version: 66.12
glider: 38
mission: 4
dive: 10
start: 7 3 115 19 40 52
data:
$ID,38
$MISSION,4
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,135
$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,2
$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,350
$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,0
$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,3050
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$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
$GPS1,030715,193727,3220.6460,-6435.9917,2,1.3,37,-14.9,0.0,0.0,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.6
$GPS2,030715,194027,3220.6626,-6435.9819,5,1.1,14,-14.9,0.5,90.7,9,9.8
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,169.5,21861,-18.4,-10.000,-21.00,2237
$D_GRID,360
$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,14,-0.96,-146.6,143,1993,1310,1281,0.0,0.0,0,121,0.00,0.00,-104.45,0.154,16386,0.000,0.000,143,1993,2598,2556,2640,0,0,0,0,0,0,26.87,28.83,26.89
$GC,124,-0.96,-146.6,143,1993,2555,2640,3.5,-3.5,10,157,10.75,2.03,-16.30,0.176,18692,0.298,0.079,2726,3381,3007,2974,3040,0,0,0,0,0,0,26.22,26.48,26.36
$GC,462,-0.96,-146.6,2726,3381,2973,3040,49.3,-12.4,38,471,0.00,1.95,0.00,0.000,1030,0.000,0.062,2726,1932,3007,2974,3040,0,0,0,0,0,0,26.89,26.88,26.90
$GC,773,-0.96,-146.6,2726,1932,2974,3040,82.2,-10.5,59,778,0.00,2.03,0.00,0.000,260,0.000,0.077,2716,3383,3007,2974,3041,0,0,0,0,0,0,27.20,26.92,27.21
$GC,851,-0.96,-146.6,2716,3383,2973,3041,91.3,-11.5,64,856,0.00,1.90,0.00,0.000,1030,0.000,0.062,2716,1925,3007,2974,3040,0,0,0,0,0,0,27.04,27.01,27.05
$STATE,943,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,943,begin apogee
$GC,946,-0.25,0.0,2715,1925,2974,3040,100.6,-10.0,70,1051,0.75,0.00,101.07,0.824,10246,0.161,0.000,2975,1923,2500,2511,2489,0,0,0,0,0,0,26.83,25.74,25.20
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1053,0.96,146.6,2974,1923,2511,2487,103.3,0.0,77,1167,0.95,2.03,100.93,0.787,10756,0.107,0.074,3359,568,1994,2010,1979,0,0,0,0,0,0,25.88,25.63,25.09
$GC,1211,0.96,146.6,3359,568,2010,1979,92.1,11.0,87,1220,0.00,2.03,0.00,0.000,1030,0.000,0.062,3359,2000,1994,2010,1979,0,0,0,0,0,0,26.25,26.23,26.27
$GC,1519,0.96,146.6,3358,1999,2010,1979,55.1,10.0,108,1525,0.00,2.03,0.00,0.000,516,0.000,0.072,3369,568,1994,2010,1979,0,0,0,0,0,0,27.00,26.76,27.01
$GC,1681,0.96,146.6,3369,567,2010,1979,39.0,8.8,118,1691,0.00,1.95,0.00,0.000,1030,0.000,0.062,3369,2017,1994,2010,1979,0,0,0,0,0,0,26.91,26.89,26.92
$GC,1992,0.99,228.7,3369,2018,2009,1979,15.2,6.2,149,2054,0.00,2.00,55.58,0.770,8452,0.000,0.082,3369,3374,1712,1727,1697,0,0,0,0,0,0,27.20,26.11,25.58
$STATE,2207,end climb,SURFACE_DEPTH_REACHED
$STATE,2207,begin surface coast
$FINISH,0.0,1.023769
$STATE,2254,end surface coast,CONTROL_FINISHED_OK
$STATE,2254,begin surface
$SM_CCo,2270,77.57,0.747,0,0,1295,350.04
$SM_GC,1.15,8.05,1.98,77.57,0.077,0.060,0.747,141,1930,1295,-9.00,0.74,350.04,0,0,0,0,0,0,26.72,26.74,25.32
$IRIDIUM_FIX,3210.97,-6435.71,290408,082016
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.22
$INTERNAL_PRESSURE,9.57312
$TCM_TEMP,23.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.6,5.3
$24V_AH,25.09,3.656
$10V_AH,10.60,1.246
$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,20.500,19.900,257.575,77.575,120.750,25.762,16.425,62.321,0.500,0.000,15.651,441.922,831.748,355.085,897.719,26.762,0.000,701.374,0.000,763.834,0.000,5.463,0.000
$DEVICE_MAMPS,297.960,81.939,824.356,747.383,176.293,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,111.951,564.563,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330340
$DATA_FILE_SIZE,10248,173
$CAP_FILE_SIZE,32873,0
$CFSIZE,1024409600,1018609664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030715,202053,3220.578,-6435.964,13,1.2,19,-14.9,0.0,0.0,9,9.4