version: 66.07
glider: 35
mission: 8
dive: 33
start: 5 19 111 13 13 12
data:
$ID,35
$MISSION,8
$DIVE,33
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,6099
$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,100
$T_MISSION,120
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,6084
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,315
$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,841.31995
$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,-775464.69
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,172
$PITCH_MAX,3980
$C_PITCH,2475
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,4041
$ROLL_DEG,40
$C_ROLL_DIVE,1450
$C_ROLL_CLIMB,1450
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,191
$VBD_MAX,3888
$C_VBD,3041
$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,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,-1038.4044
$PRESSURE_SLOPE,0.00092600001
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,-1
$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,0.0043353452
$SEABIRD_T_H,0.00062385562
$SEABIRD_T_I,2.3002971e-05
$SEABIRD_T_J,2.38801e-06
$SEABIRD_C_G,-10.126381
$SEABIRD_C_H,1.14029
$SEABIRD_C_I,-0.0021114452
$SEABIRD_C_J,0.00024549942
$GPS1,180511,010816,4741.244,-12225.729,901,99.0,901,18.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,22.6
$GPS2,180511,010816,4741.244,-12225.729,901,99.0,901,18.2
$SPEED_LIMITS,0.100,0.307
$TGT_NAME,HEADING
$TGT_LATLONG,4748.880,-12237.100
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.232,0.077
$KALMAN_X,-1922.1,-554.8,-225.5,1405.8,-2510.3
$KALMAN_Y,-2524.6,-1140.6,-608.5,2622.1,-4003.9
$MHEAD_RNG_PITCHd_Wd,296.8,20000,-15.2,-10.000
$D_GRID,300
$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,14,-0.81,-244.4,0.0,0.0,0,185,0.00,0.00,-167.43,0.000,2,0.000,0.000,167,1443,1832,0,0,0,0,0,0
$GC,187,-0.81,-244.4,3.4,-4.5,24,366,7.60,2.22,-159.77,0.000,4,0.233,0.070,2207,2847,3868,0,0,0,0,0,0
$GC,599,-0.81,-244.4,3.4,0.2,94,606,0.00,2.17,0.00,0.000,6,0.000,0.062,2207,1450,3869,0,0,0,0,0,0
$GC,670,-0.81,-244.4,3.4,-1.0,107,678,0.00,2.20,0.00,0.000,4,0.000,0.067,2207,2850,3869,0,0,0,0,0,0
$GC,911,-0.81,-244.4,3.4,0.1,153,919,0.00,2.17,0.00,0.000,6,0.000,0.060,2207,1438,3869,0,0,0,0,0,0
$GC,983,-0.81,-244.4,3.3,0.1,166,991,0.00,2.20,0.00,0.000,4,0.000,0.067,2207,2842,3869,0,0,0,0,0,0
$GC,1224,-0.81,-244.4,3.4,-0.0,212,1232,0.00,2.15,0.00,0.000,6,0.000,0.062,2207,1449,3868,0,0,0,0,0,0
$GC,1296,-0.81,-244.4,3.4,0.2,225,1304,0.00,2.17,0.00,0.000,4,0.000,0.067,2208,2844,3868,0,0,0,0,0,0
$GC,1538,-0.81,-244.4,3.1,0.4,271,1546,0.00,2.15,0.00,0.000,6,0.000,0.062,2207,1453,3868,0,0,0,0,0,0
$GC,1609,-0.81,-244.4,3.2,0.1,284,1617,0.00,2.17,0.00,0.000,4,0.000,0.070,2207,2843,3868,0,0,0,0,0,0
$STATE,1624,end dive,NO_VERTICAL_VELOCITY
$STATE,1624,begin apogee
$GC,1630,-0.17,0.0,3.3,0.0,286,1640,0.57,0.00,7.10,0.658,2,0.087,0.000,2422,1438,3840,0,0,0,0,0,0
$STATE,1640,end apogee,SURFACE_DEPTH_REACHED
$STATE,1641,begin surface coast
$FINISH,3.5,1.020160
$STATE,1899,end surface coast,CONTROL_FINISHED_OK
$STATE,1899,begin surface
$SM_CCo,1901,720.00,0.742,0,1,535,739.77
$SM_CCo,2624,88.32,0.698,0,0,193,841.32
$SM_CCo,2757,-0.17,0.000,0,0,193,840.73
$SM_CCo,2760,0.05,0.271,0,0,189,841.62
$SM_GC,1.35,0.00,0.00,0.05,0.000,0.000,0.271,162,1430,189,-7.23,-0.54,841.62
$IRIDIUM_FIX,4732.49,-12231.22,180511,010143
$TT8_MAMPS,0.027713
$HUMID,94.81
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,4.0,5.0
$24V_AH,24.1,11.938
$10V_AH,10.4,6.172
$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,14.650,21.800,7.100,808.375,0.000,164.978,142.845,0.000,0.250,0.000,904.091,747.701,296.556,1059.446,2132.057,76.909,0.000,1444.309,0.000,937.475,0.000,2.596,0.000
$DEVICE_MAMPS,233.402,69.524,657.995,742.417,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.311,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,10120,337
$CAP_FILE_SIZE,98801,7
$CFSIZE,260165632,248041472
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$GPS,180511,010816,4741.244,-12225.729,901,99.0,901,18.2