version: 66.12
glider: 38
mission: 4
dive: 52
start: 7 16 115 10 46 50
data:
$ID,38
$MISSION,4
$DIVE,52
$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,63
$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
$GPS1,160715,104120,3133.4299,-6410.0811,3,0.9,15,-14.9,0.5,138.9,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-65.1
$GPS2,160715,104627,3133.3906,-6410.0498,5,0.9,40,-14.9,0.0,0.0,9,9.1
$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,351.6,50976,-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,-146.6,158,2201,1091,1067,0.0,0.0,0,141,0.00,0.00,-121.82,0.151,16390,0.000,0.000,158,2201,2646,2597,2696,0,0,0,0,0,0,26.97,26.60,26.48
$GC,143,-0.96,-146.6,157,2201,2597,2695,4.6,-8.7,12,163,10.68,1.88,0.00,0.000,2564,0.308,0.065,2663,832,2647,2600,2694,0,0,0,0,0,0,26.26,26.52,26.43
$GC,417,-0.83,-146.6,2663,832,2605,2690,43.9,-9.1,35,423,0.15,1.88,0.00,0.000,3078,0.209,0.062,2700,2219,2647,2604,2690,0,0,0,0,0,0,26.65,26.87,26.74
$GC,733,-0.77,-146.6,2700,2219,2604,2690,64.7,-5.2,56,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2219,2647,2604,2690,0,0,0,0,0,0,27.20,27.22,27.21
$GC,1033,-0.71,-146.6,2700,2219,2604,2691,83.8,-7.4,76,1039,0.10,1.85,0.00,0.000,2564,0.228,0.065,2738,848,2647,2604,2691,0,0,0,0,0,0,26.82,26.97,26.91
$GC,1253,-0.71,-146.6,2738,849,2605,2691,99.7,-8.0,89,1265,0.00,1.88,0.00,0.000,1030,0.000,0.062,2729,2210,2648,2605,2691,0,0,0,0,0,0,27.05,27.04,27.08
$GC,1563,-0.71,-146.6,2729,2211,2604,2690,123.9,-8.3,110,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2210,2647,2604,2690,0,0,0,0,0,0,27.27,27.29,27.29
$GC,1864,-0.71,-146.6,2729,2210,2605,2690,149.0,-8.5,130,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2210,2647,2605,2690,0,0,0,0,0,0,27.28,27.30,27.29
$STATE,1876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1876,begin apogee
$GC,1880,-0.25,0.0,2729,2210,2605,2690,150.3,-8.6,131,1983,0.47,0.00,100.50,0.829,10246,0.176,0.000,2889,2210,2140,2148,2133,0,0,0,0,0,0,26.85,25.88,25.37
$STATE,1984,end apogee,CONTROL_FINISHED_OK
$STATE,1984,begin climb
$GC,1986,0.96,146.6,2889,2210,2148,2133,154.1,0.0,134,2091,1.08,0.00,101.75,0.790,10246,0.144,0.000,3265,2210,1635,1654,1617,0,0,0,0,0,0,25.92,25.74,25.27
$GC,2389,0.96,146.6,3265,2210,1653,1617,114.3,10.8,158,2394,0.00,1.90,0.00,0.000,516,0.000,0.070,3275,842,1635,1653,1617,0,0,0,0,0,0,26.98,26.73,26.99
$GC,2451,0.96,146.6,3275,842,1654,1616,107.4,10.7,162,2456,0.00,1.85,0.00,0.000,1030,0.000,0.062,3276,2205,1635,1654,1617,0,0,0,0,0,0,26.85,26.81,26.86
$GC,2766,0.96,146.6,3275,2205,1653,1616,75.7,9.0,183,2771,0.00,1.88,0.00,0.000,516,0.000,0.070,3284,846,1634,1653,1616,0,0,0,0,0,0,27.17,26.92,27.18
$GC,2862,0.96,146.6,3284,846,1653,1616,67.2,9.1,189,2868,0.00,1.83,0.00,0.000,1030,0.000,0.062,3284,2198,1634,1653,1616,0,0,0,0,0,0,27.01,26.96,27.03
$GC,3177,0.96,146.6,3284,2198,1652,1616,39.3,8.1,210,3188,0.00,1.88,0.00,0.000,516,0.000,0.070,3293,838,1633,1651,1616,0,0,0,0,0,0,27.24,26.99,27.25
$GC,3224,0.98,200.2,3293,838,1652,1615,35.8,7.5,214,3267,0.00,1.85,36.60,0.757,9222,0.000,0.062,3294,2207,1450,1469,1432,0,0,0,0,0,0,27.06,27.01,25.89
$GC,3576,0.99,247.7,3293,2207,1469,1432,9.4,7.8,249,3617,0.00,1.92,32.80,0.737,8708,0.000,0.072,3303,837,1285,1307,1264,0,0,0,0,0,0,27.10,26.20,25.82
$STATE,3651,end climb,SURFACE_DEPTH_REACHED
$STATE,3652,begin surface coast
$FINISH,-0.1,1.023729
$STATE,3689,end surface coast,CONTROL_FINISHED_OK
$STATE,3689,begin surface
$SM_CCo,3705,1.50,0.112,0,0,1280,250.11
$SM_GC,0.93,7.90,1.92,1.50,0.077,0.062,0.112,147,2201,1280,-8.73,-2.12,250.11,0,0,0,0,0,0,26.64,26.63,26.57
$IRIDIUM_FIX,3120.24,-6410.23,110508,225821
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.61
$INTERNAL_PRESSURE,9.54382
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.7,28.0
$24V_AH,25.27,12.547
$10V_AH,10.63,4.710
$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,20.375,22.500,271.650,1.500,121.825,23.460,44.653,135.275,7.000,0.000,41.864,679.788,1672.946,343.495,1297.870,40.303,0.000,712.182,0.000,1032.912,0.000,44.120,0.000
$DEVICE_MAMPS,307.892,72.007,829.322,111.735,151.463,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.569,846.486,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330276
$DATA_FILE_SIZE,13566,259
$CAP_FILE_SIZE,45246,0
$CFSIZE,1024409600,1015054336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,114921,3133.449,-6410.396,2,0.9,11,-14.9,0.0,0.0,9,8.7