version: 66.12
glider: 38
mission: 4
dive: 62
start: 7 16 115 20 33 54
data:
$ID,38
$MISSION,4
$DIVE,62
$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,65
$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,55
$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
$GPS1,160715,202833,3133.2615,-6412.3833,2,1.9,28,-14.9,0.9,29.8,7,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-67.0
$GPS2,160715,203331,3133.2429,-6412.3809,4,1.0,13,-14.9,1.3,205.5,10,9.2
$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,355.6,49903,-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,-146.6,153,2207,1141,1109,0.0,0.0,0,141,0.00,0.00,-120.10,0.151,16390,0.000,0.000,154,2207,2645,2600,2690,0,0,0,0,0,0,26.95,26.57,26.46
$GC,143,-0.96,-146.6,153,2206,2599,2690,4.8,-8.4,12,164,10.43,1.88,0.00,0.000,2564,0.300,0.065,2669,824,2646,2602,2690,0,0,0,0,0,0,26.26,26.51,26.42
$GC,484,-0.84,-146.6,2669,824,2605,2688,52.9,-8.4,38,494,0.12,1.92,0.00,0.000,3078,0.201,0.065,2700,2211,2646,2605,2688,0,0,0,0,0,0,26.67,26.89,26.78
$GC,794,-0.78,-146.6,2700,2211,2605,2688,73.5,-6.6,59,799,0.00,1.92,0.00,0.000,260,0.000,0.077,2690,3594,2647,2605,2689,0,0,0,0,0,0,27.20,26.93,27.22
$GC,882,-0.69,-146.6,2690,3594,2605,2689,79.1,-6.7,64,894,0.17,1.85,0.00,0.000,3078,0.199,0.060,2746,2169,2647,2605,2689,0,0,0,0,0,0,26.77,27.01,26.87
$GC,1192,-0.69,-146.6,2746,2169,2605,2688,100.6,-7.6,85,1197,0.00,1.98,0.00,0.000,260,0.000,0.077,2737,3587,2647,2605,2689,0,0,0,0,0,0,27.22,26.97,27.24
$GC,1354,-0.69,-146.6,2737,3587,2605,2689,114.4,-8.6,95,1357,0.00,1.75,0.00,0.000,1030,0.000,0.060,2737,2253,2647,2605,2689,0,0,0,0,0,0,27.09,27.05,27.10
$GC,1672,-0.69,-146.6,2736,2218,2605,2688,140.2,-8.2,116,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2218,2646,2605,2688,0,0,0,0,0,0,27.24,27.26,27.25
$STATE,1792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1792,begin apogee
$GC,1795,-0.25,0.0,2736,2218,2604,2688,150.6,-8.7,124,1899,0.45,0.00,100.28,0.839,10246,0.171,0.000,2889,2216,2140,2148,2132,0,0,0,0,0,0,26.85,25.86,25.35
$STATE,1900,end apogee,CONTROL_FINISHED_OK
$STATE,1900,begin climb
$GC,1901,0.96,146.6,2889,2216,2148,2133,154.8,0.0,127,2007,1.05,0.00,101.90,0.795,10246,0.142,0.000,3257,2216,1635,1654,1616,0,0,0,0,0,0,25.90,25.71,25.24
$GC,2303,0.96,146.6,3257,2217,1654,1616,118.9,10.6,151,2308,0.00,1.85,0.00,0.000,516,0.000,0.067,3267,873,1634,1654,1615,0,0,0,0,0,0,26.96,26.72,26.98
$GC,2373,0.96,146.6,3267,872,1654,1615,112.3,10.7,155,2382,0.00,1.85,0.00,0.000,1030,0.000,0.062,3267,2201,1634,1654,1615,0,0,0,0,0,0,26.82,26.79,26.84
$GC,2681,0.96,146.6,3267,2201,1653,1615,81.5,9.2,176,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2201,1634,1653,1615,0,0,0,0,0,0,27.15,27.17,27.17
$GC,2981,0.96,146.6,3266,2201,1653,1615,54.3,9.2,196,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2201,1634,1653,1615,0,0,0,0,0,0,27.22,27.24,27.23
$GC,3283,0.99,227.9,3267,2201,1652,1615,31.4,6.3,220,3341,0.00,0.00,54.60,0.767,8454,0.000,0.000,3267,2201,1355,1375,1335,0,0,0,0,0,0,27.24,26.18,25.70
$GC,3642,1.06,294.7,3266,2201,1375,1335,6.9,6.9,256,3683,0.08,0.00,38.00,0.737,10754,0.146,0.000,3343,2201,1165,1190,1141,0,0,0,0,0,0,26.84,28.83,26.86
$STATE,3684,end climb,SURFACE_DEPTH_REACHED
$STATE,3684,begin surface coast
$FINISH,0.9,1.023680
$STATE,3702,end surface coast,CONTROL_FINISHED_OK
$STATE,3702,begin surface
$SM_CCo,3777,0.00,0.000,0,0,1163,283.81
$SM_GC,0.80,8.27,0.00,0.00,0.089,0.000,0.000,145,2201,1163,-8.74,0.03,283.81,0,0,0,0,0,0,26.43,26.67,26.48
$IRIDIUM_FIX,3120.24,-6413.60,120508,085134
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.45
$INTERNAL_PRESSURE,9.52429
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,49.1,999.0
$24V_AH,25.24,13.334
$10V_AH,10.58,4.978
$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,20.575,15.000,294.775,0.000,120.100,25.211,53.935,136.480,5.500,0.000,14.603,673.717,1745.297,357.901,1278.518,39.512,0.000,717.937,0.000,1024.161,0.000,37.416,0.000
$DEVICE_MAMPS,300.443,76.973,839.254,0.000,151.463,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,172.061,856.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330328
$DATA_FILE_SIZE,16936,262
$CAP_FILE_SIZE,42464,0
$CFSIZE,1024409600,1014546432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160715,213734,3133.295,-6412.685,2,0.9,9,-14.9,0.6,164.2,8,10.0