version: 66.12
glider: 36
mission: 20
dive: 49
start: 8 16 115 17 1 20
data:
$ID,36
$MISSION,20
$DIVE,49
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,5400
$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,3000
$T_MISSION,3060
$T_ABORT,3120
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,12
$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,250
$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,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3150
$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,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,129
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2200
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,3000
$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
$GPS1,160815,165145,3218.6555,-6513.6450,37,1.0,77,-15.3,0.1,113.8,10,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.4
$GPS2,160815,170052,3218.5940,-6513.6553,16,1.0,56,-15.3,0.2,202.0,10,4.1
$SPEED_LIMITS,0.060,0.205
$TGT_NAME,BDA_W
$TGT_LATLONG,3220.000,-6511.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.014063,-0.058329
$KALMAN_X,37632.246094,0.000000,0.000000,-104667.804688,4548.699219
$KALMAN_Y,-192.645508,0.000000,0.000000,59996.742188,4546.523438
$MHEAD_RNG_PITCHd_Wd,208.9,4903,-43.2,-6.000,-45.00,359
$D_GRID,5400
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-2.11,-14.0,182,1673,1338,1333,0.0,0.0,0,61,0.00,0.00,-43.72,0.102,16386,0.000,0.000,182,1672,1987,1804,2170,0,0,0,0,0,0,26.33,28.83,26.35
$GC,63,-2.11,-14.0,182,1672,1804,2171,3.1,-3.1,4,94,9.00,2.08,-16.52,0.109,18692,0.251,0.047,2464,3055,2249,2024,2475,0,0,0,0,0,0,25.46,25.94,25.79
$GC,288,-2.04,-14.0,2464,3055,2024,2473,25.7,-13.3,24,299,0.12,1.95,0.00,0.000,3078,0.231,0.047,2495,1660,2248,2023,2473,0,0,0,0,0,0,25.67,26.22,25.81
$GC,598,-2.04,-39.0,2495,1660,2023,2473,33.5,1.1,55,608,0.00,0.00,-1.62,0.199,16390,0.000,0.000,2495,1660,2340,2112,2569,0,0,0,0,0,0,26.62,26.24,26.11
$GC,909,-2.05,-58.6,2495,1660,2112,2569,37.7,-0.4,86,918,0.00,0.00,-1.05,0.256,16390,0.000,0.000,2495,1660,2407,2177,2637,0,0,0,0,0,0,26.70,26.31,26.20
$GC,1218,-2.06,-83.1,2495,1660,2178,2637,43.3,1.0,117,1229,0.00,1.98,-1.17,0.221,16644,0.000,0.047,2488,3057,2492,2263,2721,0,0,0,0,0,0,26.76,26.30,26.23
$GC,1377,-2.06,-96.3,2487,3057,2264,2721,47.8,-2.2,131,1388,0.00,1.88,-0.57,0.375,17414,0.000,0.047,2488,1705,2537,2307,2768,0,0,0,0,0,0,26.56,26.53,26.25
$GC,1687,-2.07,-117.6,2488,1705,2307,2768,56.2,0.1,162,1698,0.00,1.95,0.00,0.000,260,0.000,0.050,2479,3054,2537,2307,2768,0,0,0,0,0,0,26.81,26.52,26.82
$STATE,1710,end dive,NO_VERTICAL_VELOCITY
$STATE,1710,begin apogee
$GC,1716,-0.24,0.0,2479,1504,2307,2768,56.1,0.0,164,1782,2.05,0.00,59.72,1.033,10246,0.209,0.000,3069,1503,2198,1979,2417,0,0,0,0,0,0,25.91,25.31,24.52
$STATE,1783,end apogee,CONTROL_FINISHED_OK
$STATE,1783,begin climb
$GC,1784,2.14,117.6,3069,1503,1980,2417,55.1,0.0,171,1893,2.12,2.00,96.60,1.011,10756,0.114,0.062,3833,209,1793,1739,1847,0,0,0,0,0,0,25.45,24.75,24.20
$GC,2134,2.28,117.6,3833,209,1738,1846,6.0,13.7,203,2144,0.08,1.73,0.00,0.000,3078,0.134,0.042,3871,1543,1792,1738,1846,0,0,0,0,0,0,26.01,26.17,26.08
$STATE,2162,end climb,SURFACE_DEPTH_REACHED
$STATE,2162,begin surface coast
$FINISH,1.5,0.996591
$STATE,2183,end surface coast,CONTROL_FINISHED_OK
$STATE,2183,begin surface
$SM_CCo,2199,108.43,0.996,0,0,1339,250.11
$SM_GC,2.19,9.88,0.00,108.43,0.082,0.000,0.996,199,1546,1339,-9.11,-4.35,250.11,0,0,0,0,0,0,26.08,26.41,24.26
$IRIDIUM_FIX,3158.24,-6518.83,110608,125150
$TT8_MAMPS,0.023968,0.023968
$HUMID,32.94
$INTERNAL_PRESSURE,9.12216
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.20,27.445
$10V_AH,10.16,17.205
$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,23.250,15.800,156.325,108.425,64.675,23.636,20.622,326.330,0.250,0.000,57.295,530.760,717.179,286.942,1253.714,35.336,0.603,601.099,0.000,820.517,0.000,1.018,0.000
$DEVICE_MAMPS,250.783,62.075,1032.928,995.683,374.933,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,135.882,676.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329456
$DATA_FILE_SIZE,13620,208
$CAP_FILE_SIZE,40736,0
$CFSIZE,1024409600,1010335744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160815,174122,3218.472,-6513.685,19,1.1,59,-15.3,0.0,0.0,10,4.4