version: 66.12
glider: 36
mission: 18
dive: 3
start: 3 8 115 20 45 6
data:
$ID,36
$MISSION,18
$DIVE,3
$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,3720
$T_TURN,540
$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,550
$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,30
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$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,3250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,22
$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,45
$C_ROLL_DIVE,187
$C_ROLL_CLIMB,187
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,72
$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,-978.6759
$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
$GPS1,080315,204013,3219.9966,-6435.3521,14,1.6,14,-15.5,0.2,121.2,4,12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.8
$GPS2,080315,204419,3219.9543,-6435.3848,13,1.6,13,-15.5,0.0,0.0,4,12.0
$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,170.9,20276,-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,15,-0.56,-244.3,207,206,289,525,0.0,0.0,0,181,0.00,0.00,-164.00,0.099,16386,0.000,0.000,207,206,3113,3013,3214,0,0,0,0,0,0,26.75,28.83,26.77
$GC,184,-0.56,-244.3,206,206,3013,3214,3.7,-3.3,16,201,11.48,0.00,-0.90,0.278,18438,0.271,0.000,3066,203,3143,3035,3252,0,0,0,0,0,0,26.04,26.34,26.19
$GC,500,-0.56,-244.3,3066,203,3035,3253,42.8,-11.0,48,501,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,203,3143,3034,3253,0,0,0,0,0,0,26.80,26.82,26.82
$GC,801,-0.56,-244.3,3066,203,3034,3253,72.2,-8.5,78,802,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,203,3144,3035,3253,0,0,0,0,0,0,26.89,26.91,26.91
$GC,1101,-0.56,-244.3,3066,203,3035,3253,100.9,-7.8,108,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,203,3143,3034,3253,0,0,0,0,0,0,26.93,26.96,26.95
$GC,1400,-0.56,-244.3,3066,203,3035,3252,132.9,-10.6,138,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,203,3144,3035,3253,0,0,0,0,0,0,26.96,26.98,26.98
$STATE,1570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1570,begin apogee
$GC,1573,-0.23,0.0,3066,203,3034,3252,150.4,-11.0,155,1743,0.32,0.00,166.48,0.931,10246,0.134,0.000,3184,203,2300,2211,2390,0,0,0,0,0,0,26.58,25.15,24.51
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1745,0.56,244.3,3183,203,2210,2390,158.5,0.0,163,1916,0.65,0.00,166.88,0.916,10246,0.117,0.000,3414,203,1458,1365,1551,0,0,0,0,0,0,25.27,25.08,24.46
$GC,2210,0.56,244.3,3414,203,1365,1551,131.1,8.3,200,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,203,1458,1365,1551,0,0,0,0,0,0,26.55,26.58,26.57
$GC,2511,0.56,244.3,3414,203,1365,1551,106.5,7.0,230,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,203,1457,1364,1551,0,0,0,0,0,0,26.76,26.78,26.77
$GC,2812,0.56,244.3,3414,203,1365,1551,83.1,6.9,260,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,203,1458,1365,1551,0,0,0,0,0,0,26.85,26.87,26.87
$GC,3122,0.56,244.3,3414,203,1365,1551,60.0,6.9,291,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,203,1458,1365,1551,0,0,0,0,0,0,26.91,26.93,26.93
$GC,3432,0.56,244.3,3413,203,1365,1551,37.3,6.9,322,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,203,1458,1365,1551,0,0,0,0,0,0,26.94,26.96,26.96
$GC,3742,0.56,244.3,3414,203,1365,1551,15.3,6.4,353,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,203,1458,1365,1551,0,0,0,0,0,0,26.96,26.99,26.98
$STATE,3929,end climb,SURFACE_DEPTH_REACHED
$STATE,3929,begin surface coast
$FINISH,0.4,1.013922
$STATE,3981,end surface coast,CONTROL_FINISHED_OK
$STATE,3981,begin surface
$SM_CCo,3995,210.07,0.824,0,0,405,550.19
$SM_GC,1.22,8.07,0.00,210.07,0.060,0.000,0.824,198,203,405,-9.44,0.45,550.19,0,0,0,0,0,0,26.72,26.99,24.60
$IRIDIUM_FIX,3208.42,-6436.80,030108,100326
$TT8_MAMPS,0.023219,0.023219
$HUMID,39.36
$INTERNAL_PRESSURE,8.98544
$TCM_TEMP,20.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.3,18.7
$24V_AH,24.46,3.682
$10V_AH,10.46,3.192
$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,20.525,0.375,333.350,210.075,164.900,0.000,0.000,0.000,3.000,0.000,14.209,887.371,1441.123,634.483,1297.775,29.002,0.000,1008.877,0.000,1290.064,0.000,12.081,0.000
$DEVICE_MAMPS,270.647,72.007,931.125,824.356,278.096,0.000,0.000,0.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.851,1228.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330420
$DATA_FILE_SIZE,20232,377
$CAP_FILE_SIZE,68979,9
$CFSIZE,1024409600,1019150336
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1571.63,0x238a9a,2,5
$INTR,1,3984.24,0x238a9a,7,5
$GPS,080315,204419,3219.954,-6435.385,901,99.0,901,-15.5,0.0,0.0,4,12.0