version: 66.12
glider: 38
mission: 4
dive: 102
start: 9 22 115 9 28 28
data:
$ID,38
$MISSION,4
$DIVE,102
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$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,3750
$T_MISSION,4060
$T_ABORT,4120
$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,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$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,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$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,85
$R_STBD_OVSHOOT,71
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$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
$GPS1,220915,091735,3012.4668,-6955.7642,40,1.2,41,-12.7,0.5,83.2,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.9
$GPS2,220915,092804,3012.4888,-6955.7075,4,1.1,14,-12.7,0.0,0.0,8,9.4
$SPEED_LIMITS,0.147,0.208
$TGT_NAME,2_SW
$TGT_LATLONG,3007.280,-6958.050
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.059478,-0.133918
$KALMAN_X,217510.984375,0.000000,0.000000,-740484.125000,7778.890625
$KALMAN_Y,128365.046875,0.000000,0.000000,-310173.531250,16645.921875
$MHEAD_RNG_PITCHd_Wd,216.6,10351,-16.3,-5.333,-20.00,1845
$D_GRID,6000
$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,-0.83,-64.7,142,2210,755,720,0.0,0.0,0,150,0.00,0.00,-127.50,0.151,16390,0.000,0.000,143,2210,2362,2308,2417,0,0,0,0,0,0,26.76,26.20,26.09
$GC,152,-0.83,-64.7,143,2210,2308,2417,3.5,-4.1,13,170,11.02,0.00,0.00,0.000,2054,0.300,0.000,2693,2210,2363,2310,2416,0,0,0,0,0,0,25.89,26.18,26.07
$GC,476,-0.67,-64.7,2693,2210,2311,2415,43.5,-7.6,44,482,0.17,1.92,0.00,0.000,2564,0.209,0.065,2754,805,2363,2311,2415,0,0,0,0,0,0,26.22,26.41,26.32
$GC,656,-0.58,-105.0,2753,805,2317,2409,50.7,-3.1,55,660,0.12,1.95,0.00,0.000,3078,0.206,0.062,2783,2212,2363,2317,2409,0,0,0,0,0,0,26.36,26.77,26.52
$STATE,865,end dive,NO_VERTICAL_VELOCITY
$STATE,865,begin apogee
$GC,868,-0.25,0.0,2783,2212,2317,2409,51.9,0.0,69,916,0.32,0.00,45.25,0.665,10246,0.174,0.000,2892,2213,2140,2134,2147,0,0,0,0,0,0,26.33,26.18,25.67
$STATE,917,end apogee,CONTROL_FINISHED_OK
$STATE,917,begin climb
$GC,919,0.84,105.0,2892,2212,2134,2147,51.7,0.0,72,1001,0.90,2.03,72.72,0.641,10756,0.144,0.070,3220,802,1777,1787,1768,0,0,0,0,0,0,26.18,25.65,25.32
$GC,1027,0.92,105.0,3219,802,1787,1768,46.0,5.8,79,1037,0.05,1.98,0.00,0.000,3078,0.122,0.062,3268,2193,1777,1787,1768,0,0,0,0,0,0,26.06,26.15,26.11
$GC,1342,0.92,105.0,3268,2192,1787,1768,28.4,4.5,108,1353,0.00,1.95,0.00,0.000,516,0.000,0.067,3271,810,1777,1786,1768,0,0,0,0,0,0,26.91,26.62,26.91
$GC,1446,0.92,105.0,3271,810,1787,1768,23.7,4.6,117,1456,0.00,1.92,0.00,0.000,1030,0.000,0.060,3272,2198,1777,1787,1768,0,0,0,0,0,0,26.74,26.72,26.78
$GC,1756,0.92,105.0,3271,2198,1787,1768,8.4,5.2,148,1766,0.00,1.95,0.00,0.000,516,0.000,0.070,3280,790,1777,1787,1768,0,0,0,0,0,0,27.08,26.78,27.10
$STATE,1857,end climb,SURFACE_DEPTH_REACHED
$STATE,1857,begin surface coast
$FINISH,2.0,1.023269
$STATE,1871,end surface coast,CONTROL_FINISHED_OK
$STATE,1871,begin surface
$SM_CCo,1887,91.53,0.603,0,0,1278,250.11
$SM_GC,1.57,8.23,1.98,91.53,0.104,0.060,0.603,158,2210,1278,-8.74,-1.89,250.11,0,0,0,0,0,0,26.65,26.84,25.50
$IRIDIUM_FIX,3009.97,-6937.75,160708,125325
$TT8_MAMPS,0.025466,0.025466
$HUMID,62.71
$INTERNAL_PRESSURE,9.66101
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,25.32,31.194
$10V_AH,10.47,20.674
$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,20.825,15.675,117.975,91.525,127.500,23.051,29.158,365.000,0.000,0.000,15.333,418.347,676.854,298.619,1064.248,45.893,0.608,562.295,0.000,638.086,0.000,1.026,0.000
$DEVICE_MAMPS,300.443,69.524,665.444,603.369,151.463,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,64.150,10.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,102.374,516.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329820
$DATA_FILE_SIZE,6937,158
$CAP_FILE_SIZE,34382,0
$CFSIZE,1024409600,1002455040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220915,100220,3012.450,-6955.638,3,0.9,14,-12.7,0.0,0.0,8,6.5