version: 66.12
glider: 38
mission: 4
dive: 37
start: 7 15 115 22 45 44
data:
$ID,38
$MISSION,4
$DIVE,37
$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,62
$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,30
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,20
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$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
$GPS1,150715,224157,3134.4912,-6407.9297,3,0.9,10,-14.9,0.0,0.0,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-61.6
$GPS2,150715,224520,3134.4739,-6407.9438,5,0.9,14,-14.9,0.0,0.0,8,9.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SS02
$TGT_LATLONG,3158.680,-6422.860
$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,347.3,50584,-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,-146.6,144,2216,800,782,0.0,0.0,0,161,0.00,0.00,-136.05,0.154,16390,0.000,0.000,144,2216,2505,2454,2557,0,0,0,0,0,0,27.23,26.75,26.60
$GC,163,-0.96,-146.6,144,2216,2454,2556,2.2,-1.4,14,183,10.77,1.90,0.00,0.000,2564,0.310,0.067,2666,823,2506,2461,2552,0,0,0,0,0,0,26.35,26.65,26.53
$GC,517,-0.81,-146.6,2666,822,2461,2550,33.4,1.2,45,528,0.17,1.88,0.00,0.000,3078,0.219,0.065,2709,2224,2506,2462,2550,0,0,0,0,0,0,26.74,27.01,26.92
$GC,829,-0.72,-146.6,2709,2223,2462,2549,30.6,-1.5,76,839,0.00,1.95,0.00,0.000,516,0.000,0.070,2711,815,2505,2462,2548,0,0,0,0,0,0,27.29,27.03,27.30
$GC,1172,-0.61,-146.6,2711,815,2461,2547,41.7,-4.2,105,1178,0.20,1.88,0.00,0.000,3078,0.211,0.065,2771,2209,2504,2462,2547,0,0,0,0,0,0,26.81,27.08,26.92
$GC,1488,-0.61,-146.6,2771,2209,2462,2546,50.1,-3.0,126,1493,0.00,1.92,0.00,0.000,260,0.000,0.079,2762,3586,2504,2462,2546,0,0,0,0,0,0,27.28,27.03,27.30
$GC,1811,-0.61,-146.6,2761,3585,2462,2545,62.1,-4.2,146,1817,0.00,1.80,0.00,0.000,1030,0.000,0.060,2762,2171,2503,2462,2545,0,0,0,0,0,0,27.15,27.11,27.16
$GC,2127,-0.61,-146.6,2761,2170,2462,2543,76.9,-4.5,167,2132,0.00,1.95,0.00,0.000,260,0.000,0.077,2751,3580,2502,2462,2543,0,0,0,0,0,0,27.32,27.03,27.33
$GC,2175,-0.61,-146.6,2750,3580,2462,2543,79.1,-4.5,170,2178,0.00,1.77,0.00,0.000,1030,0.000,0.060,2751,2238,2502,2462,2543,0,0,0,0,0,0,27.15,27.11,27.16
$STATE,2415,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2416,begin apogee
$GC,2419,-0.25,0.0,2751,2196,2462,2542,89.0,-4.2,186,2523,0.43,0.00,98.75,0.780,10246,0.176,0.000,2895,2195,2000,2009,1991,0,0,0,0,0,0,26.86,26.02,25.51
$STATE,2524,end apogee,CONTROL_FINISHED_OK
$STATE,2524,begin climb
$GC,2525,0.96,146.6,2894,2195,2009,1991,89.0,0.0,193,2629,1.02,0.00,100.35,0.732,10246,0.134,0.000,3264,2195,1494,1512,1477,0,0,0,0,0,0,26.09,25.92,25.45
$GC,2928,0.96,146.6,3263,2195,1510,1477,44.3,10.8,220,2933,0.00,1.90,0.00,0.000,516,0.000,0.070,3273,809,1493,1510,1477,0,0,0,0,0,0,27.08,26.84,27.10
$GC,2981,0.96,146.6,3272,809,1510,1476,38.6,11.0,224,2991,0.00,1.92,0.00,0.000,1030,0.000,0.062,3273,2194,1493,1510,1476,0,0,0,0,0,0,26.92,26.89,26.94
$GC,3291,1.07,244.7,3273,2194,1509,1476,14.4,5.5,255,3363,0.05,2.08,65.18,0.710,10500,0.189,0.079,3331,3596,1156,1175,1138,0,0,0,0,0,0,27.03,26.21,25.72
$STATE,3420,end climb,SURFACE_DEPTH_REACHED
$STATE,3421,begin surface coast
$FINISH,-0.0,1.023673
$STATE,3445,end surface coast,CONTROL_FINISHED_OK
$STATE,3445,begin surface
$SM_CCo,3462,3.55,0.407,0,0,1139,250.11
$SM_GC,2.03,8.18,1.92,3.55,0.087,0.057,0.407,131,2173,1139,-8.81,2.54,250.11,0,0,0,0,0,0,26.60,26.67,26.02
$IRIDIUM_FIX,3120.24,-6410.23,110508,120522
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.10
$INTERNAL_PRESSURE,9.60242
$TCM_TEMP,24.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,29.1,29.7
$24V_AH,25.45,11.375
$10V_AH,10.76,4.350
$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,20.825,22.875,264.275,3.550,136.050,0.000,0.000,0.000,5.500,0.000,14.885,680.351,1353.845,327.560,1147.187,26.856,0.000,743.736,0.000,1121.632,0.000,26.867,0.000
$DEVICE_MAMPS,310.375,79.456,779.662,407.212,153.946,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.275,878.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330296
$DATA_FILE_SIZE,16940,269
$CAP_FILE_SIZE,202764,0
$CFSIZE,1024409600,1015644160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150715,234414,3134.429,-6408.132,4,1.0,11,-14.9,0.5,271.6,8,8.0