version: 66.12
glider: 38
mission: 4
dive: 33
start: 7 14 115 17 33 28
data:
$ID,38
$MISSION,4
$DIVE,33
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,60
$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,125
$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,2140
$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,30
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$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
$GPS1,140715,172926,3143.5583,-6400.7490,2,0.9,10,-14.9,0.6,21.2,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-66.2
$GPS2,140715,173304,3143.5208,-6400.7358,5,1.0,13,-14.9,0.0,0.0,10,9.8
$SPEED_LIMITS,0.100,0.261
$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,256.6,55919,-18.4,-10.000,-21.00,2237
$D_GRID,150
$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,15,-0.96,-146.6,141,2209,1153,1139,0.0,0.0,0,140,0.00,0.00,-115.57,0.154,16390,0.000,0.000,142,2209,2645,2599,2691,0,0,0,0,0,0,27.15,26.74,26.62
$GC,142,-0.96,-146.6,141,2209,2600,2691,4.0,-5.9,12,160,10.48,0.00,0.00,0.000,2054,0.303,0.000,2656,2209,2646,2601,2692,0,0,0,0,0,0,26.46,26.67,26.61
$GC,462,-0.84,-146.6,2656,2209,2601,2690,40.2,-4.7,44,468,0.10,1.92,0.00,0.000,2308,0.228,0.077,2686,3609,2646,2601,2691,0,0,0,0,0,0,26.78,26.90,26.86
$GC,550,-0.73,-146.6,2686,3609,2601,2691,43.0,-3.5,49,559,0.15,1.85,0.00,0.000,3078,0.204,0.062,2733,2188,2645,2601,2690,0,0,0,0,0,0,26.79,26.98,26.89
$GC,858,-0.73,-146.6,2733,2189,2601,2689,55.2,-4.1,70,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2189,2645,2601,2689,0,0,0,0,0,0,27.23,27.25,27.25
$GC,1157,-0.73,-146.6,2733,2189,2601,2687,72.0,-6.1,90,1161,0.00,2.00,0.00,0.000,260,0.000,0.079,2723,3607,2644,2601,2688,0,0,0,0,0,0,27.27,27.01,27.28
$GC,1207,-0.73,-146.6,2723,3609,2601,2688,75.5,-6.7,93,1213,0.00,1.80,0.00,0.000,1030,0.000,0.060,2724,2220,2644,2601,2688,0,0,0,0,0,0,27.11,27.08,27.12
$GC,1524,-0.73,-146.6,2723,2220,2601,2687,93.4,-5.6,114,1529,0.00,1.95,0.00,0.000,260,0.000,0.079,2713,3609,2644,2601,2687,0,0,0,0,0,0,27.28,27.03,27.29
$GC,1655,-0.73,-146.6,2713,3609,2601,2687,102.1,-7.3,122,1659,0.00,1.88,0.00,0.000,1030,0.000,0.060,2714,2189,2643,2601,2686,0,0,0,0,0,0,27.11,27.10,27.12
$STATE,1817,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1817,begin apogee
$GC,1821,-0.25,0.0,2713,2189,2601,2685,114.9,-8.1,133,1924,0.52,0.00,98.40,0.787,10246,0.176,0.000,2891,2188,2140,2147,2133,0,0,0,0,0,0,26.94,25.94,25.48
$STATE,1925,end apogee,CONTROL_FINISHED_OK
$STATE,1925,begin climb
$GC,1927,0.96,146.6,2890,2187,2148,2133,117.9,0.0,140,2035,1.02,2.12,100.18,0.752,10500,0.144,0.082,3260,3594,1634,1651,1617,0,0,0,0,0,0,25.98,25.86,25.36
$GC,2077,0.96,146.6,3259,3594,1651,1617,105.1,11.1,150,2083,0.00,1.88,0.00,0.000,1030,0.000,0.060,3269,2212,1634,1651,1617,0,0,0,0,0,0,26.33,26.29,26.34
$GC,2391,0.96,146.6,3268,2212,1650,1617,69.2,11.0,171,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2212,1633,1650,1617,0,0,0,0,0,0,27.01,27.03,27.03
$GC,2696,0.96,146.6,3269,2212,1648,1617,37.0,9.0,192,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2212,1632,1648,1617,0,0,0,0,0,0,27.15,27.17,27.17
$GC,2997,1.07,299.8,3269,2212,1648,1617,19.2,3.0,222,3107,0.08,0.00,102.05,0.713,10502,0.146,0.000,3343,2211,1105,1124,1087,0,0,0,0,0,0,27.02,25.85,25.56
$STATE,3175,end climb,SURFACE_DEPTH_REACHED
$STATE,3175,begin surface coast
$FINISH,-0.3,1.023591
$STATE,3196,end surface coast,CONTROL_FINISHED_OK
$STATE,3196,begin surface
$SM_CCo,3271,0.00,0.000,0,0,1104,300.95
$SM_GC,0.32,8.07,0.00,0.00,0.079,0.000,0.000,161,2210,1104,-8.72,0.28,300.95,0,0,0,0,0,0,26.47,26.74,26.53
$IRIDIUM_FIX,3130.35,-6402.35,100508,065234
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.51
$INTERNAL_PRESSURE,9.52429
$TCM_TEMP,23.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,29.4,999.0
$24V_AH,25.36,10.394
$10V_AH,10.81,3.938
$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,20.425,15.400,300.625,0.000,115.575,0.000,0.000,0.000,1.750,0.000,13.986,589.770,1473.157,315.622,936.668,23.066,0.000,675.819,0.000,925.226,0.000,7.376,0.000
$DEVICE_MAMPS,302.926,81.939,787.111,0.000,153.946,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,157.981,790.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330276
$DATA_FILE_SIZE,13597,242
$CAP_FILE_SIZE,94371,0
$CFSIZE,1024409600,1016086528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140715,182845,3142.991,-6401.084,2,0.9,14,-14.9,0.0,0.0,10,6.2