version: 66.12
glider: 36
mission: 20
dive: 56
start: 8 27 115 1 50 25
data:
$ID,36
$MISSION,20
$DIVE,56
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$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,4000
$T_MISSION,4060
$T_ABORT,4120
$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,54
$R_STBD_OVSHOOT,191
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2300
$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
$GPS1,270815,013239,3337.4785,-6613.6143,42,1.2,82,-15.1,0.2,136.9,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-65.3
$GPS2,270815,014958,3337.6282,-6613.4717,15,1.3,55,-15.1,0.2,18.8,7,4.7
$SPEED_LIMITS,0.050,0.191
$TGT_NAME,9026N
$TGT_LATLONG,3347.100,-6559.700
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.064918,0.090508
$KALMAN_X,38105.968750,0.000000,0.000000,-199988.218750,6652.171875
$KALMAN_Y,2160.043945,0.000000,0.000000,203796.937500,-4034.836426
$MHEAD_RNG_PITCHd_Wd,50.8,27515,-20.8,-5.000,-24.18,1299
$D_GRID,6000
$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,16,-1.03,-42.7,132,1512,1178,1182,0.0,0.0,0,82,0.00,0.00,-64.32,0.102,16386,0.000,0.000,132,1512,2184,1997,2371,0,0,0,0,1,0,26.49,28.83,25.95
$GC,84,-1.04,-77.3,132,1513,1997,2371,3.1,-2.3,6,125,10.50,1.85,-23.45,0.104,18948,0.251,0.057,2808,291,2567,2361,2774,0,0,0,0,0,0,25.53,26.06,25.72
$GC,453,-0.80,-77.3,2808,291,2361,2773,51.4,-3.6,39,464,0.28,1.83,0.00,0.000,3078,0.196,0.045,2888,1626,2567,2361,2774,0,0,0,0,0,0,25.79,26.48,25.91
$GC,763,-0.68,-77.3,2886,1626,2361,2774,61.5,-5.7,70,774,0.10,1.90,0.00,0.000,2308,0.211,0.050,2917,2988,2567,2360,2774,0,0,0,0,0,0,26.17,26.29,26.22
$GC,856,-0.62,-113.5,2916,2988,2361,2774,64.2,-2.2,78,866,0.10,1.88,0.00,0.000,3078,0.191,0.047,2952,1647,2567,2360,2774,0,0,0,0,0,0,26.13,26.53,26.20
$STATE,1014,end dive,NO_VERTICAL_VELOCITY
$STATE,1014,begin apogee
$GC,1018,-0.24,0.0,2952,1460,2361,2774,65.1,0.0,94,1075,0.35,0.00,47.33,1.048,10246,0.161,0.000,3073,1459,2299,2100,2498,0,0,0,0,0,0,26.03,25.48,24.65
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1077,1.05,113.5,3072,1459,2100,2497,64.8,0.0,100,1166,1.15,1.98,76.25,1.033,10500,0.132,0.052,3467,2785,1907,1768,2047,0,0,0,0,0,0,25.61,24.92,24.35
$GC,1485,1.18,113.5,3467,2786,1767,2047,42.1,6.8,137,1495,0.08,1.85,0.00,0.000,3078,0.084,0.047,3568,1515,1907,1767,2047,0,0,0,0,0,0,26.21,26.31,26.25
$GC,1794,1.20,154.1,3567,1515,1767,2047,29.1,1.8,168,1845,0.10,1.90,42.08,1.011,12548,0.181,0.055,3530,2788,1767,1709,1825,0,0,0,0,0,0,26.23,25.31,24.73
$GC,2072,1.28,154.1,3530,2788,1709,1822,14.2,6.4,193,2083,0.00,1.85,0.00,0.000,1030,0.000,0.047,3536,1508,1765,1709,1822,0,0,0,0,0,0,26.35,26.31,26.36
$STATE,2251,end climb,SURFACE_DEPTH_REACHED
$STATE,2251,begin surface coast
$FINISH,1.2,1.011866
$STATE,2312,end surface coast,CONTROL_FINISHED_OK
$STATE,2312,begin surface
$SM_CCo,2327,77.45,1.013,0,0,1439,250.11
$SM_GC,1.93,8.38,0.00,77.45,0.052,0.000,1.013,185,1508,1439,-9.11,-5.43,250.11,0,0,0,0,0,0,26.44,26.72,24.51
$IRIDIUM_FIX,3259.60,-6616.63,200608,140110
$TT8_MAMPS,0.02247,0.02247
$HUMID,35.15
$INTERNAL_PRESSURE,9.21982
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.35,31.059
$10V_AH,10.05,19.793
$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,21.025,15.200,165.650,77.450,87.775,22.776,19.079,722.444,0.250,0.000,56.482,548.651,727.836,270.486,1725.063,48.686,0.606,622.722,0.000,901.505,0.000,1.022,0.000
$DEVICE_MAMPS,250.783,84.422,1047.826,1013.064,104.286,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,66.150,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,141.199,706.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329980
$DATA_FILE_SIZE,13568,217
$CAP_FILE_SIZE,51212,0
$CFSIZE,1024409600,1008353280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270815,023152,3337.983,-6613.155,8,1.8,48,-15.1,0.6,13.8,6,7.0