version: 66.12
glider: 38
mission: 4
dive: 41
start: 7 16 115 1 57 21
data:
$ID,38
$MISSION,4
$DIVE,41
$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,117
$R_STBD_OVSHOOT,75
$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,3
$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
$GPS1,160715,015321,3134.0703,-6408.6016,1,1.0,10,-14.9,0.0,0.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-64.0
$GPS2,160715,015656,3134.0586,-6408.6030,3,0.9,12,-14.9,0.0,0.0,10,10.0
$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,348.7,50802,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.96,-146.6,152,2169,1152,1126,0.0,0.0,0,130,0.00,0.00,-106.82,0.156,16390,0.000,0.000,152,2169,2505,2461,2550,0,0,0,0,0,0,26.99,26.61,26.53
$GC,133,-0.96,-146.6,152,2169,2460,2551,2.8,-3.2,11,153,10.52,1.83,0.00,0.000,2564,0.303,0.067,2664,833,2507,2462,2552,0,0,0,0,0,0,26.39,26.60,26.53
$GC,488,-0.80,-146.6,2664,833,2463,2549,32.1,0.5,42,499,0.15,1.85,0.00,0.000,3078,0.216,0.065,2709,2202,2505,2462,2549,0,0,0,0,0,0,26.76,26.97,26.86
$GC,798,-0.71,-146.6,2709,2202,2462,2549,32.9,-1.7,73,809,0.08,1.83,0.00,0.000,2564,0.243,0.067,2739,841,2505,2463,2548,0,0,0,0,0,0,26.86,26.99,26.94
$GC,950,-0.64,-146.6,2738,841,2463,2548,35.9,-2.1,86,961,0.08,1.83,0.00,0.000,3078,0.243,0.062,2759,2211,2505,2462,2548,0,0,0,0,0,0,26.85,27.05,26.94
$GC,1270,-0.64,-146.6,2759,2211,2463,2547,48.9,-3.7,111,1275,0.00,1.90,0.00,0.000,260,0.000,0.079,2749,3587,2505,2463,2548,0,0,0,0,0,0,27.29,27.02,27.31
$GC,1598,-0.64,-146.6,2748,3587,2462,2547,62.7,-4.1,131,1603,0.00,1.77,0.00,0.000,1030,0.000,0.060,2749,2194,2504,2463,2546,0,0,0,0,0,0,27.13,27.10,27.15
$GC,1913,-0.64,-146.6,2749,2195,2462,2545,74.2,-4.6,152,1916,0.00,1.85,0.00,0.000,516,0.000,0.070,2749,884,2504,2463,2545,0,0,0,0,0,0,27.31,27.05,27.32
$GC,2236,-0.64,-146.6,2748,842,2463,2543,89.4,-4.5,171,2246,0.00,1.85,0.00,0.000,1030,0.000,0.062,2739,2193,2503,2463,2543,0,0,0,0,0,0,27.10,27.09,27.13
$STATE,2408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2408,begin apogee
$GC,2412,-0.25,0.0,2739,2192,2463,2543,97.8,-4.0,183,2515,0.45,0.00,98.45,0.780,10246,0.174,0.000,2893,2193,2000,2008,1992,0,0,0,0,0,0,26.88,26.02,25.53
$STATE,2516,end apogee,CONTROL_FINISHED_OK
$STATE,2516,begin climb
$GC,2518,0.96,146.6,2892,2193,2008,1992,97.6,0.0,190,2626,1.00,1.90,99.65,0.747,10756,0.137,0.072,3268,849,1495,1513,1477,0,0,0,0,0,0,26.08,25.77,25.44
$GC,2690,0.96,146.6,3268,849,1513,1477,81.1,11.8,201,2700,0.00,1.90,0.00,0.000,1030,0.000,0.062,3269,2197,1495,1513,1477,0,0,0,0,0,0,26.48,26.46,26.51
$GC,3001,0.96,146.6,3268,2197,1512,1477,44.6,10.5,222,3006,0.00,1.90,0.00,0.000,516,0.000,0.070,3278,843,1494,1512,1477,0,0,0,0,0,0,27.12,26.87,27.13
$GC,3075,0.96,146.6,3277,843,1512,1476,36.8,9.8,228,3085,0.00,1.85,0.00,0.000,1030,0.000,0.065,3278,2213,1494,1512,1477,0,0,0,0,0,0,26.98,26.93,26.99
$GC,3385,1.06,230.3,3278,2213,1510,1476,14.0,6.2,259,3445,0.00,0.00,55.92,0.728,8454,0.000,0.000,3278,2214,1207,1227,1187,0,0,0,0,0,0,27.24,26.24,25.77
$STATE,3533,end climb,SURFACE_DEPTH_REACHED
$STATE,3533,begin surface coast
$FINISH,0.4,1.023686
$STATE,3566,end surface coast,CONTROL_FINISHED_OK
$STATE,3566,begin surface
$SM_CCo,3580,12.77,0.653,0,0,1138,250.11
$SM_GC,2.49,7.93,0.00,12.77,0.084,0.000,0.653,151,2213,1138,-8.75,0.37,250.11,0,0,0,0,0,0,26.67,26.96,25.96
$IRIDIUM_FIX,3122.76,-6411.33,110508,145947
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.18
$INTERNAL_PRESSURE,9.59265
$TCM_TEMP,24.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.8,28.6
$24V_AH,25.44,11.705
$10V_AH,10.70,4.450
$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,20.200,22.250,254.025,12.775,106.825,26.379,39.718,80.725,4.250,0.000,12.869,713.843,1411.821,305.553,1367.293,38.028,0.000,753.068,0.000,1185.528,0.000,27.035,0.000
$DEVICE_MAMPS,302.926,79.456,779.662,653.029,156.429,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,181.753,904.874,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330280
$DATA_FILE_SIZE,16873,277
$CAP_FILE_SIZE,46524,0
$CFSIZE,1024409600,1015578624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3416.90,0x235780,1,24
$GPS,160715,025802,3133.879,-6408.726,6,1.1,14,-14.9,0.0,0.0,8,9.5