version: 66.12
glider: 38
mission: 4
dive: 46
start: 7 16 115 4 34 28
data:
$ID,38
$MISSION,4
$DIVE,46
$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,113
$R_STBD_OVSHOOT,72
$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,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
$GPS1,160715,043048,3133.7302,-6408.9541,2,1.0,10,-14.9,0.7,149.1,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-65.1
$GPS2,160715,043405,3133.7368,-6408.9424,4,1.0,11,-14.9,0.5,21.6,8,9.7
$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,349.6,51107,-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,14,begin dive
$GC,15,-0.96,-146.6,135,2194,1151,1128,0.0,0.0,0,139,0.00,0.00,-115.45,0.154,16390,0.000,0.000,135,2194,2647,2599,2695,0,0,0,0,0,0,26.97,26.65,26.51
$GC,142,-0.96,-146.6,135,2194,2600,2694,4.4,-7.2,12,162,10.75,1.88,0.00,0.000,2564,0.308,0.067,2664,832,2647,2601,2694,0,0,0,0,0,0,26.32,26.58,26.49
$GC,496,-0.82,-146.6,2664,831,2603,2691,42.2,-6.5,42,505,0.15,1.88,0.00,0.000,3078,0.206,0.065,2702,2197,2646,2603,2690,0,0,0,0,0,0,26.74,26.96,26.85
$GC,805,-0.76,-146.6,2702,2197,2603,2690,59.1,-5.3,63,810,0.00,1.90,0.00,0.000,516,0.000,0.070,2702,829,2646,2603,2689,0,0,0,0,0,0,27.24,27.00,27.26
$GC,1135,-0.68,-146.6,2702,829,2602,2688,80.4,-6.3,83,1141,0.17,1.85,0.00,0.000,3078,0.209,0.065,2752,2213,2645,2603,2688,0,0,0,0,0,0,26.83,27.05,26.94
$GC,1450,-0.68,-146.6,2751,2214,2603,2688,96.7,-5.3,104,1456,0.00,1.92,0.00,0.000,516,0.000,0.070,2752,826,2645,2603,2688,0,0,0,0,0,0,27.29,27.04,27.30
$GC,1613,-0.68,-146.6,2752,826,2603,2686,107.2,-6.8,114,1618,0.00,1.88,0.00,0.000,1030,0.000,0.065,2742,2208,2644,2603,2686,0,0,0,0,0,0,27.11,27.07,27.13
$GC,1928,-0.68,-146.6,2742,2209,2603,2685,131.9,-7.8,135,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2209,2644,2603,2685,0,0,0,0,0,0,27.30,27.32,27.31
$STATE,2152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2152,begin apogee
$GC,2156,-0.25,0.0,2741,2209,2603,2683,150.7,-8.4,150,2258,0.45,0.00,99.70,0.832,10246,0.169,0.000,2897,2209,2140,2147,2134,0,0,0,0,0,0,26.89,25.94,25.44
$STATE,2259,end apogee,CONTROL_FINISHED_OK
$STATE,2259,begin climb
$GC,2261,0.96,146.6,2897,2209,2147,2134,154.1,0.0,153,2366,1.02,0.00,101.60,0.787,10246,0.137,0.000,3262,2209,1635,1653,1617,0,0,0,0,0,0,26.00,25.83,25.35
$GC,2664,0.96,146.6,3261,2208,1651,1617,117.1,9.9,177,2669,0.00,1.90,0.00,0.000,516,0.000,0.070,3272,839,1634,1651,1617,0,0,0,0,0,0,27.04,26.79,27.05
$GC,2742,0.96,146.6,3272,839,1651,1616,109.0,9.8,182,2748,0.00,1.85,0.00,0.000,1030,0.000,0.065,3272,2205,1633,1651,1616,0,0,0,0,0,0,26.93,26.87,26.94
$GC,3057,0.96,146.6,3272,2205,1649,1615,77.5,9.7,203,3061,0.00,1.90,0.00,0.000,516,0.000,0.067,3282,837,1632,1649,1616,0,0,0,0,0,0,27.21,26.97,27.23
$GC,3174,0.96,146.6,3282,836,1650,1615,65.9,10.2,210,3178,0.00,1.90,0.00,0.000,1030,0.000,0.062,3282,2202,1632,1650,1615,0,0,0,0,0,0,27.04,27.01,27.05
$GC,3484,0.98,203.0,3282,2203,1649,1615,37.1,7.4,232,3524,0.00,0.00,37.97,0.767,8198,0.000,0.000,3282,2203,1441,1459,1424,0,0,0,0,0,0,27.27,26.40,25.90
$GC,3823,1.02,330.4,3282,2202,1459,1423,17.1,4.2,266,3916,0.00,2.00,85.93,0.745,8708,0.000,0.072,3285,838,1001,1024,979,0,0,0,0,0,0,27.13,26.02,25.52
$STATE,4002,end climb,SURFACE_DEPTH_REACHED
$STATE,4002,begin surface coast
$FINISH,0.3,1.023709
$STATE,4026,end surface coast,CONTROL_FINISHED_OK
$STATE,4027,begin surface
$SM_CCo,4103,0.00,0.000,0,0,1000,331.16
$SM_GC,0.31,7.95,1.92,0.00,0.082,0.060,0.000,150,2201,1000,-8.74,-1.98,331.16,0,0,0,0,0,0,26.58,26.61,26.64
$IRIDIUM_FIX,3120.24,-6407.95,110508,173218
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.07
$INTERNAL_PRESSURE,9.55359
$TCM_TEMP,23.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,29.9,29.4
$24V_AH,25.35,12.059
$10V_AH,10.72,4.540
$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,20.500,22.775,325.200,0.000,115.450,23.154,14.225,92.150,7.500,0.000,11.706,737.752,1828.201,363.081,1352.899,39.981,0.000,788.796,0.000,1189.296,0.000,46.641,0.000
$DEVICE_MAMPS,307.892,72.007,831.805,0.000,153.946,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,187.758,931.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330272
$DATA_FILE_SIZE,16891,285
$CAP_FILE_SIZE,47268,0
$CFSIZE,1024409600,1015332864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,054335,3133.656,-6409.211,3,0.9,12,-14.9,0.0,0.0,10,9.8