version: 66.12
glider: 36
mission: 20
dive: 5
start: 7 3 115 15 59 57
data:
$ID,36
$MISSION,20
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,5500
$D_NO_BLEED,50
$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,65
$T_MISSION,70
$T_ABORT,2880
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$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,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,190
$C_ROLL_CLIMB,190
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,107
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$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,30
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,030715,155452,3221.0417,-6435.9165,11,1.0,51,-15.5,0.0,0.0,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.7
$GPS2,030715,155910,3221.0618,-6435.9087,11,1.0,51,-15.5,0.2,69.7,8,4.5
$SPEED_LIMITS,0.287,0.297
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,171.2,22483,-10.8,-7.692,-14.52,5582
$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,14,-0.60,-244.3,201,183,1201,1386,0.0,0.0,0,121,0.00,0.00,-104.47,0.099,16386,0.000,0.000,201,183,3040,2944,3137,0,0,0,0,0,0,26.80,28.83,26.82
$GC,124,-0.60,-244.3,201,183,2944,3138,3.7,-3.9,10,151,11.27,0.00,-9.48,0.114,18438,0.258,0.000,3103,181,3343,3288,3399,0,0,0,0,0,0,26.05,26.36,26.22
$GC,450,-0.60,-244.3,3103,182,3288,3398,41.9,-8.5,43,451,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,181,3343,3288,3398,0,0,0,0,0,0,26.87,26.89,26.89
$GC,751,-0.60,-244.3,3102,182,3287,3398,68.0,-8.7,73,752,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,182,3343,3288,3398,0,0,0,0,0,0,26.94,26.96,26.95
$GC,1051,-0.60,-244.3,3103,181,3287,3398,95.6,-9.4,103,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,181,3342,3287,3398,0,0,0,0,0,0,26.97,26.99,26.98
$GC,1352,-0.60,-244.3,3103,181,3286,3397,124.6,-9.3,133,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,181,3341,3286,3397,0,0,0,0,0,0,26.98,27.01,27.00
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1653,-0.24,0.0,3102,182,3284,3397,150.7,-7.7,163,1830,0.35,0.00,167.48,1.030,10246,0.139,0.000,3227,181,2499,2395,2604,0,0,0,0,0,0,26.53,25.22,24.51
$STATE,1831,end apogee,CONTROL_FINISHED_OK
$STATE,1831,begin climb
$GC,1833,0.60,244.3,3227,181,2395,2604,155.9,0.0,172,2001,0.70,0.00,159.00,0.986,10246,0.112,0.000,3475,181,1657,1492,1822,0,0,0,0,0,0,25.48,24.87,24.35
$GC,2300,0.60,244.3,3474,181,1492,1821,115.0,9.7,213,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,181,1656,1492,1821,0,0,0,0,0,0,26.66,26.68,26.68
$GC,2602,0.60,244.3,3474,181,1492,1821,90.5,8.6,243,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,181,1656,1492,1821,0,0,0,0,0,0,26.83,26.85,26.84
$GC,2912,0.60,244.3,3475,181,1492,1821,67.3,7.2,274,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,181,1656,1492,1821,0,0,0,0,0,0,26.90,26.93,26.92
$GC,3222,0.60,244.3,3474,181,1492,1821,47.3,6.4,305,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,181,1656,1492,1821,0,0,0,0,0,0,26.94,26.96,26.96
$GC,3532,0.60,244.3,3474,181,1492,1821,26.2,7.0,336,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,181,1656,1492,1821,0,0,0,0,0,0,26.97,26.98,26.98
$GC,3842,0.60,244.3,3475,181,1492,1821,8.2,6.3,367,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,181,1656,1492,1821,0,0,0,0,0,0,26.98,27.00,27.00
$STATE,3929,end climb,SURFACE_DEPTH_REACHED
$STATE,3929,begin surface coast
$FINISH,0.1,0.998515
$STATE,3970,end surface coast,CONTROL_FINISHED_OK
$STATE,3970,begin surface
$SM_CCo,3985,92.57,0.906,0,0,1295,350.04
$SM_GC,1.22,8.20,0.00,92.57,0.062,0.000,0.906,196,181,1295,-9.57,-0.25,350.04,0,0,0,0,0,0,26.72,27.01,24.64
$IRIDIUM_FIX,3208.42,-6439.11,290408,051730
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.34
$INTERNAL_PRESSURE,9.21005
$TCM_TEMP,23.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,18.7
$24V_AH,24.35,8.234
$10V_AH,10.36,5.685
$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,20.525,0.350,326.475,92.575,113.950,0.000,0.000,0.000,2.750,0.000,52.255,896.473,1441.999,486.642,1346.651,28.479,0.000,861.361,0.000,1299.926,0.000,12.493,0.000
$DEVICE_MAMPS,258.232,69.524,1030.445,906.295,114.218,0.000,0.000,0.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,250.809,1237.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330404
$DATA_FILE_SIZE,23638,380
$CAP_FILE_SIZE,50109,9
$CFSIZE,1024409600,1019379712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030715,170910,3220.943,-6436.049,10,1.0,50,-15.5,0.2,256.0,8,3.9