version: 66.12
glider: 38
mission: 4
dive: 57
start: 7 16 115 14 49 55
data:
$ID,38
$MISSION,4
$DIVE,57
$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,106
$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,20
$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
$GPS1,160715,144607,3133.4182,-6411.1001,12,0.8,15,-14.9,0.0,0.0,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-66.3
$GPS2,160715,144931,3133.4006,-6411.1001,15,0.8,18,-14.9,0.0,0.0,10,9.7
$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,353.4,50330,-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,13,begin dive
$GC,15,-0.96,-146.6,152,2192,1288,1268,0.0,0.0,0,130,0.00,0.00,-107.28,0.154,16390,0.000,0.000,151,2192,2646,2600,2693,0,0,0,0,0,0,26.90,26.53,26.44
$GC,133,-0.96,-146.6,152,2192,2600,2693,4.5,-7.1,11,153,10.68,1.88,0.00,0.000,2564,0.308,0.065,2667,812,2647,2602,2693,0,0,0,0,0,0,26.25,26.50,26.41
$GC,483,-0.83,-146.6,2667,812,2604,2690,46.2,-8.0,39,492,0.12,1.92,0.00,0.000,3078,0.216,0.065,2696,2204,2647,2604,2690,0,0,0,0,0,0,26.67,26.90,26.77
$GC,792,-0.76,-146.6,2696,2204,2604,2690,64.7,-5.2,60,797,0.00,1.92,0.00,0.000,516,0.000,0.070,2698,819,2646,2604,2689,0,0,0,0,0,0,27.20,26.96,27.22
$GC,872,-0.68,-146.6,2697,819,2604,2689,69.4,-6.1,65,878,0.20,1.88,0.00,0.000,3078,0.199,0.062,2752,2220,2646,2604,2689,0,0,0,0,0,0,26.78,26.99,26.88
$GC,1187,-0.68,-146.6,2752,2220,2604,2689,88.9,-6.2,86,1192,0.00,1.90,0.00,0.000,260,0.000,0.079,2742,3590,2646,2604,2689,0,0,0,0,0,0,27.25,26.98,27.27
$GC,1236,-0.68,-146.6,2742,3590,2604,2690,91.8,-6.5,89,1241,0.00,1.85,0.00,0.000,1030,0.000,0.060,2742,2189,2647,2604,2690,0,0,0,0,0,0,27.07,27.06,27.09
$GC,1551,-0.68,-146.6,2742,2189,2604,2688,112.2,-6.7,110,1554,0.00,1.83,0.00,0.000,516,0.000,0.070,2742,882,2646,2604,2688,0,0,0,0,0,0,27.27,27.03,27.29
$GC,1635,-0.68,-146.6,2742,842,2604,2688,118.7,-7.7,115,1639,0.00,1.83,0.00,0.000,1030,0.000,0.065,2733,2197,2646,2604,2688,0,0,0,0,0,0,27.10,27.05,27.10
$GC,1953,-0.68,-146.6,2732,2197,2604,2687,145.4,-8.9,136,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2197,2645,2604,2687,0,0,0,0,0,0,27.24,27.27,27.26
$STATE,2012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2012,begin apogee
$GC,2015,-0.25,0.0,2732,2197,2604,2687,150.8,-9.0,140,2118,0.47,0.00,99.93,0.832,10246,0.171,0.000,2894,2197,2140,2147,2133,0,0,0,0,0,0,26.86,25.88,25.38
$STATE,2119,end apogee,CONTROL_FINISHED_OK
$STATE,2119,begin climb
$GC,2121,0.96,146.6,2894,2197,2147,2133,155.1,0.0,143,2229,1.05,1.98,100.75,0.792,10756,0.142,0.074,3273,846,1634,1654,1615,0,0,0,0,0,0,25.93,25.77,25.27
$GC,2277,0.96,146.6,3272,846,1654,1615,144.6,9.1,150,2286,0.00,1.92,0.00,0.000,1030,0.000,0.062,3273,2199,1634,1654,1615,0,0,0,0,0,0,26.32,26.29,26.33
$GC,2586,0.96,146.6,3273,2199,1653,1614,107.4,11.9,171,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2199,1634,1653,1615,0,0,0,0,0,0,27.03,27.05,27.05
$GC,2886,0.96,146.6,3273,2199,1652,1615,74.5,10.4,191,2889,0.00,1.90,0.00,0.000,516,0.000,0.070,3283,834,1633,1652,1615,0,0,0,0,0,0,27.16,26.92,27.18
$GC,2968,0.96,146.6,3283,834,1652,1614,66.9,8.8,196,2973,0.00,1.85,0.00,0.000,1030,0.000,0.062,3283,2204,1633,1652,1614,0,0,0,0,0,0,27.01,26.96,27.02
$GC,3279,0.96,146.6,3283,2204,1651,1613,38.0,9.6,217,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2204,1632,1651,1614,0,0,0,0,0,0,27.23,27.25,27.24
$GC,3579,1.00,273.2,3283,2204,1650,1614,17.5,4.2,247,3669,0.00,2.08,84.12,0.750,8452,0.000,0.082,3283,3588,1198,1221,1176,0,0,0,0,0,0,27.26,26.03,25.53
$STATE,3783,end climb,SURFACE_DEPTH_REACHED
$STATE,3783,begin surface coast
$FINISH,0.8,1.023703
$STATE,3807,end surface coast,CONTROL_FINISHED_OK
$STATE,3808,begin surface
$SM_CCo,3884,0.00,0.000,0,0,1197,273.93
$SM_GC,0.77,8.38,1.88,0.00,0.109,0.057,0.000,153,2297,1197,-8.74,3.42,273.93,0,0,0,0,0,0,26.58,26.65,26.64
$IRIDIUM_FIX,3122.76,-6412.50,120508,035456
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.53
$INTERNAL_PRESSURE,9.54382
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,48.8,46.2
$24V_AH,25.27,12.921
$10V_AH,10.62,4.827
$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,20.900,26.600,284.800,0.000,107.275,25.683,19.640,84.433,7.000,0.000,20.414,704.613,1781.530,319.522,1268.704,38.593,0.000,720.038,0.000,1094.811,0.000,45.472,0.000
$DEVICE_MAMPS,307.892,81.939,831.805,0.000,153.946,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.803,875.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16916,268
$CAP_FILE_SIZE,46462,0
$CFSIZE,1024409600,1014792192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,155550,3133.420,-6411.289,26,0.8,39,-14.9,0.0,0.0,10,7.3