version: 66.12
glider: 35
mission: 20
dive: 2
start: 2 5 114 20 26 4
data:
$ID,35
$MISSION,20
$DIVE,2
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,60
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,76769
$MASS_COMP,9469
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,47.724998
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,870
$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,-988716.38
$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,0.026142744
$P_OVSHOOT_WITHG,0.089055829
$PITCH_GAIN,25
$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,100
$C_ROLL_CLIMB,100
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,3123
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-1038.2784
$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,50
$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
$GPS1,050214,202237,4743.498,-12225.436,11,1.6,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-52.0
$GPS2,050214,202543,4743.534,-12225.425,11,1.5,11,18.2
$SPEED_LIMITS,0.173,0.174
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,14.6,2128,-27.8,-10.000,-29.82,1120
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.20,-73.3,246,114,265,287,0.0,0.0,0,274,0.00,0.00,-252.77,0.000,16390,0.000,0.000,247,115,3372,3333,3411,0,0,0,0,0,0,28.83,28.83,25.16
$GC,277,-1.20,-73.3,246,115,3333,3411,2.2,-2.2,47,290,10.18,0.00,0.00,0.000,2054,0.253,0.000,2660,114,3373,3334,3412,0,0,0,0,0,0,24.70,28.83,28.83
$GC,352,-1.20,-73.3,2659,114,3334,3414,7.1,-8.5,61,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,421,-1.20,-73.3,2660,114,3334,3414,14.6,-10.5,74,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,489,-1.20,-73.3,2660,114,3334,3413,21.5,-10.2,86,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,609,-1.20,-73.3,2660,114,3334,3413,32.6,-9.9,98,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,729,-1.20,-73.3,2660,114,3333,3413,44.0,-8.7,110,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,849,-1.20,-73.3,2660,114,3333,3413,54.8,-8.9,122,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-1.20,-73.3,2660,114,3334,3413,66.4,-9.7,134,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1089,-1.20,-73.3,2660,113,3334,3413,76.2,-7.7,146,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-1.20,-73.3,2660,114,3334,3413,86.2,-8.4,158,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1329,-1.20,-73.3,2660,114,3334,3413,95.7,-8.4,170,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1449,-1.20,-73.3,2660,114,3334,3413,105.6,-7.4,182,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3333,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1569,-1.20,-73.3,2660,114,3333,3413,114.2,-6.6,194,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1689,-1.20,-73.3,2660,114,3334,3413,122.7,-7.4,206,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,114,3373,3334,3413,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1807,begin apogee
$GC,1811,-0.20,0.0,2660,114,3334,3413,131.7,-7.4,218,1869,1.10,0.00,52.67,1.080,10246,0.176,0.000,2980,114,3123,3084,3163,0,0,0,0,0,0,24.65,28.83,23.68
$STATE,1870,end apogee,CONTROL_FINISHED_OK
$STATE,1870,begin climb
$GC,1872,1.20,73.3,2979,114,3083,3163,132.9,0.0,224,1931,1.27,0.00,54.25,1.088,10246,0.102,0.000,3421,114,2874,2838,2910,0,0,0,0,0,0,24.88,28.83,23.18
$GC,2049,1.20,73.3,3420,114,2838,2910,105.6,19.4,242,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,114,2874,2838,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,1.20,73.3,3420,113,2838,2910,83.2,17.9,254,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,114,2874,2838,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2289,1.20,73.3,3420,113,2838,2910,61.9,18.5,266,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,114,2874,2838,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2409,1.20,73.3,3420,114,2838,2910,40.4,18.0,278,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,114,2874,2838,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,1.20,73.3,3420,114,2838,2910,20.5,15.7,290,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,114,2874,2838,2910,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2647,end climb,SURFACE_DEPTH_REACHED
$STATE,2647,begin surface coast
$FINISH,-0.2,0.999906
$STATE,2679,end surface coast,CONTROL_FINISHED_OK
$STATE,2679,begin surface
$SM_CCo,2696,555.95,0.832,1,0,275,840.73
$SM_CCo,3260,0.00,0.000,0,0,275,840.73
$SM_CCo,3262,0.15,0.146,0,0,275,840.73
$SM_GC,0.66,8.57,0.00,0.15,0.065,0.000,0.146,239,113,275,-8.70,0.40,840.73,0,0,0,0,0,0,25.51,28.83,23.63
$IRIDIUM_FIX,4722.92,-12230.48,050214,202038
$TT8_MAMPS,0.020972,0.020972
$HUMID,37.36
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,17.40
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.0,18.5
$24V_AH,22.8,36.630
$10V_AH,10.3,4.327
$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,21.125,0.000,106.925,556.100,0.000,0.000,0.000,0.000,6.250,0.000,14.164,702.893,1202.842,865.377,501.712,49.550,0.000,1172.917,0.000,484.422,0.000,28.387,0.000
$DEVICE_MAMPS,253.266,0.000,1087.554,831.805,0.000,0.000,0.000,0.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,0.000,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.592,419.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323100
$DATA_FILE_SIZE,16910,319
$CAP_FILE_SIZE,113236,0
$CFSIZE,260165632,242728960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050214,212127,4743.956,-12225.327,10,2.4,30,18.2