version: 66.12
glider: 38
mission: 4
dive: 61
start: 7 16 115 19 28 38
data:
$ID,38
$MISSION,4
$DIVE,61
$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,118
$R_STBD_OVSHOOT,71
$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
$GPS1,160715,192402,3133.3113,-6412.0190,2,0.9,8,-14.9,0.0,0.0,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-68.7
$GPS2,160715,192815,3133.2883,-6412.0215,4,0.9,10,-14.9,0.5,248.5,10,9.1
$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,355.0,50013,-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,-146.6,155,2212,1257,1230,0.0,0.0,0,121,0.00,0.00,-103.72,0.154,16386,0.000,0.000,155,2212,2561,2510,2612,0,0,0,0,0,0,26.98,28.83,26.99
$GC,124,-0.96,-146.6,155,2212,2510,2612,3.7,-6.0,10,145,10.48,1.92,-3.17,0.291,18948,0.303,0.067,2665,833,2647,2602,2693,0,0,0,0,0,0,26.29,26.53,26.45
$GC,466,-0.84,-146.6,2665,834,2605,2689,53.3,-8.7,36,475,0.15,1.90,0.00,0.000,3078,0.204,0.062,2704,2205,2647,2605,2689,0,0,0,0,0,0,26.69,26.90,26.79
$GC,775,-0.78,-146.6,2703,2205,2605,2690,74.6,-6.0,57,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2205,2647,2605,2690,0,0,0,0,0,0,27.21,27.22,27.22
$GC,1076,-0.78,-146.6,2703,2205,2605,2690,95.2,-8.0,77,1081,0.00,1.92,0.00,0.000,260,0.000,0.077,2694,3590,2648,2606,2691,0,0,0,0,0,0,27.22,26.97,27.24
$GC,1189,-0.71,-146.6,2694,3589,2605,2691,105.0,-8.7,84,1193,0.15,1.80,0.00,0.000,3078,0.209,0.060,2741,2170,2648,2605,2691,0,0,0,0,0,0,26.79,27.05,26.96
$GC,1508,-0.71,-146.6,2740,2169,2605,2690,130.0,-7.9,105,1514,0.00,1.98,0.00,0.000,260,0.000,0.077,2731,3587,2648,2605,2691,0,0,0,0,0,0,27.24,26.99,27.26
$GC,1596,-0.71,-146.6,2731,3587,2605,2690,137.0,-8.7,110,1604,0.00,1.80,0.00,0.000,1030,0.000,0.062,2731,2218,2647,2605,2690,0,0,0,0,0,0,27.09,27.07,27.10
$STATE,1753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1753,begin apogee
$GC,1757,-0.25,0.0,2730,2219,2605,2690,150.6,-8.3,121,1860,0.47,0.00,100.68,0.844,10246,0.171,0.000,2892,2217,2140,2148,2133,0,0,0,0,0,0,26.85,25.86,25.35
$STATE,1861,end apogee,CONTROL_FINISHED_OK
$STATE,1861,begin climb
$GC,1863,0.96,146.6,2891,2217,2148,2133,153.9,0.0,124,1968,1.05,0.00,101.68,0.802,10246,0.139,0.000,3261,2217,1635,1655,1616,0,0,0,0,0,0,25.90,25.71,25.23
$GC,2265,0.96,146.6,3261,2217,1654,1616,115.3,10.4,148,2271,0.00,1.90,0.00,0.000,516,0.000,0.067,3271,838,1635,1655,1616,0,0,0,0,0,0,26.96,26.72,26.98
$GC,2318,0.96,146.6,3271,837,1655,1616,110.6,9.8,151,2328,0.00,1.90,0.00,0.000,1030,0.000,0.062,3271,2196,1635,1655,1616,0,0,0,0,0,0,26.81,26.79,26.82
$GC,2629,0.96,146.6,3271,2196,1654,1616,77.3,10.4,172,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2196,1635,1654,1616,0,0,0,0,0,0,27.15,27.17,27.15
$GC,2929,0.98,190.6,3271,2196,1654,1616,49.1,8.0,192,2961,0.00,0.00,30.58,0.770,8198,0.000,0.000,3271,2196,1483,1502,1464,0,0,0,0,0,0,27.19,26.43,25.92
$GC,3265,1.07,293.5,3271,2196,1502,1463,22.7,5.3,222,3344,0.08,2.05,69.38,0.752,10500,0.146,0.082,3347,3588,1128,1151,1105,0,0,0,0,0,0,26.89,25.88,25.51
$STATE,3435,end climb,SURFACE_DEPTH_REACHED
$STATE,3435,begin surface coast
$FINISH,-0.3,1.023707
$STATE,3459,end surface coast,CONTROL_FINISHED_OK
$STATE,3459,begin surface
$SM_CCo,3535,0.00,0.000,0,0,1126,294.56
$SM_GC,0.75,8.00,1.88,0.00,0.074,0.057,0.000,154,2305,1126,-8.72,3.48,294.56,0,0,0,0,0,0,26.56,26.60,26.61
$IRIDIUM_FIX,3120.24,-6410.23,120508,074352
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.57
$INTERNAL_PRESSURE,9.52429
$TCM_TEMP,22.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,49.1,46.2
$24V_AH,25.23,13.250
$10V_AH,10.58,4.947
$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,20.375,19.050,302.300,0.000,106.900,23.983,24.601,131.227,5.250,0.000,11.556,627.083,1627.063,347.991,1166.830,38.194,0.000,696.055,0.000,959.255,0.000,33.754,0.000
$DEVICE_MAMPS,302.926,81.939,844.220,0.000,290.511,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,157.664,784.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,13606,240
$CAP_FILE_SIZE,41716,0
$CFSIZE,1024409600,1014611968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,202833,3133.261,-6412.383,2,1.9,28,-14.9,0.9,29.8,7,7.9