version: 66.12
glider: 35
mission: 22
dive: 41
start: 3 25 114 12 49 21
data:
$ID,35
$MISSION,22
$DIVE,41
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,3600
$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,1200
$T_MISSION,1260
$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,13
$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,-992885.44
$T_RSLEEP,12
$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,63
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$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,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
$GPS1,250314,124243,3223.949,-6434.138,13,2.0,19,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.9
$GPS2,250314,124857,3224.000,-6434.123,10,2.4,30,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.026,0.243
$KALMAN_X,3027.9,0.0,0.0,-20251.1,-63161.4
$KALMAN_Y,-26166.4,0.0,0.0,38028.8,-677300.6
$MHEAD_RNG_PITCHd_Wd,21.6,26722,-19.7,-10.000,-22.22,2235
$D_GRID,3600
$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,-0.76,-146.6,245,2090,864,1102,0.0,0.0,0,111,0.00,0.00,-92.72,0.000,16390,0.000,0.000,245,2090,2497,2490,2504,0,0,0,0,0,0,28.83,28.83,25.84
$GC,115,-0.76,-146.6,245,2091,2490,2504,2.8,-3.6,9,134,10.90,2.20,0.00,0.000,2308,0.273,0.065,2791,3501,2495,2490,2500,0,0,0,0,0,0,25.31,25.94,28.83
$GC,228,-0.55,-146.6,2790,3501,2490,2492,15.7,-12.0,20,237,0.28,2.03,0.00,0.000,3078,0.194,0.055,2871,2094,2490,2490,2491,0,0,0,0,0,0,25.50,26.08,28.83
$GC,537,-0.42,-146.6,2870,2088,2486,2492,29.6,-0.7,51,547,0.15,2.08,0.00,0.000,2820,0.221,0.065,2912,709,2489,2486,2492,0,0,0,0,0,0,25.83,26.11,28.83
$GC,563,-0.30,-146.6,2911,709,2485,2492,29.2,0.9,53,571,0.20,2.05,-0.22,0.000,19462,0.174,0.060,2960,2089,2500,2487,2514,0,0,0,0,0,0,25.80,26.16,23.56
$GC,870,-0.56,-146.6,2959,2094,2489,2513,31.4,-0.3,84,879,0.20,2.05,0.00,0.000,4612,0.089,0.062,2836,706,2500,2488,2513,0,0,0,0,0,0,26.35,26.17,28.83
$GC,945,-0.65,-146.6,2836,706,2489,2512,31.4,-0.1,91,952,0.00,2.05,0.00,0.000,1030,0.000,0.057,2836,2105,2501,2489,2513,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1252,-0.73,-146.6,2836,2106,2488,2512,31.6,-0.8,122,1261,0.00,2.15,0.00,0.000,772,0.000,0.070,2828,3513,2500,2489,2512,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1277,-0.83,-146.6,2828,3513,2489,2513,31.6,-0.8,124,1285,0.10,2.05,0.00,0.000,5126,0.122,0.052,2752,2090,2501,2489,2513,0,0,0,0,0,0,26.25,26.34,28.83
$GC,1584,-0.90,-146.6,2752,2089,2489,2513,31.2,0.4,155,1592,0.00,2.17,0.00,0.000,260,0.000,0.065,2748,3511,2501,2489,2513,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,1634,end dive,NO_VERTICAL_VELOCITY
$STATE,1634,begin apogee
$GC,1641,-0.19,0.0,2748,2100,2489,2512,31.6,0.0,160,1745,0.70,0.00,98.90,0.832,10246,0.129,0.000,2988,2098,2000,1974,2026,0,0,0,0,0,0,25.88,28.83,24.44
$STATE,1746,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1748,0.76,146.6,2988,2098,1974,2025,30.1,0.0,171,1859,0.85,2.12,103.60,0.812,11012,0.129,0.067,3284,721,1502,1465,1539,0,0,0,0,0,0,25.25,25.11,24.27
$GC,2065,0.96,200.6,3284,721,1463,1539,5.6,7.5,202,2094,0.17,2.05,23.73,0.804,11266,0.092,0.055,3383,2112,1393,1342,1445,0,0,0,0,0,0,25.96,25.94,28.83
$STATE,2095,end climb,SURFACE_DEPTH_REACHED
$STATE,2096,begin surface coast
$FINISH,-0.0,1.025652
$STATE,2148,end surface coast,CONTROL_FINISHED_OK
$STATE,2148,begin surface
$SM_CCo,2164,89.82,0.822,0,0,982,300.22
$SM_GC,1.28,8.18,0.00,89.82,0.062,0.000,0.822,247,2112,982,-8.70,0.34,300.22,0,0,0,0,0,0,25.79,28.83,24.34
$IRIDIUM_FIX,3210.97,-6427.70,250314,121204
$TT8_MAMPS,0.019474,0.019474
$HUMID,38.14
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,23.6,46.138
$10V_AH,10.5,7.732
$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,21.725,25.075,226.225,89.825,0.000,25.261,47.092,202.743,0.500,0.000,34.012,515.431,939.504,370.397,740.554,82.288,0.383,672.333,0.000,450.344,0.000,1.002,0.000
$DEVICE_MAMPS,273.130,69.524,831.805,821.873,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,138.595,276.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330208
$DATA_FILE_SIZE,10307,210
$CAP_FILE_SIZE,40988,0
$CFSIZE,260165632,237629440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,132806,3224.170,-6434.072,32,1.9,32,-15.5