version: 66.12
glider: 38
mission: 4
dive: 4
start: 7 3 115 14 24 23
data:
$ID,38
$MISSION,4
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,5500
$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,60
$T_MISSION,70
$T_ABORT,2880
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,97
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2500
$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,-1022.6598
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$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
$GPS1,030715,141924,3221.4241,-6436.1567,1,1.0,10,-14.9,0.0,0.0,8,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-58.3
$GPS2,030715,142400,3221.4575,-6436.1372,4,1.0,10,-14.9,0.5,190.2,8,10.0
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$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,170.5,23299,-18.4,-10.000,-21.00,2237
$D_GRID,180
$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,-0.96,-146.6,160,2052,614,600,0.0,0.0,0,191,0.00,0.00,-173.48,0.154,16386,0.000,0.000,159,2052,2770,2737,2804,0,0,0,0,0,0,27.18,28.83,27.20
$GC,194,-0.96,-146.6,159,2052,2737,2803,3.0,-1.9,17,224,11.00,1.92,-10.32,0.189,18692,0.308,0.077,2726,3392,3002,2970,3035,0,0,0,0,0,0,26.29,26.55,26.47
$GC,454,-0.96,-146.6,2726,3392,2970,3034,33.6,-9.9,40,463,0.00,1.88,0.00,0.000,1030,0.000,0.062,2726,1991,3002,2971,3033,0,0,0,0,0,0,26.94,26.93,26.95
$GC,763,-0.96,-146.6,2726,1992,2970,3032,63.3,-8.5,63,768,0.00,1.95,0.00,0.000,260,0.000,0.077,2716,3388,3001,2970,3032,0,0,0,0,0,0,27.24,26.96,27.26
$GC,852,-0.96,-146.6,2715,3388,2970,3032,71.9,-11.2,68,860,0.00,1.85,0.00,0.000,1030,0.000,0.062,2716,1990,3001,2970,3032,0,0,0,0,0,0,27.07,27.05,27.08
$GC,1160,-0.96,-146.6,2716,1989,2971,3031,103.0,-9.3,89,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1989,3000,2970,3030,0,0,0,0,0,0,27.30,27.32,27.32
$STATE,1238,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1238,begin apogee
$GC,1241,-0.25,0.0,2715,1989,2970,3030,110.3,-9.6,94,1344,0.73,0.00,99.57,0.837,10246,0.169,0.000,2968,1988,2500,2514,2486,0,0,0,0,0,0,26.86,25.79,25.25
$STATE,1345,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1346,0.96,146.6,2967,1988,2514,2486,113.0,0.0,101,1461,0.98,2.03,100.80,0.795,10756,0.112,0.074,3357,633,1995,2011,1979,0,0,0,0,0,0,25.94,25.68,25.13
$GC,1529,0.96,146.6,3357,633,2011,1978,96.0,12.7,113,1534,0.00,1.88,0.00,0.000,1030,0.000,0.065,3357,2006,1995,2011,1979,0,0,0,0,0,0,26.45,26.41,26.46
$GC,1844,0.96,146.6,3357,2006,2010,1979,58.4,10.8,134,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2006,1994,2010,1978,0,0,0,0,0,0,27.08,27.10,27.09
$GC,2149,0.98,220.8,3357,2006,2009,1979,32.8,6.6,158,2209,0.00,0.00,50.78,0.775,8454,0.000,0.000,3357,2006,1740,1755,1725,0,0,0,0,0,0,27.21,26.12,25.59
$GC,2509,1.00,288.0,3357,2006,1755,1725,3.3,6.9,194,2520,0.00,0.00,9.02,0.651,8450,0.000,0.000,3357,2006,1698,1714,1683,0,0,0,0,0,0,27.08,28.83,27.10
$STATE,2521,end climb,SURFACE_DEPTH_REACHED
$STATE,2521,begin surface coast
$FINISH,-0.1,0.998104
$STATE,2561,end surface coast,CONTROL_FINISHED_OK
$STATE,2561,begin surface
$SM_CCo,2575,204.02,0.740,0,0,606,550.19
$SM_GC,1.06,8.02,0.00,204.02,0.077,0.000,0.740,134,2007,606,-9.05,0.20,550.19,0,0,0,0,0,0,26.75,27.03,25.19
$IRIDIUM_FIX,3210.97,-6435.71,290408,034625
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.62
$INTERNAL_PRESSURE,9.53405
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,5.6
$24V_AH,25.13,3.103
$10V_AH,10.61,1.101
$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,20.725,11.500,260.175,204.025,183.800,0.000,0.000,0.000,0.750,0.000,11.136,471.870,1030.326,532.369,790.653,19.993,0.000,873.847,0.000,781.077,0.000,7.046,0.000
$DEVICE_MAMPS,307.892,76.973,836.771,739.934,188.708,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,128.758,649.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330392
$DATA_FILE_SIZE,10226,199
$CAP_FILE_SIZE,60897,0
$CFSIZE,1024409600,1018904576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030715,151129,3221.256,-6436.030,2,1.1,12,-14.9,0.0,0.0,8,10.0