version: 66.12
glider: 38
mission: 4
dive: 51
start: 7 16 115 9 35 33
data:
$ID,38
$MISSION,4
$DIVE,51
$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,121
$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
$GPS1,160715,093056,3133.4651,-6409.8892,3,0.8,14,-14.9,0.0,0.0,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-68.3
$GPS2,160715,093509,3133.4478,-6409.8696,5,0.9,13,-14.9,0.0,0.0,9,8.8
$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,351.3,50991,-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,-146.6,143,2210,1132,1110,0.0,0.0,0,131,0.00,0.00,-113.50,0.154,16386,0.000,0.000,144,2210,2552,2507,2598,0,0,0,0,0,0,26.97,28.83,26.98
$GC,134,-0.96,-146.6,143,2210,2507,2598,3.5,-5.6,11,155,10.45,1.90,-3.53,0.276,18948,0.300,0.067,2667,846,2645,2602,2689,0,0,0,0,0,0,26.29,26.53,26.45
$GC,396,-0.84,-146.6,2666,846,2607,2687,41.1,-10.0,34,402,0.15,1.83,0.00,0.000,3078,0.206,0.065,2704,2202,2647,2606,2688,0,0,0,0,0,0,26.65,26.86,26.82
$GC,712,-0.78,-146.6,2704,2202,2607,2687,62.3,-6.6,55,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2202,2647,2607,2688,0,0,0,0,0,0,27.20,27.22,27.21
$GC,1012,-0.73,-146.6,2704,2202,2607,2688,81.6,-6.8,75,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2201,2647,2606,2688,0,0,0,0,0,0,27.24,27.27,27.26
$GC,1313,-0.73,-146.6,2704,2202,2607,2688,106.0,-9.0,95,1319,0.00,1.88,0.00,0.000,516,0.000,0.070,2704,834,2647,2607,2688,0,0,0,0,0,0,27.24,27.01,27.27
$GC,1400,-0.67,-146.6,2704,834,2607,2687,113.7,-9.6,100,1409,0.17,1.88,0.00,0.000,3078,0.186,0.065,2753,2199,2647,2607,2688,0,0,0,0,0,0,26.82,27.05,26.93
$GC,1710,-0.67,-146.6,2753,2199,2606,2687,138.0,-7.3,121,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2199,2647,2607,2687,0,0,0,0,0,0,27.28,27.29,27.29
$STATE,1873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1873,begin apogee
$GC,1877,-0.25,0.0,2753,2199,2606,2687,150.7,-8.2,132,1980,0.40,0.00,100.28,0.832,10246,0.169,0.000,2892,2199,2140,2148,2133,0,0,0,0,0,0,26.86,25.89,25.39
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1981,begin climb
$GC,1982,0.96,146.6,2892,2199,2148,2133,154.2,0.0,135,2088,1.05,0.00,101.88,0.792,10246,0.139,0.000,3262,2199,1635,1654,1617,0,0,0,0,0,0,25.94,25.75,25.27
$GC,2385,0.96,146.6,3262,2198,1653,1616,115.3,10.8,159,2391,0.00,1.88,0.00,0.000,516,0.000,0.070,3272,846,1634,1653,1616,0,0,0,0,0,0,26.98,26.74,27.00
$GC,2488,0.96,146.6,3272,846,1653,1616,105.8,9.9,165,2497,0.00,1.88,0.00,0.000,1030,0.000,0.065,3272,2190,1634,1653,1616,0,0,0,0,0,0,26.86,26.84,26.88
$GC,2797,0.96,146.6,3272,2190,1652,1616,73.5,9.9,186,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2190,1634,1652,1616,0,0,0,0,0,0,27.18,27.20,27.20
$GC,3097,0.96,146.6,3272,2190,1652,1616,45.9,8.4,206,3102,0.00,1.88,0.00,0.000,516,0.000,0.070,3282,846,1633,1651,1616,0,0,0,0,0,0,27.23,26.98,27.24
$GC,3320,0.96,146.6,3282,846,1651,1615,25.2,8.6,224,3330,0.00,1.83,0.00,0.000,1030,0.000,0.062,3281,2201,1633,1652,1615,0,0,0,0,0,0,27.08,27.03,27.09
$GC,3630,1.01,307.4,3282,2201,1651,1615,13.9,2.6,255,3750,0.00,1.92,107.18,0.735,8708,0.000,0.070,3286,850,1082,1103,1061,0,0,0,0,0,0,27.27,25.80,25.46
$STATE,3786,end climb,SURFACE_DEPTH_REACHED
$STATE,3786,begin surface coast
$FINISH,-0.7,0.996694
$STATE,3823,end surface coast,CONTROL_FINISHED_OK
$STATE,3823,begin surface
$SM_CCo,3900,0.00,0.000,0,0,1081,307.63
$SM_GC,0.52,7.88,1.92,0.00,0.074,0.062,0.000,158,2198,1081,-8.72,-1.95,307.63,0,0,0,0,0,0,26.46,26.48,26.51
$IRIDIUM_FIX,3120.24,-6411.33,110508,214724
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.29
$INTERNAL_PRESSURE,9.53405
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.2,28.1
$24V_AH,25.27,12.468
$10V_AH,10.62,4.679
$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,20.100,18.775,309.325,0.000,117.025,21.330,17.219,136.235,7.000,0.000,15.533,700.690,1793.100,352.721,1285.502,40.327,0.000,736.459,0.000,1073.675,0.000,43.759,0.000
$DEVICE_MAMPS,300.443,69.524,831.805,0.000,275.613,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.639,891.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330228
$DATA_FILE_SIZE,16923,273
$CAP_FILE_SIZE,44273,0
$CFSIZE,1024409600,1015087104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,104120,3133.430,-6410.081,3,0.9,15,-14.9,0.5,138.9,9,9.3