version: 66.12
glider: 38
mission: 4
dive: 53
start: 7 16 115 11 53 51
data:
$ID,38
$MISSION,4
$DIVE,53
$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,68
$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
$GPS1,160715,114921,3133.4490,-6410.3960,2,0.9,11,-14.9,0.0,0.0,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-69.3
$GPS2,160715,115328,3133.4167,-6410.3833,5,0.9,13,-14.9,0.0,0.0,9,8.7
$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,352.2,50727,-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,-146.6,147,2202,1290,1266,0.0,0.0,0,121,0.00,0.00,-103.57,0.154,16386,0.000,0.000,146,2202,2610,2566,2655,0,0,0,0,0,0,26.96,28.83,26.98
$GC,124,-0.96,-146.6,146,2202,2566,2655,4.0,-6.4,10,145,10.52,1.92,-1.17,0.524,18948,0.303,0.067,2666,840,2645,2603,2688,0,0,0,0,0,0,26.28,26.52,26.44
$GC,422,-0.84,-146.6,2666,840,2606,2687,50.1,-10.2,33,428,0.10,1.85,0.00,0.000,3078,0.223,0.062,2694,2211,2647,2607,2687,0,0,0,0,0,0,26.67,26.88,26.77
$GC,738,-0.78,-146.6,2694,2211,2606,2688,75.8,-7.0,54,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2210,2646,2606,2687,0,0,0,0,0,0,27.17,27.20,27.20
$GC,1038,-0.73,-146.6,2694,2211,2606,2688,97.2,-7.8,74,1044,0.10,1.85,0.00,0.000,2564,0.226,0.067,2732,841,2647,2607,2688,0,0,0,0,0,0,26.82,26.98,26.91
$GC,1184,-0.73,-146.6,2732,841,2607,2688,108.6,-7.8,83,1189,0.00,1.85,0.00,0.000,1030,0.000,0.062,2723,2202,2647,2606,2688,0,0,0,0,0,0,27.08,27.03,27.09
$GC,1499,-0.73,-146.6,2723,2201,2606,2688,134.0,-8.2,104,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2201,2647,2607,2687,0,0,0,0,0,0,27.27,27.29,27.29
$STATE,1694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1694,begin apogee
$GC,1697,-0.25,0.0,2722,2201,2606,2687,150.4,-8.7,117,1801,0.50,0.00,100.35,0.839,10246,0.174,0.000,2893,2202,2140,2148,2133,0,0,0,0,0,0,26.85,25.87,25.38
$STATE,1802,end apogee,CONTROL_FINISHED_OK
$STATE,1802,begin climb
$GC,1803,0.96,146.6,2892,2201,2148,2132,153.3,0.0,120,1908,1.05,0.00,101.60,0.792,10246,0.139,0.000,3263,2201,1635,1655,1616,0,0,0,0,0,0,25.91,25.73,25.26
$GC,2205,0.96,146.6,3262,2201,1654,1616,112.3,11.5,145,2211,0.00,1.90,0.00,0.000,516,0.000,0.070,3272,837,1635,1654,1616,0,0,0,0,0,0,26.97,26.73,26.99
$GC,2285,0.96,146.6,3272,837,1654,1615,103.3,11.1,150,2290,0.00,1.90,0.00,0.000,1030,0.000,0.062,3272,2197,1635,1654,1616,0,0,0,0,0,0,26.84,26.82,26.85
$GC,2601,0.96,146.6,3272,2197,1654,1616,70.5,9.0,171,2606,0.00,1.90,0.00,0.000,516,0.000,0.070,3282,838,1634,1653,1616,0,0,0,0,0,0,27.17,26.92,27.18
$GC,2703,0.96,146.6,3282,838,1654,1615,61.6,9.7,177,2712,0.00,1.90,0.00,0.000,1030,0.000,0.062,3282,2201,1634,1653,1615,0,0,0,0,0,0,26.99,26.97,27.01
$GC,3019,0.98,204.6,3282,2201,1653,1615,32.7,7.3,201,3067,0.00,0.00,39.53,0.757,8454,0.000,0.000,3282,2201,1434,1454,1415,0,0,0,0,0,0,27.23,26.22,25.86
$GC,3367,1.00,281.0,3282,2201,1454,1415,9.4,6.5,236,3427,0.00,1.95,51.53,0.740,8708,0.000,0.072,3287,850,1172,1195,1149,0,0,0,0,0,0,27.09,26.00,25.65
$STATE,3451,end climb,SURFACE_DEPTH_REACHED
$STATE,3451,begin surface coast
$FINISH,-0.5,0.997669
$STATE,3487,end surface coast,CONTROL_FINISHED_OK
$STATE,3487,begin surface
$SM_CCo,3564,0.00,0.000,0,0,1172,281.48
$SM_GC,0.35,7.90,1.92,0.00,0.074,0.060,0.000,127,2208,1172,-8.78,-1.72,281.48,0,0,0,0,0,0,26.53,26.52,26.57
$IRIDIUM_FIX,3120.24,-6411.33,120508,000845
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.49
$INTERNAL_PRESSURE,9.53405
$TCM_TEMP,23.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,29.6,27.8
$24V_AH,25.26,12.628
$10V_AH,10.66,4.739
$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,20.175,18.950,293.000,0.000,104.750,25.598,15.691,131.139,7.750,0.000,14.540,645.026,1623.342,333.885,1188.203,38.798,0.000,689.946,0.000,981.625,0.000,50.987,0.000
$DEVICE_MAMPS,302.926,72.007,839.254,0.000,523.913,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.336,806.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330316
$DATA_FILE_SIZE,13608,247
$CAP_FILE_SIZE,42379,0
$CFSIZE,1024409600,1015005184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,125411,3133.500,-6410.697,2,0.8,23,-14.9,2.0,276.3,10,9.4