,0.000,0.094,2729,3582,3133,3109,3157,0,0,0,0,0,0,26.84,26.54,26.85
$GC,1091,-0.78,-146.6,2728,3582,3109,3156,90.2,-8.4,132,1098,0.00,2.08,0.00,0.000,1030,0.000,0.074,2729,2168,3132,3109,3156,0,0,0,0,0,0,26.65,26.62,26.68
$GC,1218,-0.78,-146.6,2729,2168,3109,3156,101.3,-9.1,145,1222,0.00,2.08,0.00,0.000,516,0.000,0.087,2729,758,3132,3109,3156,0,0,0,0,0,0,26.91,26.63,26.92
$GC,1317,-0.78,-146.6,2729,758,3110,3156,110.0,-9.1,154,1325,0.00,2.10,0.00,0.000,1030,0.000,0.074,2719,2169,3132,3109,3156,0,0,0,0,0,0,26.72,26.67,26.74
$GC,1445,-0.78,-146.6,2718,2169,3109,3156,122.4,-9.5,167,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2169,3132,3109,3156,0,0,0,0,0,0,26.96,26.98,26.98
$GC,1566,-0.78,-146.6,2718,2169,3110,3156,132.7,-8.6,179,1575,0.00,2.10,0.00,0.000,260,0.000,0.092,2708,3582,3132,3109,3156,0,0,0,0,0,0,26.98,26.69,27.00
$GC,1626,-0.78,-146.6,2708,3582,3109,3156,138.6,-10.0,185,1630,0.00,2.03,0.00,0.000,1030,0.000,0.074,2707,2158,3132,3109,3156,0,0,0,0,0,0,26.81,26.73,26.82
$GC,1751,-0.78,-146.6,2707,2158,3110,3156,149.7,-7.9,197,1756,0.08,2.03,0.00,0.000,2564,0.206,0.084,2740,765,3132,3109,3156,0,0,0,0,0,0,26.67,26.74,26.74
$GC,1810,-0.78,-146.6,2740,765,3110,3156,154.0,-7.6,202,1818,0.00,2.08,0.00,0.000,1030,0.000,0.077,2731,2170,3132,3109,3156,0,0,0,0,0,0,26.79,26.76,26.82
$GC,1938,-0.78,-146.6,2730,2169,3110,3156,166.9,-11.2,215,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2170,3133,3110,3156,0,0,0,0,0,0,27.03,27.05,27.05
$GC,2058,-0.78,-146.6,2730,2170,3109,3156,176.1,-6.8,227,2061,0.00,2.10,0.00,0.000,516,0.000,0.087,2731,765,3132,3109,3156,0,0,0,0,0,0,27.05,26.77,27.07
$STATE,2112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2112,begin apogee
$GC,2117,-0.26,0.0,2720,2180,3109,3156,180.1,-7.0,232,2226,0.50,0.00,104.95,0.889,10246,0.156,0.000,2901,2181,2627,2638,2616,0,0,0,0,0,0,26.69,25.20,24.65
$STATE,2227,end apogee,CONTROL_FINISHED_OK
$STATE,2227,begin climb
$GC,2228,0.78,146.6,2901,2181,2638,2616,182.7,0.0,243,2344,0.88,0.00,107.07,0.844,10502,0.124,0.000,3221,2180,2122,2134,2111,0,0,0,0,0,0,25.27,24.79,24.40
$GC,2463,0.78,146.6,3221,2180,2134,2111,166.9,10.7,267,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2180,2122,2134,2111,0,0,0,0,0,0,26.06,26.08,26.08
$GC,2583,0.78,146.6,3221,2180,2134,2110,155.7,6.1,279,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2180,2122,2134,2111,0,0,0,0,0,0,26.32,26.34,26.34
$GC,2703,0.78,146.6,3221,2180,2134,2111,146.7,7.2,291,2707,0.00,2.15,0.00,0.000,516,0.000,0.087,3232,769,2122,2134,2111,0,0,0,0,0,0,26.47,26.20,26.49
$GC,2819,0.78,146.6,3232,769,2134,2111,137.8,7.8,302,2822,0.00,2.08,0.00,0.000,1030,0.000,0.077,3232,2177,2122,2134,2111,0,0,0,0,0,0,26.39,26.32,26.41
$GC,2944,0.78,146.6,3232,2177,2134,2111,126.6,8.7,314,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2177,2122,2134,2111,0,0,0,0,0,0,26.66,26.68,26.68
$GC,3064,0.78,146.6,3231,2177,2133,2111,116.2,8.3,326,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2177,2122,2133,2111,0,0,0,0,0,0,26.72,26.75,26.74
$GC,3185,0.78,146.6,3232,2177,2134,2111,106.2,8.3,338,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2177,2122,2134,2111,0,0,0,0,0,0,26.79,26.81,26.80
$GC,3304,0.78,146.6,3231,2177,2134,2111,96.2,9.0,350,3307,0.00,2.10,0.00,0.000,260,0.000,0.094,3232,3579,2122,2134,2111,0,0,0,0,0,0,26.83,26.54,26.84
$GC,3369,0.78,146.6,3231,3579,2134,2111,90.2,9.2,356,3373,0.00,2.03,0.00,0.000,1030,0.000,0.077,3242,2173,2122,2134,2111,0,0,0,0,0,0,26.66,26.58,26.68
$GC,3494,0.78,146.6,3242,2173,2134,2111,79.5,7.9,368,3498,0.00,2.10,0.00,0.000,516,0.000,0.089,3247,759,2122,2133,2111,0,0,0,0,0,0,26.89,26.61,26.90
$GC,3572,0.78,146.6,3247,759,2134,2111,73.4,7.8,375,3580,0.00,2.10,0.00,0.000,1030,0.000,0.077,3247,2166,2122,2134,2110,0,0,0,0,0,0,26.69,26.65,26.71
$GC,3700,0.78,146.6,3247,2167,2134,2111,62.5,8.0,388,3703,0.00,2.10,0.00,0.000,260,0.000,0.094,3247,3574,2122,2134,2111,0,0,0,0,0,0,26.94,26.64,26.95
$GC,3815,0.78,146.6,3247,3575,2134,2111,52.4,8.7,399,3819,0.00,2.03,0.00,0.000,1030,0.000,0.077,3256,2163,2122,2134,2111,0,0,0,0,0,0,26.77,26.70,26.79
$GC,3940,0.78,146.6,3256,2163,2134,2111,42.5,7.6,411,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2163,2122,2134,2111,0,0,0,0,0,0,26.98,27.00,27.00
$GC,4060,0.78,146.6,3255,2163,2134,2111,33.4,7.7,423,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2163,2122,2134,2111,0,0,0,0,0,0,27.01,27.03,27.02
$GC,4180,0.78,146.6,3256,2163,2133,2111,24.2,7.7,435,4184,0.00,2.10,0.00,0.000,516,0.000,0.089,3264,758,2122,2133,2111,0,0,0,0,0,0,27.02,26.74,27.04
$GC,4271,0.80,210.5,3264,758,2134,2111,18.0,5.6,446,4323,0.00,2.05,44.90,0.782,9222,0.000,0.077,3264,2174,1902,1917,1888,0,0,0,0,0,0,26.85,26.77,25.47
$GC,4385,0.80,210.5,3263,2173,1917,1887,9.2,7.6,467,4391,0.00,2.15,0.00,0.000,260,0.000,0.094,3264,3569,1902,1917,1888,0,0,0,0,0,0,26.44,26.16,26.46
$STATE,4452,end climb,SURFACE_DEPTH_REACHED
$STATE,4452,begin surface coast
$FINISH,0.3,0.999716
$STATE,4482,end surface coast,CONTROL_FINISHED_OK
$STATE,4483,begin surface
$SM_CCo,4500,52.95,0.760,0,0,1627,290.20
$SM_GC,2.07,8.15,2.10,52.95,0.084,0.074,0.760,137,2169,1627,-8.86,1.39,290.20,0,0,0,0,0,0,26.29,26.30,25.04
$IRIDIUM_FIX,4726.11,-12222.38,070115,133041
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.88
$INTERNAL_PRESSURE,9.00669
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,80.1
$24V_AH,24.40,2.052
$10V_AH,10.57,0.759
$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,19.550,58.350,256.925,52.950,157.225,22.878,29.353,255.579,1.500,0.000,34.374,1158.946,2052.185,467.980,1253.994,51.787,0.000,992.299,0.000,893.017,0.000,11.976,0.000
$DEVICE_MAMPS,260.715,94.354,888.914,759.798,173.810,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.870,644.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323044
$DATA_FILE_SIZE,26838,486
$CAP_FILE_SIZE,77611,0
$CFSIZE,1024409600,1020510208
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6479.12,0x238aa6,7,5
$INTR,1,4303.27,0x2356fe,1,24
$GPS,070115,164028,4742.813,-12225.746,36,1.0,37,16.3,0.0,0.0,8,8.4