version: 66.12
glider: 38
mission: 4
dive: 47
start: 7 16 115 5 48 39
data:
$ID,38
$MISSION,4
$DIVE,47
$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,65
$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
$GPS1,160715,054335,3133.6558,-6409.2109,3,0.9,12,-14.9,0.0,0.0,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-69.0
$GPS2,160715,054815,3133.6621,-6409.1855,4,0.9,17,-14.9,0.6,59.8,9,7.6
$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,350.0,51071,-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,-146.6,150,2202,1014,983,0.0,0.0,0,142,0.00,0.00,-124.43,0.154,16386,0.000,0.000,150,2202,2576,2530,2622,0,0,0,0,0,0,27.00,28.83,27.02
$GC,145,-0.96,-146.6,150,2202,2530,2622,3.4,-5.0,12,166,10.40,1.90,-2.55,0.323,18948,0.300,0.067,2664,835,2643,2600,2687,0,0,0,0,0,0,26.31,26.56,26.47
$GC,499,-0.83,-146.6,2663,835,2602,2684,46.9,-8.1,40,508,0.15,1.90,0.00,0.000,3078,0.201,0.065,2702,2210,2643,2602,2685,0,0,0,0,0,0,26.72,26.94,26.83
$GC,808,-0.77,-146.6,2701,2210,2603,2685,66.4,-6.6,61,814,0.00,1.90,0.00,0.000,516,0.000,0.070,2702,841,2644,2603,2685,0,0,0,0,0,0,27.23,26.98,27.25
$GC,1120,-0.70,-146.6,2702,841,2603,2685,89.2,-7.5,80,1126,0.15,1.83,0.00,0.000,3078,0.209,0.065,2744,2206,2643,2602,2685,0,0,0,0,0,0,26.82,27.04,26.92
$GC,1435,-0.70,-146.6,2744,2206,2602,2685,111.9,-7.8,101,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2205,2643,2603,2684,0,0,0,0,0,0,27.28,27.30,27.29
$GC,1737,-0.70,-146.6,2744,2206,2603,2684,135.6,-8.0,121,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2206,2643,2603,2684,0,0,0,0,0,0,27.27,27.29,27.29
$STATE,1914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1914,begin apogee
$GC,1917,-0.25,0.0,2744,2206,2603,2683,150.3,-8.1,133,2020,0.43,0.00,99.70,0.842,10246,0.169,0.000,2892,2205,2140,2148,2133,0,0,0,0,0,0,26.88,25.91,25.41
$STATE,2021,end apogee,CONTROL_FINISHED_OK
$STATE,2021,begin climb
$GC,2023,0.96,146.6,2891,2206,2148,2133,153.9,0.0,136,2128,1.05,0.00,101.68,0.792,10246,0.139,0.000,3262,2205,1635,1654,1617,0,0,0,0,0,0,25.96,25.79,25.32
$GC,2426,0.96,146.6,3261,2205,1653,1617,114.7,11.4,160,2431,0.00,1.90,0.00,0.000,516,0.000,0.067,3272,835,1635,1653,1617,0,0,0,0,0,0,27.02,26.77,27.03
$GC,2473,0.96,146.6,3272,834,1653,1617,109.6,10.9,163,2478,0.00,1.90,0.00,0.000,1030,0.000,0.062,3272,2196,1635,1653,1617,0,0,0,0,0,0,26.86,26.84,26.86
$GC,2790,0.96,146.6,3272,2196,1652,1617,74.4,11.3,184,2795,0.00,1.88,0.00,0.000,516,0.000,0.070,3282,839,1634,1652,1616,0,0,0,0,0,0,27.19,26.95,27.20
$GC,2891,0.96,146.6,3282,839,1652,1616,64.3,10.7,190,2901,0.00,1.90,0.00,0.000,1030,0.000,0.062,3282,2204,1634,1652,1616,0,0,0,0,0,0,27.01,26.99,27.03
$GC,3208,0.98,196.6,3282,2204,1651,1616,35.6,7.7,213,3247,0.00,1.95,34.12,0.757,8708,0.000,0.072,3291,842,1462,1480,1445,0,0,0,0,0,0,27.25,26.47,25.94
$GC,3524,1.06,311.8,3291,842,1480,1444,15.4,4.7,241,3613,0.00,1.90,77.78,0.737,9222,0.000,0.065,3291,2207,1065,1084,1047,0,0,0,0,0,0,26.92,26.90,25.53
$STATE,3672,end climb,SURFACE_DEPTH_REACHED
$STATE,3672,begin surface coast
$FINISH,-0.6,1.023719
$STATE,3703,end surface coast,CONTROL_FINISHED_OK
$STATE,3703,begin surface
$SM_CCo,3777,0.00,0.000,0,0,1065,312.28
$SM_GC,0.46,7.90,0.00,0.00,0.077,0.000,0.000,145,2208,1065,-8.75,0.23,312.28,0,0,0,0,0,0,26.55,26.80,26.60
$IRIDIUM_FIX,3122.76,-6407.95,110508,175808
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.04
$INTERNAL_PRESSURE,9.54382
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.4,29.4
$24V_AH,25.32,12.147
$10V_AH,10.61,4.571
$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,20.075,18.950,313.275,0.000,126.975,24.225,36.030,136.599,7.250,0.000,19.608,675.220,1674.613,358.958,1326.700,40.315,0.000,761.221,0.000,1084.436,0.000,46.988,0.000
$DEVICE_MAMPS,300.443,72.007,841.737,0.000,322.790,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.039,846.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330264
$DATA_FILE_SIZE,13556,259
$CAP_FILE_SIZE,45327,0
$CFSIZE,1024409600,1015300096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,065224,3133.650,-6409.479,3,1.0,16,-14.9,0.0,0.0,9,9.7