version: 66.12
glider: 38
mission: 4
dive: 34
start: 7 14 115 18 52 10
data:
$ID,38
$MISSION,4
$DIVE,34
$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,80
$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,99
$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,4
$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
$GPS1,140715,184556,3142.8086,-6401.0127,2,0.9,12,-14.9,3.0,285.5,10,8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-66.3
$GPS2,140715,185147,3142.7554,-6400.9966,5,1.0,15,-14.9,0.0,0.0,9,9.5
$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,257.7,54895,-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,-146.6,160,2209,1112,1095,0.0,0.0,0,141,0.00,0.00,-121.05,0.154,16390,0.000,0.000,160,2209,2645,2602,2689,0,0,0,0,0,0,27.15,26.73,26.62
$GC,143,-0.96,-146.6,159,2209,2602,2688,3.3,-4.7,12,163,10.38,1.88,0.00,0.000,2564,0.303,0.065,2665,825,2646,2605,2688,0,0,0,0,0,0,26.46,26.66,26.59
$GC,177,-0.18,-146.6,2665,825,2607,2687,11.4,-20.0,15,188,0.80,1.92,0.00,0.000,3078,0.199,0.065,2908,2221,2647,2607,2687,0,0,0,0,0,0,26.57,26.74,26.66
$GC,488,-0.39,-146.6,2908,2221,2607,2687,27.1,-3.2,46,496,0.12,0.00,0.00,0.000,4102,0.119,0.000,2835,2222,2647,2607,2687,0,0,0,0,0,0,26.93,26.99,26.98
$GC,798,-0.50,-146.6,2835,2221,2607,2687,37.9,-5.1,77,809,0.00,1.92,0.00,0.000,260,0.000,0.079,2825,3590,2647,2607,2687,0,0,0,0,0,0,27.23,26.98,27.24
$GC,956,-0.60,-146.6,2825,3589,2607,2687,46.0,-5.7,88,965,0.08,1.88,0.00,0.000,5126,0.114,0.060,2772,2159,2647,2607,2687,0,0,0,0,0,0,26.99,27.06,27.03
$GC,1265,-0.60,-146.6,2772,2159,2607,2686,58.4,-4.7,109,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2159,2646,2607,2686,0,0,0,0,0,0,27.27,27.29,27.29
$GC,1564,-0.60,-146.6,2772,2159,2607,2685,72.6,-4.8,129,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2159,2646,2607,2686,0,0,0,0,0,0,27.29,27.31,27.30
$GC,1864,-0.60,-146.6,2772,2159,2607,2684,90.4,-6.7,149,1870,0.00,2.03,0.00,0.000,260,0.000,0.077,2761,3591,2645,2607,2684,0,0,0,0,0,0,27.29,27.04,27.31
$STATE,1997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1997,begin apogee
$GC,2002,-0.25,0.0,2761,2209,2607,2683,100.6,-8.0,157,2104,0.38,0.00,98.68,0.780,10246,0.169,0.000,2896,2207,2140,2148,2132,0,0,0,0,0,0,26.95,25.95,25.50
$STATE,2105,end apogee,CONTROL_FINISHED_OK
$STATE,2105,begin climb
$GC,2106,0.96,146.6,2896,2208,2148,2132,104.4,0.0,164,2211,1.00,0.00,100.75,0.747,10246,0.139,0.000,3260,2207,1635,1653,1617,0,0,0,0,0,0,26.00,25.80,25.37
$GC,2506,0.96,146.6,3260,2207,1651,1616,65.8,10.8,191,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2208,1634,1652,1617,0,0,0,0,0,0,26.99,27.01,27.01
$GC,2804,0.96,146.6,3259,2207,1650,1617,36.0,10.4,212,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2207,1633,1650,1617,0,0,0,0,0,0,27.15,27.17,27.17
$GC,3106,1.10,326.9,3259,2208,1649,1617,18.1,1.8,242,3235,0.08,0.00,120.35,0.713,10502,0.149,0.000,3340,2207,1013,1035,992,0,0,0,0,0,0,27.01,25.80,25.50
$STATE,3283,end climb,SURFACE_DEPTH_REACHED
$STATE,3283,begin surface coast
$FINISH,0.3,1.023614
$STATE,3304,end surface coast,CONTROL_FINISHED_OK
$STATE,3304,begin surface
$SM_CCo,3379,0.00,0.000,0,0,1012,327.67
$SM_GC,0.56,8.07,0.00,0.00,0.077,0.000,0.000,153,2207,1012,-8.75,0.20,327.67,0,0,0,0,0,0,26.41,26.67,26.48
$IRIDIUM_FIX,3127.82,-6400.08,100508,081304
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.18
$INTERNAL_PRESSURE,9.52429
$TCM_TEMP,23.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,29.4,8.2
$ALTIM_BOTTOM_PING,100.6,7.1
$24V_AH,25.37,10.496
$10V_AH,10.79,3.974
$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,20.900,11.450,319.775,0.000,121.050,0.000,0.000,0.000,1.000,0.000,16.622,618.562,1479.514,355.263,972.575,23.049,0.000,708.134,0.000,959.929,0.000,7.088,0.000
$DEVICE_MAMPS,302.926,79.456,779.662,0.000,153.946,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.840,855.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330244
$DATA_FILE_SIZE,13571,262
$CAP_FILE_SIZE,52276,0
$CFSIZE,1024409600,1016053760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140715,194932,3142.266,-6401.351,3,1.0,31,-14.9,0.0,0.0,10,6.5