version: 66.12
glider: 35
mission: 22
dive: 5
start: 3 20 114 19 55 46
data:
$ID,35
$MISSION,22
$DIVE,5
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,5000
$D_NO_BLEED,500
$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,60
$T_MISSION,75
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,75
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77621
$MASS_COMP,9331
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.308331
$TGT_DEFAULT_LON,-64.599998
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-992685.62
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,0
$C_ROLL_DIVE,50
$C_ROLL_CLIMB,50
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2276
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2812
$PRESSURE_SLOPE,0.00092600001
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,200314,194743,3220.486,-6436.485,8,1.9,8,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.2
$GPS2,200314,195443,3220.482,-6436.517,35,1.7,35,-15.5
$SPEED_LIMITS,0.100,0.174
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.123,-0.124
$KALMAN_X,-37.3,-6.5,-179.7,778.2,-162.5
$KALMAN_Y,824.7,331.3,-13.7,-1352.0,-87.3
$MHEAD_RNG_PITCHd_Wd,150.7,21937,-27.8,-10.000,-29.82,1120
$D_GRID,180
$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,16,-1.16,-73.3,257,50,1227,1293,0.0,0.0,0,98,0.00,0.00,-76.97,0.000,16390,0.000,0.000,258,50,2524,2475,2574,0,0,0,0,0,0,28.83,28.83,25.72
$GC,101,-1.16,-73.3,257,50,2475,2574,3.1,-4.2,8,118,10.90,0.00,0.00,0.000,2310,0.283,0.000,2722,44,2525,2476,2574,0,0,0,0,0,0,25.30,28.83,28.83
$GC,420,-1.16,-73.3,2722,44,2476,2574,50.6,-16.1,40,423,0.00,0.00,0.00,0.000,262,0.000,0.000,2722,44,2525,2476,2574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-1.16,-73.3,2722,44,2476,2574,101.3,-16.9,71,735,0.00,0.00,0.00,0.000,262,0.000,0.000,2722,44,2525,2476,2574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1042,-1.16,-73.3,2722,44,2476,2574,153.8,-16.3,101,1045,0.00,0.00,0.00,0.000,262,0.000,0.000,2722,44,2525,2476,2574,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1223,begin apogee
$GC,1228,-0.21,0.0,2722,44,2476,2574,182.0,-15.6,110,1283,1.12,0.00,50.47,1.028,10246,0.209,0.000,3030,44,2276,2218,2334,0,0,0,0,0,0,24.99,28.83,24.48
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1286,1.16,73.3,3029,45,2218,2334,186.7,0.0,113,1343,1.23,0.00,50.62,0.946,10502,0.119,0.000,3451,44,2027,1970,2084,0,0,0,0,0,0,25.39,28.83,24.23
$GC,1644,1.16,73.3,3450,44,1970,2085,147.4,10.7,132,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,44,2027,1970,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1944,1.16,85.8,3450,44,1970,2084,119.4,8.9,162,1956,0.00,0.00,9.95,0.844,8454,0.000,0.000,3451,44,1985,1927,2044,0,0,0,0,0,0,28.83,28.83,24.92
$GC,2259,1.16,101.8,3451,44,1927,2044,92.9,8.5,193,2277,0.00,0.00,12.18,0.852,8454,0.000,0.000,3451,44,1931,1872,1990,0,0,0,0,0,0,28.83,28.83,24.98
$GC,2579,1.16,101.8,3450,44,1872,1990,59.8,11.6,225,2582,0.00,0.00,0.00,0.000,262,0.000,0.000,3451,44,1931,1872,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,1.16,101.8,3450,44,1872,1990,20.5,12.8,256,2893,0.00,0.00,0.00,0.000,262,0.000,0.000,3451,44,1930,1872,1989,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3018,end climb,SURFACE_DEPTH_REACHED
$STATE,3018,begin surface coast
$FINISH,-0.1,1.025487
$STATE,3050,end surface coast,CONTROL_FINISHED_OK
$STATE,3050,begin surface
$SM_CCo,3066,129.98,0.859,0,0,1258,300.22
$SM_GC,1.58,8.27,0.00,129.98,0.062,0.000,0.859,238,44,1258,-8.87,-0.17,300.22,0,0,0,0,0,0,26.10,28.83,24.31
$IRIDIUM_FIX,3208.42,-6428.80,200314,181831
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.31
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,24.2,40.940
$10V_AH,10.5,6.168
$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,21.525,5.725,123.225,129.975,0.000,24.399,36.203,236.735,2.500,0.000,39.791,676.671,1763.589,302.474,804.583,80.878,33.219,580.108,0.000,466.345,0.000,16.745,0.000
$DEVICE_MAMPS,283.062,54.626,1027.962,859.118,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,183.706,359.167,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330112
$DATA_FILE_SIZE,16927,272
$CAP_FILE_SIZE,38779,0
$CFSIZE,260165632,239362048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,200314,205005,3220.354,-6436.657,33,0.9,33,-15.5