version: 66.12
glider: 38
mission: 2
dive: 11
start: 1 7 115 9 3 24
data:
$ID,38
$MISSION,2
$DIVE,11
$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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,070115,085439,4743.5493,-12224.6318,3,0.9,35,16.3,0.0,0.0,8,9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.2
$GPS2,070115,090257,4743.4648,-12224.6348,4,0.8,10,16.3,0.5,133.4,9,9.1
$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,152.7,877,-17.5,-6.667,-21.75,1683
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.94,-74.1,160,2157,1646,1609,0.0,0.0,0,132,0.00,0.00,-115.53,0.146,16386,0.000,0.000,160,2157,2705,2677,2733,0,0,0,0,0,0,26.45,28.83,26.46
$GC,135,-0.96,-128.4,160,2158,2677,2733,3.2,-3.4,21,176,9.70,2.20,-25.38,0.161,18948,0.266,0.092,2680,763,3071,3048,3094,0,0,0,0,0,0,25.84,26.01,25.93
$GC,202,-0.96,-128.4,2680,763,3049,3093,9.0,-10.1,33,209,0.00,2.12,0.00,0.000,1030,0.000,0.077,2671,2179,3071,3049,3093,0,0,0,0,0,0,26.16,26.08,26.17
$GC,270,-0.96,-128.4,2671,2179,3049,3093,16.4,-10.9,46,277,0.00,2.15,0.00,0.000,260,0.000,0.094,2661,3574,3071,3049,3093,0,0,0,0,0,0,26.44,26.15,26.45
$GC,786,-0.96,-128.4,2660,3575,3049,3093,77.2,-10.7,100,794,0.00,2.10,0.00,0.000,1030,0.000,0.079,2660,2164,3071,3049,3093,0,0,0,0,0,0,26.56,26.53,26.60
$GC,913,-0.96,-128.4,2660,2165,3049,3092,90.3,-10.0,113,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2164,3071,3049,3093,0,0,0,0,0,0,26.84,26.86,26.86
$GC,1033,-0.96,-128.4,2660,2165,3049,3092,101.8,-8.6,125,1037,0.00,2.15,0.00,0.000,260,0.000,0.092,2650,3573,3070,3049,3092,0,0,0,0,0,0,26.87,26.58,26.89
$GC,1182,-0.96,-128.4,2649,3573,3049,3092,116.7,-10.2,139,1187,0.10,2.05,0.00,0.000,3078,0.211,0.079,2681,2170,3071,3049,3093,0,0,0,0,0,0,26.53,26.64,26.66
$GC,1308,-0.96,-128.4,2681,2170,3049,3092,128.1,-9.1,151,1312,0.00,2.12,0.00,0.000,516,0.000,0.092,2681,757,3070,3049,3092,0,0,0,0,0,0,26.94,26.66,26.96
$GC,1457,-0.96,-128.4,2681,757,3050,3092,141.8,-9.6,165,1463,0.00,2.08,0.00,0.000,1030,0.000,0.077,2672,2171,3070,3049,3092,0,0,0,0,0,0,26.79,26.72,26.80
$GC,1583,-0.96,-128.4,2672,2171,3049,3092,152.7,-8.3,178,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2171,3070,3049,3092,0,0,0,0,0,0,26.99,27.02,27.01
$GC,1703,-0.96,-128.4,2672,2171,3049,3092,162.7,-7.5,190,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2171,3070,3049,3092,0,0,0,0,0,0,27.01,27.04,27.03
$GC,1824,-0.96,-128.4,2672,2171,3049,3092,173.1,-9.0,202,1833,0.00,2.12,0.00,0.000,516,0.000,0.089,2672,761,3070,3049,3091,0,0,0,0,0,0,27.03,26.75,27.05
$STATE,1843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1843,begin apogee
$GC,1849,-0.26,0.0,2661,2175,3049,3091,175.1,-9.1,204,1946,0.70,0.00,92.03,0.904,10246,0.166,0.000,2905,2176,2627,2637,2617,0,0,0,0,0,0,26.65,25.27,24.70
$STATE,1947,end apogee,CONTROL_FINISHED_OK
$STATE,1947,begin climb
$GC,1948,0.96,128.4,2904,2176,2638,2617,178.0,0.0,214,2049,1.02,2.25,93.72,0.844,10500,0.124,0.099,3277,3572,2184,2195,2173,0,0,0,0,0,0,25.35,24.97,24.41
$GC,2101,0.96,128.4,3276,3572,2194,2173,166.9,11.2,229,2105,0.00,2.12,0.00,0.000,1030,0.000,0.079,3287,2169,2184,2195,2173,0,0,0,0,0,0,25.63,25.55,25.65
$GC,2226,0.96,128.4,3287,2169,2195,2173,153.7,11.0,241,2230,0.00,2.17,0.00,0.000,516,0.000,0.094,3297,756,2184,2195,2173,0,0,0,0,0,0,26.21,25.94,26.23
$GC,2322,0.96,128.4,3297,756,2194,2172,143.3,10.5,250,2326,0.00,2.12,0.00,0.000,1030,0.000,0.077,3297,2167,2184,2195,2173,0,0,0,0,0,0,26.20,26.12,26.21
$GC,2447,0.96,128.4,3297,2167,2195,2173,129.7,10.3,262,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2167,2184,2195,2173,0,0,0,0,0,0,26.52,26.54,26.54
$GC,2567,0.96,128.4,3297,2167,2195,2173,116.4,10.8,274,2571,0.00,2.15,0.00,0.000,516,0.000,0.094,3308,761,2184,2195,2173,0,0,0,0,0,0,26.63,26.34,26.64
$GC,2652,0.96,128.4,3308,760,2195,2173,107.0,11.0,282,2656,0.00,2.10,0.00,0.000,1030,0.000,0.077,3308,2175,2183,2195,2172,0,0,0,0,0,0,26.49,26.41,26.51
$GC,2777,0.96,128.4,3308,2175,2195,2173,93.5,10.6,294,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2175,2184,2195,2173,0,0,0,0,0,0,26.74,26.77,26.76
$GC,2897,0.96,128.4,3308,2175,2195,2173,80.8,10.4,306,2901,0.00,2.15,0.00,0.000,516,0.000,0.094,3319,759,2184,2196,2173,0,0,0,0,0,0,26.79,26.51,26.82
$GC,2953,0.96,128.4,3318,759,2195,2173,75.1,10.6,311,2957,0.00,2.08,0.00,0.000,1030,0.000,0.079,3318,2180,2184,2195,2173,0,0,0,0,0,0,26.63,26.55,26.65
$GC,3078,0.96,128.4,3318,2180,2195,2173,62.9,9.8,323,3082,0.00,2.12,0.00,0.000,260,0.000,0.094,3318,3579,2184,2195,2173,0,0,0,0,0,0,26.86,26.56,26.88
$GC,3204,0.96,128.4,3318,3579,2194,2173,47.6,12.4,335,3209,0.12,2.08,0.00,0.000,5126,0.231,0.079,3294,2160,2183,2194,2173,0,0,0,0,0,0,26.47,26.62,26.63
$GC,3328,0.96,128.4,3292,2159,2195,2174,36.0,7.7,347,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2159,2184,2195,2173,0,0,0,0,0,0,26.92,26.95,26.94
$GC,3448,0.96,128.4,3294,2159,2195,2173,24.9,9.5,359,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2159,2184,2195,2173,0,0,0,0,0,0,26.96,26.97,26.97
$GC,3568,0.96,128.4,3293,2159,2195,2173,14.8,7.9,377,3575,0.00,2.10,0.00,0.000,516,0.000,0.094,3304,765,2184,2195,2173,0,0,0,0,0,0,26.98,26.70,27.00
$GC,3632,0.96,128.4,3303,765,2195,2173,9.1,8.5,389,3638,0.00,2.08,0.00,0.000,1030,0.000,0.079,3304,2178,2184,2195,2173,0,0,0,0,0,0,26.80,26.72,26.82
$GC,3699,0.96,128.4,3304,2177,2195,2173,3.4,8.9,402,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2177,2184,2195,2173,0,0,0,0,0,0,27.00,27.02,27.01
$STATE,3710,end climb,SURFACE_DEPTH_REACHED
$STATE,3710,begin surface coast
$FINISH,0.5,1.021077
$STATE,3747,end surface coast,CONTROL_FINISHED_OK
$STATE,3747,begin surface
$SM_CCo,3761,106.00,0.772,0,0,1628,290.20
$SM_GC,1.51,8.23,0.00,106.00,0.094,0.000,0.772,163,2178,1628,-8.78,0.23,290.20,0,0,0,0,0,0,26.71,27.03,24.84
$IRIDIUM_FIX,4726.11,-12315.66,070115,085550
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.37
$INTERNAL_PRESSURE,9.00669
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.5,80.2
$24V_AH,24.41,1.669
$10V_AH,10.55,0.608
$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,19.875,46.725,185.750,106.000,140.900,44.159,54.748,273.682,0.750,0.000,11.550,1008.973,1679.562,423.818,1225.746,45.201,0.000,894.222,0.000,813.536,0.000,7.233,0.000
$DEVICE_MAMPS,265.681,99.320,903.812,772.213,161.395,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.811,545.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322936
$DATA_FILE_SIZE,23546,411
$CAP_FILE_SIZE,69023,0
$CFSIZE,1024409600,1020772352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6001.31,0x238aa6,7,5
$INTR,1,3750.37,0x238aa6,7,5
$GPS,070115,100836,4742.806,-12224.893,2,1.1,9,16.3,0.0,0.0,7,10.0