version: 66.12
glider: 38
mission: 4
dive: 32
start: 7 14 115 14 47 15
data:
$ID,38
$MISSION,4
$DIVE,32
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,50
$T_MISSION,1620
$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,14
$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,250
$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,1
$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,2970
$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,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,93
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$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
$GPS1,140715,144326,3145.1624,-6400.9409,2,0.8,8,-15.0,0.0,0.0,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-65.0
$GPS2,140715,144652,3145.1216,-6400.9072,5,0.8,11,-15.0,1.2,152.9,10,9.9
$SPEED_LIMITS,0.200,0.311
$TGT_NAME,SS06
$TGT_LATLONG,3129.220,-6431.920
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.242932,-0.094215
$KALMAN_X,-5924.252930,0.000000,0.000000,54580.785156,270.806641
$KALMAN_Y,-9684.791016,0.000000,0.000000,44658.179688,-4049.756836
$MHEAD_RNG_PITCHd_Wd,254.0,57150,-31.4,-20.000,-32.72,1123
$D_GRID,300
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.61,-146.6,160,2210,1039,1026,0.0,0.0,0,133,0.00,0.00,-115.15,0.154,16390,0.000,0.000,160,2210,2505,2458,2553,0,0,0,0,0,0,26.88,26.49,26.37
$GC,135,-1.61,-146.6,160,2210,2458,2553,1.9,-0.8,11,151,9.43,0.00,0.00,0.000,2054,0.298,0.000,2444,2210,2506,2459,2554,0,0,0,0,0,0,26.22,26.42,26.36
$GC,453,-1.51,-146.6,2444,2210,2460,2552,28.5,1.6,43,463,0.12,1.92,0.00,0.000,2308,0.253,0.074,2475,3601,2505,2459,2552,0,0,0,0,0,0,26.55,26.70,26.65
$GC,580,-1.40,-146.6,2474,3601,2459,2552,28.5,-1.1,54,590,0.12,1.88,0.00,0.000,3078,0.246,0.062,2519,2149,2505,2459,2551,0,0,0,0,0,0,26.59,26.81,26.70
$GC,889,-1.40,-146.6,2519,2149,2459,2550,33.7,-2.9,85,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2149,2505,2460,2551,0,0,0,0,0,0,27.10,27.12,27.11
$GC,1200,-1.40,-146.6,2518,2149,2460,2551,47.4,-6.5,112,1205,0.00,2.05,0.00,0.000,260,0.000,0.077,2509,3601,2505,2459,2551,0,0,0,0,0,0,27.15,26.92,27.17
$GC,1263,-1.33,-146.6,2509,3601,2460,2551,51.3,-6.2,116,1269,0.08,1.85,0.00,0.000,3078,0.261,0.062,2536,2160,2505,2460,2550,0,0,0,0,0,0,26.77,26.97,26.87
$GC,1578,-1.33,-146.6,2536,2160,2460,2550,69.5,-6.7,137,1582,0.00,2.05,0.00,0.000,260,0.000,0.077,2526,3600,2505,2460,2550,0,0,0,0,0,0,27.20,26.96,27.21
$GC,1750,-1.33,-146.6,2526,3614,2460,2550,80.4,-6.8,147,1759,0.00,1.88,0.00,0.000,1030,0.000,0.060,2526,2206,2504,2460,2549,0,0,0,0,0,0,27.04,27.03,27.05
$GC,2060,-1.33,-146.6,2526,2205,2460,2548,101.3,-7.7,168,2066,0.00,1.98,0.00,0.000,260,0.000,0.074,2516,3602,2503,2459,2548,0,0,0,0,0,0,27.22,26.99,27.24
$GC,2383,-1.33,-146.6,2516,3602,2460,2548,132.4,-10.3,188,2388,0.00,1.85,0.00,0.000,1030,0.000,0.060,2516,2193,2503,2460,2547,0,0,0,0,0,0,27.09,27.05,27.10
$GC,2698,-1.33,-146.6,2515,2193,2460,2545,163.1,-10.0,205,2703,0.00,2.00,0.00,0.000,260,0.000,0.074,2506,3615,2502,2459,2546,0,0,0,0,0,0,27.25,27.01,27.27
$GC,2892,-1.33,-146.6,2506,3615,2459,2545,184.6,-11.5,211,2896,0.12,1.90,0.00,0.000,3078,0.241,0.060,2541,2180,2501,2459,2544,0,0,0,0,0,0,26.86,27.10,27.01
$STATE,3037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3037,begin apogee
$GC,3041,-0.25,0.0,2540,2180,2460,2544,202.4,-11.7,216,3144,1.12,0.00,99.97,0.859,10246,0.206,0.000,2893,2178,2000,2010,1990,0,0,0,0,0,0,26.87,25.74,25.27
$STATE,3145,end apogee,CONTROL_FINISHED_OK
$STATE,3145,begin climb
$GC,3147,1.61,146.6,2893,2178,2010,1990,205.7,0.0,219,3254,1.62,0.00,102.70,0.819,10246,0.139,0.000,3463,2178,1494,1512,1477,0,0,0,0,0,0,25.79,25.56,25.13
$GC,3546,1.61,146.6,3462,2178,1510,1476,122.6,22.7,237,3551,0.00,1.88,0.00,0.000,516,0.000,0.067,3473,846,1493,1510,1477,0,0,0,0,0,0,26.81,26.59,26.82
$GC,3611,1.61,146.6,3473,846,1510,1476,108.5,22.2,241,3616,0.00,1.92,0.00,0.000,1030,0.000,0.062,3473,2206,1493,1509,1477,0,0,0,0,0,0,26.69,26.66,26.70
$GC,3927,1.61,146.6,3473,2207,1509,1476,41.2,20.0,262,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,2206,1492,1509,1476,0,0,0,0,0,0,27.04,27.06,27.06
$GC,4231,1.65,260.1,3472,2207,1509,1476,6.3,9.7,292,4271,0.00,0.00,38.38,0.713,8450,0.000,0.000,3472,2207,1297,1317,1278,0,0,0,0,0,0,27.13,28.83,27.15
$STATE,4272,end climb,SURFACE_DEPTH_REACHED
$STATE,4272,begin surface coast
$FINISH,-0.9,0.998098
$STATE,4290,end surface coast,CONTROL_FINISHED_OK
$STATE,4291,begin surface
$SM_CCo,4305,29.58,0.693,0,0,1139,250.11
$SM_GC,1.40,8.43,0.00,29.58,0.079,0.000,0.693,143,2207,1139,-8.72,0.20,250.11,0,0,0,0,0,0,26.47,26.69,25.66
$IRIDIUM_FIX,3132.88,-6358.97,100508,040627
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.20
$INTERNAL_PRESSURE,9.43639
$TCM_TEMP,21.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,9.2
$ALTIM_BOTTOM_PING,202.4,9.6
$24V_AH,25.13,10.175
$10V_AH,10.72,3.868
$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,21.050,23.150,241.050,29.575,115.150,0.000,0.000,0.000,1.000,0.000,11.967,780.479,2009.513,350.080,1233.360,28.786,0.000,751.320,0.000,1219.409,0.000,7.104,0.000
$DEVICE_MAMPS,297.960,76.973,859.118,692.757,153.946,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.474,974.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330288
$DATA_FILE_SIZE,16836,298
$CAP_FILE_SIZE,89746,0
$CFSIZE,1024409600,1016135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140715,160023,3144.479,-6401.198,3,0.8,19,-14.9,0.0,0.0,11,9.4