version: 66.12
glider: 38
mission: 4
dive: 55
start: 7 16 115 13 21 37
data:
$ID,38
$MISSION,4
$DIVE,55
$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
$GPS1,160715,131729,3133.4480,-6410.7715,2,1.0,11,-14.9,0.0,0.0,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-65.8
$GPS2,160715,132113,3133.4243,-6410.7700,4,1.0,11,-14.9,0.0,0.0,9,9.3
$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,352.8,50482,-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,-146.6,127,2204,1291,1268,0.0,0.0,0,121,0.00,0.00,-103.62,0.154,16386,0.000,0.000,126,2204,2600,2555,2646,0,0,0,0,0,0,26.92,28.83,26.94
$GC,124,-0.96,-146.6,127,2204,2555,2644,3.1,-3.7,10,145,10.50,1.92,-1.75,0.400,18948,0.300,0.067,2664,841,2644,2601,2688,0,0,0,0,0,0,26.27,26.51,26.42
$GC,312,-0.83,-146.6,2664,841,2603,2687,32.4,-9.8,26,323,0.15,1.85,0.00,0.000,3078,0.199,0.065,2702,2211,2645,2603,2687,0,0,0,0,0,0,26.60,26.79,26.70
$GC,632,-0.77,-146.6,2702,2210,2603,2687,51.5,-5.4,51,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2210,2645,2603,2687,0,0,0,0,0,0,27.17,27.19,27.18
$GC,933,-0.70,-146.6,2702,2211,2603,2687,68.6,-6.1,71,938,0.10,1.85,0.00,0.000,2564,0.226,0.067,2741,838,2644,2603,2686,0,0,0,0,0,0,26.82,26.96,26.90
$GC,1178,-0.70,-146.6,2741,838,2603,2686,84.0,-7.2,86,1183,0.00,1.83,0.00,0.000,1030,0.000,0.062,2732,2202,2644,2603,2686,0,0,0,0,0,0,27.08,27.03,27.09
$GC,1492,-0.70,-146.6,2731,2201,2603,2686,106.3,-8.0,107,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2202,2644,2603,2685,0,0,0,0,0,0,27.27,27.29,27.28
$GC,1793,-0.70,-146.6,2732,2202,2603,2684,131.0,-8.5,127,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2202,2644,2603,2685,0,0,0,0,0,0,27.24,27.27,27.27
$STATE,2016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2016,begin apogee
$GC,2020,-0.25,0.0,2731,2202,2603,2683,150.2,-8.5,142,2123,0.47,0.00,99.60,0.829,10246,0.171,0.000,2893,2202,2140,2147,2133,0,0,0,0,0,0,26.86,25.89,25.38
$STATE,2123,end apogee,CONTROL_FINISHED_OK
$STATE,2124,begin climb
$GC,2125,0.96,146.6,2893,2202,2147,2133,153.6,0.0,145,2230,1.05,0.00,101.38,0.787,10246,0.137,0.000,3265,2202,1634,1654,1615,0,0,0,0,0,0,25.93,25.75,25.27
$GC,2528,0.96,146.6,3265,2202,1654,1616,112.4,11.2,170,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2202,1634,1653,1616,0,0,0,0,0,0,26.98,27.00,26.99
$GC,2827,0.96,146.6,3264,2201,1652,1615,80.8,11.0,190,2832,0.00,1.88,0.00,0.000,516,0.000,0.070,3275,846,1633,1652,1615,0,0,0,0,0,0,27.15,26.89,27.16
$GC,2930,0.96,146.6,3275,846,1653,1615,71.0,10.0,196,2939,0.00,1.88,0.00,0.000,1030,0.000,0.062,3275,2194,1633,1652,1615,0,0,0,0,0,0,26.98,26.96,26.98
$GC,3239,0.96,146.6,3275,2195,1652,1615,41.9,8.2,217,3244,0.00,1.88,0.00,0.000,516,0.000,0.070,3284,834,1633,1652,1615,0,0,0,0,0,0,27.22,26.98,27.24
$GC,3306,0.96,146.6,3284,833,1652,1614,36.6,8.1,222,3316,0.00,1.90,0.00,0.000,1030,0.000,0.062,3284,2201,1633,1652,1614,0,0,0,0,0,0,27.04,27.01,27.05
$GC,3616,1.00,266.7,3284,2201,1651,1615,17.2,4.5,253,3706,0.00,2.05,79.78,0.745,8452,0.000,0.082,3284,3585,1221,1243,1199,0,0,0,0,0,0,27.26,26.06,25.56
$GC,3787,1.00,266.7,3284,3586,1243,1199,4.6,9.3,269,3798,0.00,1.83,0.00,0.000,1030,0.000,0.060,3295,2210,1221,1243,1199,0,0,0,0,0,0,26.59,26.55,26.60
$STATE,3807,end climb,SURFACE_DEPTH_REACHED
$STATE,3807,begin surface coast
$FINISH,0.8,1.023714
$STATE,3828,end surface coast,CONTROL_FINISHED_OK
$STATE,3828,begin surface
$SM_CCo,3902,0.00,0.000,0,0,1220,267.54
$SM_GC,0.90,8.30,0.00,0.00,0.104,0.000,0.000,159,2209,1220,-8.73,0.28,267.54,0,0,0,0,0,0,26.55,26.85,26.62
$IRIDIUM_FIX,3120.24,-6411.33,120508,022135
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.45
$INTERNAL_PRESSURE,9.55359
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.4,28.9
$24V_AH,25.27,12.775
$10V_AH,10.68,4.784
$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,20.575,18.850,280.750,0.000,105.375,25.151,23.449,99.522,7.000,0.000,12.549,706.610,1815.243,331.458,1256.811,38.529,0.000,707.107,0.000,1069.800,0.000,43.785,0.000
$DEVICE_MAMPS,300.443,81.939,829.322,0.000,399.763,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.889,892.192,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,16905,273
$CAP_FILE_SIZE,44246,0
$CFSIZE,1024409600,1014890496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,142731,3133.521,-6411.046,17,0.8,19,-14.9,0.6,231.6,10,8.8