version: 66.12
glider: 38
mission: 4
dive: 60
start: 7 16 115 18 21 4
data:
$ID,38
$MISSION,4
$DIVE,60
$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,94
$R_STBD_OVSHOOT,66
$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,55
$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
$GPS1,160715,181626,3133.3633,-6411.7480,4,0.9,36,-14.9,0.0,0.0,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-66.8
$GPS2,160715,182040,3133.3418,-6411.7432,4,0.9,9,-14.9,0.5,231.4,10,9.4
$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,354.5,50071,-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,14,begin dive
$GC,15,-0.96,-146.6,146,2215,1168,1140,0.0,0.0,0,131,0.00,0.00,-113.62,0.154,16386,0.000,0.000,146,2215,2570,2520,2620,0,0,0,0,0,0,26.96,28.83,26.98
$GC,134,-0.96,-146.6,146,2215,2520,2620,3.1,-3.8,11,155,10.50,1.92,-3.00,0.298,18948,0.303,0.067,2664,817,2647,2600,2694,0,0,0,0,0,0,26.27,26.51,26.42
$GC,471,-0.84,-146.6,2665,817,2605,2689,51.7,-8.9,38,476,0.12,1.92,0.00,0.000,3078,0.204,0.065,2695,2203,2647,2605,2689,0,0,0,0,0,0,26.67,26.89,26.85
$GC,786,-0.77,-146.6,2696,2203,2605,2689,70.6,-5.4,59,792,0.00,1.92,0.00,0.000,260,0.000,0.077,2687,3589,2647,2605,2690,0,0,0,0,0,0,27.18,26.94,27.19
$GC,851,-0.69,-146.6,2686,3589,2605,2690,74.3,-5.9,63,855,0.20,1.88,0.00,0.000,3078,0.199,0.060,2750,2149,2647,2605,2690,0,0,0,0,0,0,26.75,27.01,26.86
$GC,1166,-0.69,-146.6,2749,2149,2605,2690,94.7,-7.4,84,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2149,2647,2605,2690,0,0,0,0,0,0,27.25,27.27,27.27
$GC,1467,-0.69,-146.6,2749,2149,2605,2690,117.1,-7.8,104,1472,0.00,2.00,0.00,0.000,260,0.000,0.077,2739,3585,2647,2605,2690,0,0,0,0,0,0,27.27,27.00,27.28
$GC,1563,-0.69,-146.6,2739,3584,2605,2690,125.6,-8.9,110,1567,0.00,1.83,0.00,0.000,1030,0.000,0.060,2740,2172,2647,2605,2690,0,0,0,0,0,0,27.10,27.07,27.11
$STATE,1866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1866,begin apogee
$GC,1870,-0.25,0.0,2740,2171,2605,2689,150.9,-8.3,130,1973,0.45,0.00,100.28,0.839,10246,0.171,0.000,2893,2169,2140,2148,2132,0,0,0,0,0,0,26.85,25.86,25.36
$STATE,1974,end apogee,CONTROL_FINISHED_OK
$STATE,1974,begin climb
$GC,1975,0.96,146.6,2893,2169,2148,2133,154.6,0.0,133,2081,1.05,0.00,101.93,0.795,10246,0.144,0.000,3259,2169,1635,1655,1615,0,0,0,0,0,0,25.91,25.72,25.25
$GC,2377,0.96,146.6,3259,2169,1654,1616,117.1,10.2,157,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2169,1635,1654,1616,0,0,0,0,0,0,26.96,26.98,26.98
$GC,2675,0.96,146.6,3259,2169,1654,1616,88.6,9.1,177,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2169,1635,1654,1616,0,0,0,0,0,0,27.13,27.15,27.15
$GC,2976,0.96,146.6,3259,2169,1653,1615,60.9,9.3,197,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2169,1634,1653,1615,0,0,0,0,0,0,27.20,27.22,27.22
$GC,3276,0.98,193.0,3259,2169,1653,1615,35.4,7.9,219,3316,0.00,1.88,32.05,0.762,8708,0.000,0.072,3264,844,1474,1494,1454,0,0,0,0,0,0,27.24,26.32,25.93
$GC,3353,1.05,259.5,3264,844,1494,1454,29.8,7.0,226,3404,0.08,1.88,45.25,0.752,11270,0.144,0.065,3334,2210,1245,1266,1224,0,0,0,0,0,0,26.60,26.65,25.56
$STATE,3643,end climb,SURFACE_DEPTH_REACHED
$STATE,3643,begin surface coast
$FINISH,0.8,1.023680
$STATE,3663,end surface coast,CONTROL_FINISHED_OK
$STATE,3663,begin surface
$SM_CCo,3738,0.00,0.000,0,0,1245,259.99
$SM_GC,1.24,8.52,0.00,0.00,0.114,0.000,0.000,155,2210,1245,-8.74,0.28,259.99,0,0,0,0,0,0,26.70,27.01,26.77
$IRIDIUM_FIX,3122.76,-6410.23,120508,063409
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.63
$INTERNAL_PRESSURE,9.53405
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,49.8,48.4
$24V_AH,25.25,13.166
$10V_AH,10.63,4.919
$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,20.925,15.225,279.500,0.000,116.625,23.881,20.085,138.284,5.250,0.000,10.545,667.538,1780.575,330.576,1193.953,38.158,0.000,665.007,0.000,987.148,0.000,33.767,0.000
$DEVICE_MAMPS,302.926,76.973,839.254,0.000,297.960,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.521,839.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330320
$DATA_FILE_SIZE,13616,257
$CAP_FILE_SIZE,41215,0
$CFSIZE,1024409600,1014661120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,192402,3133.311,-6412.019,2,0.9,8,-14.9,0.0,0.0,10,9.0