version: 66.07
glider: 35
mission: 4
dive: 2
start: 4 12 111 18 9 34
data:
$ID,35
$MISSION,4
$DIVE,2
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$D_ABORT,250
$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,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,5.7096e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21739.211
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,4021
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,185
$ROLL_MAX,3977
$ROLL_DEG,40
$C_ROLL_DIVE,2062
$C_ROLL_CLIMB,2062
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3954
$C_VBD,3446
$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
$CF8_MAXERRORS,20
$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,-1038.0145
$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,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,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$GPS1,120411,180432,4743.066,-12223.748,12,1.9,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-31.8
$GPS2,120411,180840,4743.070,-12223.764,12,2.1,31,18.2
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.011,0.238
$KALMAN_X,-14.2,-14.2,-14.2,-18.0,-31.9
$KALMAN_Y,-80.8,-80.8,-80.8,133.8,-181.3
$MHEAD_RNG_PITCHd_Wd,344.5,2649,-20.2,-10.000
$D_GRID,159
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-2.20,-146.6,0.0,0.0,0,316,0.00,0.00,-296.40,0.000,2,0.000,0.000,129,2067,2750,0,0,0,0,0,0
$GC,318,-2.20,-146.6,3.2,-5.2,53,394,6.32,2.28,-60.62,0.000,4,0.221,0.077,1759,3482,3945,0,0,0,0,0,0
$GC,406,-2.20,-146.6,17.1,-20.6,68,413,0.00,2.20,0.00,0.000,6,0.000,0.065,1759,2061,3945,0,0,0,0,0,0
$GC,480,-2.20,-146.6,35.9,-25.5,81,487,0.00,2.28,0.00,0.000,4,0.000,0.077,1748,3475,3945,0,0,0,0,0,0
$GC,739,-2.20,-146.6,97.4,-24.0,127,746,0.10,2.20,0.00,0.000,6,0.189,0.065,1770,2065,3945,0,0,0,0,0,0
$GC,881,-2.20,-146.6,127.5,-20.6,152,888,0.00,2.28,0.00,0.000,4,0.000,0.074,1761,3483,3945,0,0,0,0,0,0
$GC,972,-2.20,-146.6,147.2,-21.5,168,979,0.00,2.20,0.00,0.000,6,0.000,0.065,1761,2057,3945,0,0,0,0,0,0
$STATE,983,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,984,begin apogee
$GC,987,-0.50,0.0,150.0,21.2,170,1107,1.23,0.00,111.40,0.884,6,0.149,0.000,2137,2057,3446,0,0,0,0,0,0
$STATE,1108,end apogee,CONTROL_FINISHED_OK
$STATE,1108,begin climb
$GC,1109,2.20,146.6,158.5,0.0,191,1231,1.70,2.40,112.57,0.862,4,0.084,0.082,2756,660,2949,0,0,0,0,0,0
$GC,1484,2.44,346.4,157.9,0.6,257,1645,0.10,2.22,150.75,0.859,6,0.127,0.062,2794,2084,2272,0,0,0,0,0,0
$GC,1780,2.44,346.4,140.5,12.8,309,1787,0.00,2.28,0.00,0.000,4,0.000,0.074,2805,658,2273,0,0,0,0,0,0
$GC,1972,2.44,346.4,116.7,12.3,343,1980,0.10,2.17,0.00,0.000,6,0.189,0.062,2782,2066,2273,0,0,0,0,0,0
$GC,2115,2.44,346.4,101.3,10.8,368,2122,0.00,2.22,0.00,0.000,4,0.000,0.079,2782,3462,2272,0,0,0,0,0,0
$GC,2296,2.44,346.4,80.4,11.0,400,2303,0.00,2.15,0.00,0.000,6,0.000,0.062,2791,2055,2273,0,0,0,0,0,0
$GC,2438,2.44,346.4,65.5,11.8,425,2445,0.00,2.20,0.00,0.000,4,0.000,0.074,2802,655,2273,0,0,0,0,0,0
$GC,2636,2.44,346.4,45.4,10.6,460,2643,0.00,2.15,0.00,0.000,6,0.000,0.060,2802,2064,2273,0,0,0,0,0,0
$GC,2779,2.46,359.8,31.1,9.4,485,2797,0.00,2.22,11.68,0.723,4,0.000,0.074,2812,658,2226,0,0,0,0,0,0
$STATE,3027,end climb,SURFACE_DEPTH_REACHED
$STATE,3027,begin surface coast
$FINISH,1.5,1.014307
$STATE,3079,end surface coast,CONTROL_FINISHED_OK
$STATE,3079,begin surface
$SM_CCo,3095,179.23,0.770,0,0,1413,600.14
$SM_GC,1.00,0.00,0.00,179.23,0.000,0.000,0.770,114,2075,1413,-9.83,0.37,600.14
$IRIDIUM_FIX,4716.56,-12232.43,120411,181803
$TT8_MAMPS,0.021721
$HUMID,39.60
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,5.8
$ALTIM_BOTTOM_PING,121.2,38.4
$24V_AH,23.8,1.829
$10V_AH,10.4,2.088
$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,17.500,35.675,386.400,179.225,0.000,0.000,0.000,0.000,4.000,0.000,35.563,990.213,712.633,808.746,819.893,35.630,30.072,1310.538,0.000,779.148,0.000,25.464,0.000
$DEVICE_MAMPS,220.987,81.939,883.948,769.730,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323844
$DATA_FILE_SIZE,26915,538
$CAP_FILE_SIZE,81860,0
$CFSIZE,260165632,253554688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120411,190516,4743.143,-12223.584,12,2.3,31,18.2