version: 66.12
glider: 36
mission: 20
dive: 92
start: 10 7 115 2 49 27
data:
$ID,36
$MISSION,20
$DIVE,92
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,2060
$T_ABORT,2120
$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,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,2
$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,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,12
$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,0.15530001
$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,72
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2340
$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,1
$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,500
$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
$GPS1,071015,024346,3927.3645,-6930.3813,12,1.3,52,-15.4,1.6,262.5,7,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-61.2
$GPS2,071015,024846,3927.3562,-6930.4365,11,1.3,51,-15.4,0.8,241.6,7,4.9
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,9004
$TGT_LATLONG,3954.360,-6955.800
$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,339.6,61640,-16.6,-10.000,-19.35,3122
$D_GRID,180
$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,15,-0.86,-146.6,180,1690,312,315,0.0,0.0,0,151,0.00,0.00,-134.15,0.099,16386,0.000,0.000,161,1684,2336,2171,2501,0,0,0,0,1,0,26.75,28.83,26.09
$GC,153,-0.86,-146.6,160,1684,2172,2501,3.2,-0.9,13,197,10.70,2.08,-26.95,0.104,18692,0.248,0.050,2862,3091,2845,2696,2994,0,0,0,0,0,0,25.30,26.10,25.68
$GC,349,-0.27,-146.6,2861,3091,2696,2994,32.5,-9.2,30,360,0.62,2.03,0.00,0.000,3078,0.161,0.045,3059,1673,2845,2697,2993,0,0,0,0,0,0,25.79,26.43,25.90
$GC,660,-0.34,-146.6,3059,1674,2698,2987,52.1,-5.4,54,661,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1673,2842,2698,2987,0,0,0,0,0,0,26.79,26.81,26.80
$GC,960,-0.41,-146.6,3059,1674,2698,2983,70.7,-6.3,74,966,0.00,2.03,0.00,0.000,4356,0.000,0.052,3052,3085,2840,2698,2983,0,0,0,0,0,0,26.82,26.46,26.82
$GC,1140,-0.48,-146.6,3051,3085,2699,2982,82.8,-6.6,85,1145,0.05,1.92,0.00,0.000,5126,0.164,0.045,2975,1698,2840,2699,2982,0,0,0,0,0,0,26.42,26.54,26.48
$GC,1460,-0.48,-146.6,2975,1698,2699,2978,113.9,-9.9,106,1467,0.00,2.00,0.00,0.000,516,0.000,0.057,2975,316,2838,2699,2978,0,0,0,0,0,0,26.80,26.43,26.82
$GC,1565,-0.48,-146.6,2975,316,2698,2978,125.8,-10.7,112,1574,0.00,1.95,0.00,0.000,1030,0.000,0.042,2966,1744,2838,2698,2978,0,0,0,0,0,0,26.58,26.56,26.58
$GC,1874,-0.48,-146.6,2966,1744,2698,2976,160.0,-10.5,130,1880,0.00,1.85,0.00,0.000,260,0.000,0.052,2956,3041,2836,2698,2975,0,0,0,0,0,0,26.79,26.46,26.82
$GC,1955,-0.48,-146.6,2956,3041,2698,2973,166.8,-10.6,132,1959,0.12,1.88,0.00,0.000,3078,0.164,0.045,2995,1689,2835,2698,2973,0,0,0,0,0,0,26.18,26.53,26.30
$STATE,2081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2081,begin apogee
$GC,2085,-0.24,0.0,2996,1502,2698,2973,182.1,-10.7,136,2186,0.22,0.00,98.43,1.073,10246,0.142,0.000,3076,1502,2339,2206,2472,0,0,0,0,0,0,26.17,25.10,24.04
$STATE,2187,end apogee,CONTROL_FINISHED_OK
$STATE,2187,begin climb
$GC,2188,0.86,146.6,3076,1502,2206,2472,188.9,0.0,139,2293,0.90,1.98,90.25,1.045,10756,0.119,0.062,3384,230,1832,1688,1977,0,0,0,0,0,0,25.39,25.08,24.06
$GC,2335,0.86,146.6,3384,229,1683,1977,188.0,2.0,144,2339,0.00,1.75,0.00,0.000,3078,0.000,0.042,3384,1550,1830,1683,1977,0,0,0,0,0,0,26.02,26.01,26.03
$GC,2661,1.08,369.8,3384,1560,1668,1976,179.2,2.7,155,2868,0.15,0.00,198.10,1.055,10502,0.084,0.000,3507,1560,1062,1039,1086,0,0,0,0,0,0,26.46,25.02,24.12
$GC,3168,1.08,369.8,3508,1560,1033,1083,130.5,10.6,177,3174,0.00,1.92,0.00,0.000,516,0.000,0.057,3517,229,1058,1033,1084,0,0,0,0,0,0,26.64,26.32,26.66
$GC,3218,1.08,369.8,3517,229,1029,1083,125.0,11.1,180,3222,0.00,1.62,0.00,0.000,1030,0.000,0.042,3517,1457,1056,1028,1084,0,0,0,0,0,0,26.51,26.49,26.53
$GC,3535,1.08,369.8,3517,1513,1029,1083,90.5,10.8,201,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,1513,1056,1029,1083,0,0,0,0,0,0,26.74,26.77,26.77
$GC,3835,1.08,369.8,3517,1513,1028,1083,58.4,10.7,221,3841,0.00,1.88,0.00,0.000,516,0.000,0.060,3525,226,1056,1029,1083,0,0,0,0,0,0,26.77,26.42,26.79
$GC,3867,1.08,369.8,3525,225,1029,1083,54.9,10.8,223,3871,0.00,1.67,0.00,0.000,1030,0.000,0.042,3525,1545,1056,1028,1084,0,0,0,0,0,0,26.61,26.58,26.62
$GC,4181,1.14,369.8,3525,1546,1029,1083,29.0,8.5,249,4185,0.00,1.77,0.00,0.000,260,0.000,0.050,3525,2809,1056,1029,1083,0,0,0,0,0,0,26.77,26.48,26.79
$GC,4252,1.23,460.0,3525,2809,1029,1083,24.3,7.0,255,4345,0.00,1.85,81.85,0.939,9222,0.000,0.047,3530,1515,752,721,784,0,0,0,0,0,0,26.55,26.51,24.37
$STATE,4493,end climb,SURFACE_DEPTH_REACHED
$STATE,4493,begin surface coast
$FINISH,1.1,1.022418
$STATE,4524,end surface coast,CONTROL_FINISHED_OK
$STATE,4524,begin surface
$SM_CCo,4600,0.00,0.000,0,0,745,463.33
$SM_GC,1.89,8.50,0.08,0.00,0.052,0.117,0.000,182,1707,745,-9.18,-4.81,463.33,0,0,0,0,0,0,26.29,26.41,26.33
$IRIDIUM_FIX,3913.52,-6931.21,020808,155508
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.31
$INTERNAL_PRESSURE,8.92684
$TCM_TEMP,18.10
$XPDR_PINGS,0
$24V_AH,24.04,62.609
$10V_AH,10.12,28.724
$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,21.275,30.500,468.625,0.000,161.100,0.000,0.000,0.000,0.000,0.000,52.524,809.729,2157.154,521.827,1204.922,30.219,0.000,980.443,0.000,1152.833,0.000,1.015,0.000
$DEVICE_MAMPS,248.300,129.116,1072.656,0.000,104.286,0.000,0.000,0.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,186.279,917.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352888
$DATA_FILE_SIZE,16948,282
$CAP_FILE_SIZE,82676,1
$CFSIZE,1024409600,1000914944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.241,302.62,1
$GPS,071015,040734,3928.114,-6931.460,15,1.2,55,-15.4,0.3,1.7,7,4.7