version: 66.12
glider: 35
mission: 22
dive: 33
start: 3 24 114 19 35 36
data:
$ID,35
$MISSION,22
$DIVE,33
$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,150
$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,14
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,90
$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,-992875.44
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2200
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,5
$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
$GPS1,240314,193133,3220.369,-6437.454,11,2.1,31,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-62.3
$GPS2,240314,193512,3220.369,-6437.459,8,1.3,13,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,3220.369,-6424.678
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.026,0.243
$KALMAN_X,1980.3,0.0,0.0,-26659.6,-93239.2
$KALMAN_Y,-17797.9,0.0,0.0,22448.9,-991604.8
$MHEAD_RNG_PITCHd_Wd,105.5,20000,-19.7,-10.000,-22.22,2235
$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,15,-0.76,-146.6,207,2108,1068,1294,0.0,0.0,0,109,0.00,0.00,-91.47,0.000,16386,0.000,0.000,208,2108,2660,2642,2679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.76,-146.6,207,2108,2642,2679,3.6,-4.8,9,131,10.95,2.15,-1.38,0.000,18948,0.271,0.062,2812,702,2698,2686,2710,0,0,0,0,0,0,25.35,26.05,25.95
$GC,356,-0.61,-146.6,2812,702,2683,2710,44.1,-18.1,33,363,0.20,2.05,0.00,0.000,3078,0.204,0.057,2853,2106,2696,2683,2710,0,0,0,0,0,0,25.75,26.22,28.83
$GC,663,-0.61,-146.6,2853,2106,2682,2710,81.5,-10.6,64,671,0.00,2.08,0.00,0.000,516,0.000,0.062,2853,702,2696,2682,2710,0,0,0,0,0,0,28.83,26.23,28.83
$GC,869,-0.55,-146.6,2853,702,2680,2710,108.8,-14.8,84,881,0.00,2.05,0.00,0.000,1030,0.000,0.057,2848,2104,2695,2681,2710,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1180,-0.55,-146.6,2847,2105,2680,2710,151.0,-13.9,115,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2105,2695,2680,2710,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1398,begin apogee
$GC,1402,-0.19,0.0,2848,2105,2680,2710,181.2,-13.8,126,1506,0.45,0.00,98.38,0.929,10246,0.174,0.000,2986,2104,2200,2179,2221,0,0,0,0,0,0,25.79,28.83,24.37
$STATE,1507,end apogee,CONTROL_FINISHED_OK
$STATE,1507,begin climb
$GC,1510,0.76,146.6,2986,2105,2178,2221,189.6,0.0,131,1622,0.88,2.28,104.90,0.924,10500,0.137,0.072,3274,3498,1703,1674,1733,0,0,0,0,0,0,25.22,25.10,24.26
$GC,1674,0.88,247.5,3273,3498,1674,1732,185.0,5.4,139,1755,0.10,2.12,74.53,0.872,11270,0.122,0.052,3341,2088,1361,1273,1450,0,0,0,0,0,0,25.56,25.63,24.25
$GC,2056,0.88,247.5,3341,2089,1270,1450,135.1,13.8,163,2064,0.00,2.05,0.00,0.000,516,0.000,0.067,3352,716,1359,1269,1450,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2120,0.88,247.5,3351,716,1270,1450,126.3,14.7,169,2126,0.00,2.05,0.00,0.000,1030,0.000,0.057,3352,2103,1360,1270,1450,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2426,0.88,247.5,3351,2103,1269,1450,79.6,15.9,200,2435,0.00,2.12,0.00,0.000,260,0.000,0.072,3352,3497,1360,1270,1450,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2460,0.88,247.5,3351,3497,1270,1449,75.0,15.1,203,2467,0.00,2.05,0.00,0.000,1030,0.000,0.055,3362,2103,1359,1270,1449,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2769,0.88,247.5,3362,2102,1270,1449,27.8,14.5,234,2777,0.00,2.08,0.00,0.000,516,0.000,0.067,3373,706,1359,1270,1449,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2849,0.88,247.5,3372,706,1269,1449,15.5,13.7,242,2858,0.15,2.05,0.00,0.000,5126,0.181,0.057,3333,2104,1359,1270,1449,0,0,0,0,0,0,25.99,26.30,28.83
$STATE,2947,end climb,SURFACE_DEPTH_REACHED
$STATE,2947,begin surface coast
$FINISH,0.8,1.025678
$STATE,2969,end surface coast,CONTROL_FINISHED_OK
$STATE,2969,begin surface
$SM_CCo,2985,38.90,0.780,0,0,1182,300.22
$SM_GC,1.68,7.95,0.00,38.90,0.065,0.000,0.780,245,2106,1182,-8.71,0.17,300.22,0,0,0,0,0,0,26.16,28.83,24.92
$IRIDIUM_FIX,3208.42,-6436.80,240314,181839
$TT8_MAMPS,0.019474,0.019474
$HUMID,39.76
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,24.3,45.247
$10V_AH,10.4,7.445
$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,20.675,25.125,277.800,38.900,0.000,23.212,16.472,94.711,6.500,0.000,16.159,651.652,1443.643,358.559,737.139,69.467,0.000,723.700,0.000,567.955,0.000,39.198,0.000
$DEVICE_MAMPS,270.647,72.007,928.642,779.662,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,0.000,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.652,334.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330372
$DATA_FILE_SIZE,13550,254
$CAP_FILE_SIZE,44203,0
$CFSIZE,260165632,237965312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240314,202648,3220.377,-6436.988,9,1.3,9,-15.5