version: 66.12
glider: 38
mission: 4
dive: 58
start: 7 16 115 16 0 42
data:
$ID,38
$MISSION,4
$DIVE,58
$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,117
$R_STBD_OVSHOOT,70
$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
$GPS1,160715,155550,3133.4202,-6411.2891,26,0.8,39,-14.9,0.0,0.0,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-66.3
$GPS2,160715,160019,3133.4065,-6411.2944,4,0.8,10,-14.9,0.5,247.6,11,9.2
$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,353.7,50209,-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,-146.6,152,2228,1208,1182,0.0,0.0,0,131,0.00,0.00,-113.07,0.154,16390,0.000,0.000,152,2229,2646,2596,2697,0,0,0,0,0,0,26.96,26.60,26.47
$GC,133,-0.96,-146.6,152,2228,2596,2696,4.5,-7.4,11,154,10.35,1.90,0.00,0.000,2564,0.298,0.065,2668,830,2647,2600,2694,0,0,0,0,0,0,26.27,26.53,26.44
$GC,385,-0.84,-146.6,2668,830,2604,2690,42.3,-8.7,32,394,0.12,1.90,0.00,0.000,3078,0.206,0.065,2698,2195,2647,2604,2691,0,0,0,0,0,0,26.64,26.86,26.74
$GC,695,-0.77,-146.6,2698,2195,2604,2691,65.8,-6.7,53,700,0.00,1.95,0.00,0.000,260,0.000,0.077,2689,3598,2648,2604,2692,0,0,0,0,0,0,27.17,26.93,27.18
$GC,733,-0.70,-146.6,2688,3598,2604,2693,68.0,-6.7,55,742,0.17,1.85,0.00,0.000,3078,0.204,0.062,2744,2178,2648,2604,2692,0,0,0,0,0,0,26.74,27.00,26.85
$GC,1042,-0.70,-146.6,2743,2179,2604,2692,87.0,-6.4,76,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2179,2648,2605,2692,0,0,0,0,0,0,27.24,27.27,27.26
$GC,1343,-0.70,-146.6,2743,2178,2604,2692,107.8,-7.3,96,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2178,2648,2604,2692,0,0,0,0,0,0,27.27,27.28,27.27
$GC,1641,-0.70,-146.6,2743,2178,2604,2691,132.0,-8.6,116,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2178,2647,2603,2692,0,0,0,0,0,0,27.27,27.29,27.29
$STATE,1865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1865,begin apogee
$GC,1869,-0.25,0.0,2743,2178,2604,2690,150.8,-8.3,131,1972,0.43,0.00,100.47,0.839,10246,0.174,0.000,2889,2177,2140,2148,2133,0,0,0,0,0,0,26.86,25.86,25.37
$STATE,1973,end apogee,CONTROL_FINISHED_OK
$STATE,1973,begin climb
$GC,1975,0.96,146.6,2889,2177,2148,2133,154.3,0.0,134,2080,1.05,0.00,101.10,0.795,10758,0.149,0.000,3258,2177,1635,1654,1616,0,0,0,0,0,0,25.91,25.73,25.25
$GC,2377,0.96,146.6,3258,2177,1654,1615,116.1,10.9,158,2380,0.00,1.80,0.00,0.000,516,0.000,0.070,3266,902,1634,1654,1615,0,0,0,0,0,0,26.97,26.74,26.99
$GC,2443,0.96,146.6,3265,871,1654,1615,108.9,10.9,162,2448,0.00,1.80,0.00,0.000,1030,0.000,0.062,3266,2199,1634,1654,1615,0,0,0,0,0,0,26.84,26.80,26.86
$GC,2758,0.96,146.6,3265,2199,1654,1615,75.3,10.2,183,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2199,1634,1653,1615,0,0,0,0,0,0,27.16,27.18,27.17
$GC,3058,0.96,146.6,3266,2199,1652,1615,46.3,9.7,203,3063,0.00,1.85,0.00,0.000,516,0.000,0.070,3276,855,1634,1653,1615,0,0,0,0,0,0,27.22,26.96,27.24
$GC,3112,0.96,146.6,3275,855,1653,1615,42.2,8.7,206,3121,0.00,1.85,0.00,0.000,1030,0.000,0.062,3275,2194,1634,1653,1615,0,0,0,0,0,0,27.02,27.01,27.05
$GC,3427,1.05,259.4,3275,2195,1653,1615,18.2,4.8,237,3507,0.00,0.00,75.57,0.750,10246,0.000,0.000,3275,2194,1247,1269,1225,0,0,0,0,0,0,27.27,26.04,25.57
$STATE,3675,end climb,SURFACE_DEPTH_REACHED
$STATE,3675,begin surface coast
$FINISH,0.3,1.023697
$STATE,3708,end surface coast,CONTROL_FINISHED_OK
$STATE,3708,begin surface
$SM_CCo,3783,0.00,0.000,0,0,1246,259.70
$SM_GC,1.42,8.18,0.00,0.00,0.102,0.000,0.000,143,2194,1246,-8.74,-0.17,259.70,0,0,0,0,0,0,26.70,26.96,26.74
$IRIDIUM_FIX,3120.24,-6411.33,120508,041327
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.37
$INTERNAL_PRESSURE,9.54382
$TCM_TEMP,22.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,49.2,47.1
$24V_AH,25.25,13.000
$10V_AH,10.59,4.857
$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,20.300,14.900,277.150,0.000,113.075,23.431,25.312,137.320,7.500,0.000,11.583,679.528,1796.761,321.634,1233.966,39.390,0.000,672.404,0.000,1005.767,0.000,47.487,0.000
$DEVICE_MAMPS,297.960,76.973,839.254,0.000,153.946,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,174.699,865.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330352
$DATA_FILE_SIZE,17014,265
$CAP_FILE_SIZE,42003,0
$CFSIZE,1024409600,1014743040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,170433,3133.453,-6411.475,2,0.9,15,-14.9,0.8,101.1,8,8.7