version: 66.12
glider: 38
mission: 4
dive: 35
start: 7 14 115 20 16 21
data:
$ID,38
$MISSION,4
$DIVE,35
$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,127
$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,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,2
$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
$GPS1,140715,201223,3142.0386,-6401.2876,2,1.1,9,-14.9,0.9,130.7,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-66.9
$GPS2,140715,201558,3142.0049,-6401.2832,5,1.1,12,-14.9,0.7,162.8,10,8.6
$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,258.8,53868,-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,-146.6,152,2206,1022,1003,0.0,0.0,0,151,0.00,0.00,-128.30,0.154,16390,0.000,0.000,152,2206,2644,2600,2689,0,0,0,0,0,0,27.17,26.70,26.63
$GC,154,-0.96,-146.6,152,2206,2600,2689,3.5,-5.0,13,174,10.35,1.85,0.00,0.000,2564,0.303,0.065,2666,834,2645,2602,2688,0,0,0,0,0,0,26.47,26.68,26.61
$GC,281,-0.81,-146.6,2665,834,2606,2686,27.2,-16.8,24,290,0.15,1.90,0.00,0.000,3078,0.201,0.065,2704,2201,2646,2606,2686,0,0,0,0,0,0,26.69,26.86,26.77
$GC,590,-0.74,-146.6,2704,2202,2606,2686,41.7,-4.2,54,595,0.00,1.95,0.00,0.000,260,0.000,0.077,2694,3590,2646,2606,2686,0,0,0,0,0,0,27.20,26.95,27.22
$GC,913,-0.65,-146.6,2694,3590,2606,2686,59.8,-5.9,74,919,0.17,1.77,0.00,0.000,3078,0.201,0.060,2757,2177,2645,2606,2685,0,0,0,0,0,0,26.88,27.06,27.00
$GC,1230,-0.65,-146.6,2757,2177,2606,2684,76.8,-5.7,95,1235,0.00,1.98,0.00,0.000,260,0.000,0.077,2747,3589,2645,2606,2684,0,0,0,0,0,0,27.28,27.02,27.29
$GC,1505,-0.65,-146.6,2747,3589,2606,2683,94.7,-6.9,112,1508,0.00,1.77,0.00,0.000,1030,0.000,0.060,2747,2251,2644,2606,2683,0,0,0,0,0,0,27.13,27.09,27.14
$STATE,1599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1599,begin apogee
$GC,1602,-0.25,0.0,2747,2217,2606,2682,100.2,-6.3,118,1704,0.43,0.00,98.88,0.780,10246,0.169,0.000,2893,2216,2140,2147,2133,0,0,0,0,0,0,26.93,25.95,25.48
$STATE,1705,end apogee,CONTROL_FINISHED_OK
$STATE,1705,begin climb
$GC,1707,0.96,146.6,2893,2216,2148,2133,102.7,0.0,125,1814,1.00,2.05,99.88,0.750,10500,0.144,0.084,3254,3592,1635,1653,1617,0,0,0,0,0,0,26.00,25.84,25.37
$GC,1858,0.96,146.6,3253,3593,1651,1617,90.8,10.4,134,1866,0.00,1.85,0.00,0.000,1030,0.000,0.060,3263,2245,1634,1652,1617,0,0,0,0,0,0,26.35,26.33,26.37
$GC,2165,0.96,146.6,3263,2244,1651,1617,56.4,10.1,155,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2244,1634,1651,1617,0,0,0,0,0,0,27.05,27.07,27.06
$GC,2466,0.96,146.6,3263,2245,1650,1617,28.7,8.6,179,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2245,1633,1650,1617,0,0,0,0,0,0,27.17,27.20,27.20
$GC,2767,1.06,252.0,3263,2244,1649,1617,14.6,5.2,209,2847,0.08,2.05,69.93,0.723,10756,0.146,0.072,3350,814,1271,1290,1252,0,0,0,0,0,0,27.03,26.01,25.67
$GC,2874,1.06,252.0,3350,815,1290,1252,6.0,10.3,219,2884,0.12,1.95,0.00,0.000,5126,0.184,0.062,3310,2198,1271,1290,1252,0,0,0,0,0,0,26.27,26.43,26.36
$STATE,2902,end climb,SURFACE_DEPTH_REACHED
$STATE,2902,begin surface coast
$FINISH,0.5,1.023614
$STATE,2924,end surface coast,CONTROL_FINISHED_OK
$STATE,2925,begin surface
$SM_CCo,2999,0.00,0.000,0,0,1270,252.73
$SM_GC,0.78,7.97,0.00,0.00,0.079,0.000,0.000,159,2199,1270,-8.73,-0.06,252.73,0,0,0,0,0,0,26.53,26.80,26.60
$IRIDIUM_FIX,3127.82,-6400.08,100508,093525
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.91
$INTERNAL_PRESSURE,9.56335
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.4,9.6
$ALTIM_BOTTOM_PING,100.2,9.6
$24V_AH,25.37,10.589
$10V_AH,10.76,4.010
$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,20.275,19.125,268.675,0.000,128.300,0.000,0.000,0.000,0.750,0.000,12.942,561.756,1219.996,293.462,966.315,23.767,0.000,684.958,0.000,950.186,0.000,7.100,0.000
$DEVICE_MAMPS,302.926,84.422,779.662,0.000,153.946,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,145.877,731.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330268
$DATA_FILE_SIZE,13611,224
$CAP_FILE_SIZE,58862,0
$CFSIZE,1024409600,1016004608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140715,210712,3141.583,-6401.653,2,0.9,20,-14.9,0.0,0.0,9,10.0