version: 66.12
glider: 38
mission: 4
dive: 59
start: 7 16 115 17 11 39
data:
$ID,38
$MISSION,4
$DIVE,59
$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,140
$R_STBD_OVSHOOT,70
$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,50
$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,14
$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
$GPS1,160715,170433,3133.4526,-6411.4751,2,0.9,15,-14.9,0.8,101.1,8,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-64.2
$GPS2,160715,171114,3133.4297,-6411.4683,4,0.8,13,-14.9,0.0,0.0,11,8.1
$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,354.0,50071,-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,13,begin dive
$GC,15,-0.96,-146.6,142,2196,1258,1231,0.0,0.0,0,130,0.00,0.00,-110.55,0.154,16390,0.000,0.000,142,2197,2646,2596,2696,0,0,0,0,0,0,26.98,26.62,26.48
$GC,132,-0.96,-146.6,142,2197,2595,2695,4.7,-8.2,11,153,10.57,1.83,0.00,0.000,2564,0.305,0.065,2663,857,2646,2600,2693,0,0,0,0,0,0,26.27,26.53,26.43
$GC,480,-0.83,-146.6,2663,857,2603,2690,48.9,-8.0,38,492,0.15,1.85,0.00,0.000,3078,0.211,0.065,2700,2196,2647,2603,2691,0,0,0,0,0,0,26.68,26.91,26.79
$GC,790,-0.77,-146.6,2700,2197,2603,2691,70.4,-6.8,59,793,0.00,1.85,0.00,0.000,516,0.000,0.070,2701,855,2647,2603,2691,0,0,0,0,0,0,27.19,26.96,27.20
$GC,930,-0.69,-146.6,2700,855,2603,2691,79.4,-7.3,67,940,0.17,1.88,0.00,0.000,3078,0.196,0.062,2747,2217,2647,2603,2691,0,0,0,0,0,0,26.77,27.01,26.89
$GC,1238,-0.69,-146.6,2747,2217,2604,2691,102.0,-7.5,88,1243,0.00,1.92,0.00,0.000,260,0.000,0.079,2738,3601,2647,2603,2691,0,0,0,0,0,0,27.26,26.99,27.27
$GC,1310,-0.69,-146.6,2737,3602,2603,2691,106.9,-7.6,92,1318,0.00,1.83,0.00,0.000,1030,0.000,0.060,2738,2218,2647,2603,2691,0,0,0,0,0,0,27.10,27.06,27.08
$GC,1619,-0.69,-146.6,2737,2217,2603,2690,130.4,-7.7,113,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2217,2646,2603,2690,0,0,0,0,0,0,27.24,27.27,27.27
$STATE,1873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1873,begin apogee
$GC,1876,-0.25,0.0,2737,2218,2603,2690,151.2,-8.4,130,1980,0.45,0.00,100.35,0.837,10246,0.171,0.000,2891,2216,2140,2148,2133,0,0,0,0,0,0,26.86,25.87,25.37
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1981,begin climb
$GC,1982,0.96,146.6,2891,2216,2148,2133,155.3,0.0,133,2088,1.05,0.00,101.60,0.800,10758,0.142,0.000,3259,2216,1635,1655,1616,0,0,0,0,0,0,25.91,25.72,25.25
$GC,2385,0.96,146.6,3259,2216,1654,1616,119.0,10.3,157,2390,0.00,1.90,0.00,0.000,516,0.000,0.067,3269,836,1635,1654,1616,0,0,0,0,0,0,26.96,26.72,26.98
$GC,2463,0.96,146.6,3269,836,1654,1615,110.7,10.2,162,2468,0.00,1.85,0.00,0.000,1030,0.000,0.062,3269,2200,1634,1654,1615,0,0,0,0,0,0,26.86,26.81,26.86
$GC,2779,0.96,146.6,3269,2200,1653,1615,76.1,10.6,183,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2200,1634,1654,1615,0,0,0,0,0,0,27.17,27.18,27.17
$GC,3078,0.96,146.6,3269,2200,1653,1615,46.2,9.6,203,3083,0.00,1.88,0.00,0.000,516,0.000,0.070,3278,840,1633,1652,1615,0,0,0,0,0,0,27.22,26.96,27.24
$GC,3149,0.96,146.6,3279,839,1653,1615,40.6,8.6,207,3158,0.00,1.90,0.00,0.000,1030,0.000,0.062,3280,2205,1633,1653,1614,0,0,0,0,0,0,27.01,27.01,27.05
$GC,3458,1.00,285.6,3279,2205,1653,1614,23.2,3.6,238,3559,0.00,2.03,92.85,0.762,8452,0.000,0.079,3279,3596,1155,1178,1133,0,0,0,0,0,0,27.25,25.82,25.47
$GC,3662,1.00,285.6,3279,3596,1178,1133,7.4,10.0,257,3666,0.00,1.85,0.00,0.000,1030,0.000,0.060,3285,2217,1155,1178,1133,0,0,0,0,0,0,26.60,26.55,26.60
$STATE,3714,end climb,SURFACE_DEPTH_REACHED
$STATE,3714,begin surface coast
$FINISH,-0.0,1.023689
$STATE,3745,end surface coast,CONTROL_FINISHED_OK
$STATE,3745,begin surface
$SM_CCo,3819,0.00,0.000,0,0,1155,286.13
$SM_GC,0.28,7.80,0.00,0.00,0.072,0.000,0.000,147,2216,1155,-8.73,0.42,286.13,0,0,0,0,0,0,26.65,26.91,26.70
$IRIDIUM_FIX,3120.24,-6413.60,120508,063200
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.37
$INTERNAL_PRESSURE,9.53405
$TCM_TEMP,22.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,49.0,46.9
$24V_AH,25.25,13.086
$10V_AH,10.59,4.889
$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,20.200,22.550,294.800,0.000,110.550,50.883,79.033,133.031,7.500,0.000,15.053,684.691,1800.188,340.158,1373.358,41.706,0.000,735.400,0.000,1072.716,0.000,44.614,0.000
$DEVICE_MAMPS,305.409,79.456,836.771,0.000,153.946,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,174.321,865.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330364
$DATA_FILE_SIZE,16958,265
$CAP_FILE_SIZE,46592,0
$CFSIZE,1024409600,1014693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,181626,3133.363,-6411.748,4,0.9,36,-14.9,0.0,0.0,10,8.0