version: 66.12
glider: 38
mission: 4
dive: 48
start: 7 16 115 6 57 16
data:
$ID,38
$MISSION,4
$DIVE,48
$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,67
$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
$GPS1,160715,065224,3133.6499,-6409.4785,3,1.0,16,-14.9,0.0,0.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-64.2
$GPS2,160715,065653,3133.6436,-6409.4487,4,0.9,21,-14.9,0.0,0.0,9,9.4
$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,350.5,50929,-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,-146.6,144,2209,1074,1051,0.0,0.0,0,141,0.00,0.00,-123.38,0.151,16390,0.000,0.000,144,2210,2646,2599,2693,0,0,0,0,0,0,26.98,26.63,26.49
$GC,143,-0.96,-146.6,145,2210,2600,2693,4.4,-7.4,12,164,10.68,1.90,0.00,0.000,2564,0.308,0.067,2669,830,2647,2601,2693,0,0,0,0,0,0,26.29,26.54,26.46
$GC,499,-0.83,-146.6,2668,830,2605,2688,53.0,-8.9,38,509,0.10,1.90,0.00,0.000,3078,0.209,0.065,2692,2202,2647,2605,2689,0,0,0,0,0,0,26.70,26.93,26.81
$GC,810,-0.77,-146.6,2692,2202,2606,2690,73.7,-5.9,59,816,0.08,1.85,0.00,0.000,2564,0.238,0.067,2722,838,2648,2606,2690,0,0,0,0,0,0,26.83,26.96,26.91
$GC,1054,-0.77,-146.6,2722,838,2606,2690,88.7,-6.3,74,1059,0.00,1.85,0.00,0.000,1030,0.000,0.065,2713,2215,2648,2606,2690,0,0,0,0,0,0,27.08,27.03,27.09
$GC,1369,-0.77,-146.6,2713,2215,2606,2689,112.4,-7.8,95,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2215,2648,2606,2690,0,0,0,0,0,0,27.27,27.29,27.29
$GC,1669,-0.77,-146.6,2713,2215,2607,2689,138.1,-8.7,115,1674,0.00,1.92,0.00,0.000,516,0.000,0.070,2713,828,2647,2606,2689,0,0,0,0,0,0,27.29,27.03,27.30
$GC,1724,-0.77,-146.6,2712,828,2606,2688,142.7,-9.3,118,1733,0.00,1.90,0.00,0.000,1030,0.000,0.062,2703,2202,2647,2606,2688,0,0,0,0,0,0,27.08,27.06,27.09
$STATE,1792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1793,begin apogee
$GC,1796,-0.25,0.0,2702,2202,2606,2689,150.0,-9.6,123,1900,0.57,0.00,100.75,0.839,10246,0.176,0.000,2896,2203,2140,2148,2133,0,0,0,0,0,0,26.86,25.89,25.39
$STATE,1901,end apogee,CONTROL_FINISHED_OK
$STATE,1901,begin climb
$GC,1902,0.96,146.6,2897,2202,2148,2133,153.7,0.0,126,2008,1.02,0.00,101.88,0.792,10246,0.137,0.000,3260,2203,1635,1654,1617,0,0,0,0,0,0,25.94,25.77,25.29
$GC,2305,0.96,146.6,3260,2202,1654,1617,116.1,9.8,150,2310,0.00,1.90,0.00,0.000,516,0.000,0.070,3270,838,1635,1654,1617,0,0,0,0,0,0,27.00,26.76,27.01
$GC,2375,0.96,146.6,3270,838,1654,1616,109.8,9.9,154,2384,0.00,1.90,0.00,0.000,1030,0.000,0.065,3270,2201,1635,1654,1616,0,0,0,0,0,0,26.86,26.84,26.87
$GC,2683,0.96,146.6,3270,2202,1653,1616,77.3,10.6,175,2688,0.00,1.88,0.00,0.000,516,0.000,0.070,3280,843,1634,1653,1616,0,0,0,0,0,0,27.18,26.94,27.20
$GC,2770,0.96,146.6,3280,843,1653,1616,68.6,10.8,180,2779,0.00,1.90,0.00,0.000,1030,0.000,0.062,3280,2210,1634,1653,1616,0,0,0,0,0,0,27.00,26.98,27.02
$GC,3084,0.96,146.6,3280,2210,1652,1616,37.2,8.4,202,3095,0.00,1.92,0.00,0.000,516,0.000,0.070,3289,832,1634,1652,1616,0,0,0,0,0,0,27.24,27.00,27.26
$GC,3425,1.01,299.3,3289,832,1652,1616,19.9,3.0,232,3536,0.00,1.85,102.18,0.742,9222,0.000,0.065,3289,2206,1109,1130,1088,0,0,0,0,0,0,27.10,27.05,25.48
$STATE,3655,end climb,SURFACE_DEPTH_REACHED
$STATE,3655,begin surface coast
$FINISH,-0.1,1.023722
$STATE,3685,end surface coast,CONTROL_FINISHED_OK
$STATE,3685,begin surface
$SM_CCo,3759,0.00,0.000,0,0,1108,299.79
$SM_GC,0.48,7.88,0.00,0.00,0.077,0.000,0.000,156,2207,1108,-8.72,0.17,299.79,0,0,0,0,0,0,26.61,26.88,26.66
$IRIDIUM_FIX,3120.24,-6413.60,110508,191101
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.77
$INTERNAL_PRESSURE,9.54382
$TCM_TEMP,23.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.5,29.1
$24V_AH,25.29,12.232
$10V_AH,10.63,4.603
$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,20.325,22.675,304.800,0.000,123.375,26.188,24.420,131.314,7.750,0.000,22.196,671.702,1649.039,360.947,1324.555,40.137,0.000,772.248,0.000,1089.630,0.000,52.287,0.000
$DEVICE_MAMPS,307.892,69.524,839.254,0.000,151.463,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.200,842.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13624,258
$CAP_FILE_SIZE,45666,0
$CFSIZE,1024409600,1015250944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,080059,3133.625,-6409.692,6,0.8,32,-14.9,0.0,0.0,10,5.4