version: 66.12
glider: 36
mission: 18
dive: 6
start: 3 9 115 2 3 24
data:
$ID,36
$MISSION,18
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$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,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,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,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,3220
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,24
$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,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,91
$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
$GPS1,090315,015836,3218.0471,-6436.1284,26,1.9,27,-15.5,0.2,336.7,5,14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.7
$GPS2,090315,020301,3218.0466,-6436.1655,14,1.8,14,-15.5,0.2,185.4,7,14.0
$SPEED_LIMITS,0.100,0.245
$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,162.5,17763,-19.7,-10.000,-22.23,2234
$D_GRID,360
$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,-0.87,-146.6,183,1896,986,1202,0.0,0.0,0,121,0.00,0.00,-103.78,0.102,16390,0.000,0.000,183,1896,2805,2703,2908,0,0,0,0,0,0,26.44,26.19,26.10
$GC,124,-0.87,-146.6,182,1896,2703,2908,3.0,-1.9,10,144,10.77,2.30,0.00,0.000,2308,0.261,0.057,2926,3445,2807,2704,2910,0,0,0,0,0,0,25.86,26.09,26.01
$GC,326,-0.87,-146.6,2926,3445,2704,2910,32.3,-13.3,28,336,0.00,2.22,0.00,0.000,1030,0.000,0.050,2927,1893,2807,2704,2910,0,0,0,0,0,0,26.41,26.39,26.42
$GC,636,-0.87,-146.6,2926,1893,2704,2910,74.2,-13.7,59,647,0.00,2.30,0.00,0.000,516,0.000,0.062,2927,335,2807,2704,2910,0,0,0,0,0,0,26.77,26.50,26.79
$GC,761,-0.87,-146.6,2927,335,2704,2910,92.5,-14.3,70,771,0.00,2.15,0.00,0.000,1030,0.000,0.050,2916,1894,2807,2704,2910,0,0,0,0,0,0,26.62,26.60,26.63
$GC,1071,-0.87,-146.6,2916,1894,2704,2910,134.8,-14.7,101,1081,0.00,2.28,0.00,0.000,516,0.000,0.062,2916,338,2807,2704,2910,0,0,0,0,0,0,26.87,26.60,26.89
$GC,1382,-0.87,-146.6,2916,338,2704,2910,183.1,-15.3,120,1387,0.10,2.22,0.00,0.000,3078,0.184,0.047,2937,1897,2806,2703,2910,0,0,0,0,0,0,26.48,26.70,26.57
$GC,1701,-0.87,-146.6,2937,1898,2704,2910,224.0,-12.5,136,1707,0.00,2.30,0.00,0.000,516,0.000,0.062,2937,333,2807,2704,2910,0,0,0,0,0,0,26.94,26.66,26.96
$GC,2263,-0.87,-146.6,2937,333,2704,2910,295.4,-12.8,162,2268,0.00,2.22,0.00,0.000,1030,0.000,0.047,2929,1902,2807,2704,2910,0,0,0,0,0,0,26.77,26.76,26.79
$GC,2573,-0.87,-146.6,2928,1902,2704,2910,332.7,-12.3,173,2579,0.00,2.33,0.00,0.000,516,0.000,0.062,2929,328,2807,2704,2910,0,0,0,0,0,0,26.94,26.70,26.96
$STATE,2762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2763,begin apogee
$GC,2768,-0.21,0.0,2917,1909,2704,2910,360.6,-15.0,179,2874,0.70,0.00,101.95,1.055,10246,0.149,0.000,3153,1909,2300,2222,2378,0,0,0,0,0,0,26.56,25.13,24.43
$STATE,2874,end apogee,CONTROL_FINISHED_OK
$STATE,2875,begin climb
$GC,2876,0.87,146.6,3153,1909,2223,2378,366.5,0.0,182,2988,0.90,2.50,101.93,1.045,10500,0.099,0.065,3486,3464,1794,1716,1873,0,0,0,0,0,0,25.29,25.01,24.30
$GC,3149,0.87,146.6,3486,3464,1716,1873,348.3,10.9,191,3158,0.00,2.35,0.00,0.000,1030,0.000,0.050,3497,1890,1795,1716,1874,0,0,0,0,0,0,26.12,26.09,26.13
$GC,3458,0.87,146.6,3497,1890,1716,1873,308.4,12.7,202,3463,0.00,2.35,0.00,0.000,260,0.000,0.060,3498,3457,1794,1716,1873,0,0,0,0,0,0,26.64,26.39,26.65
$GC,3717,0.87,146.6,3497,3456,1716,1873,276.3,12.7,213,3721,0.00,2.28,0.00,0.000,1030,0.000,0.050,3508,1904,1795,1716,1874,0,0,0,0,0,0,26.55,26.53,26.58
$GC,4033,0.87,146.6,3508,1904,1716,1873,240.0,11.5,229,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1904,1794,1716,1873,0,0,0,0,0,0,26.84,26.86,26.86
$GC,4333,0.87,146.6,3508,1904,1716,1874,206.5,9.8,244,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1904,1795,1716,1874,0,0,0,0,0,0,26.89,26.91,26.91
$GC,4633,0.87,146.6,3508,1904,1716,1874,174.8,10.9,259,4638,0.00,2.28,0.00,0.000,260,0.000,0.060,3508,3458,1794,1716,1873,0,0,0,0,0,0,26.92,26.66,26.94
$GC,4744,0.87,146.6,3507,3458,1716,1873,162.5,11.8,264,4748,0.00,2.28,0.00,0.000,1030,0.000,0.050,3517,1899,1794,1716,1873,0,0,0,0,0,0,26.73,26.71,26.74
$GC,5058,0.87,146.6,3516,1898,1716,1873,125.2,11.5,290,5068,0.00,2.30,0.00,0.000,260,0.000,0.060,3517,3456,1794,1716,1873,0,0,0,0,0,0,26.96,26.69,26.97
$GC,5364,0.87,146.6,3517,3456,1716,1873,90.9,11.8,317,5374,0.00,2.28,0.00,0.000,1030,0.000,0.050,3528,1893,1794,1716,1873,0,0,0,0,0,0,26.76,26.74,26.78
$GC,5675,0.87,146.6,3528,1893,1715,1873,52.6,11.9,348,5685,0.00,2.30,0.00,0.000,260,0.000,0.060,3528,3463,1794,1716,1873,0,0,0,0,0,0,26.98,26.71,26.99
$GC,5995,0.87,146.6,3528,3463,1716,1873,12.3,12.2,376,6006,0.12,2.28,0.00,0.000,5126,0.171,0.050,3499,1891,1794,1716,1873,0,0,0,0,0,0,26.55,26.76,26.65
$STATE,6083,end climb,SURFACE_DEPTH_REACHED
$STATE,6083,begin surface coast
$FINISH,0.6,1.025903
$STATE,6105,end surface coast,CONTROL_FINISHED_OK
$STATE,6105,begin surface
$SM_CCo,6119,135.00,0.827,0,0,1094,350.04
$SM_GC,1.43,8.20,0.00,135.00,0.055,0.000,0.827,191,1891,1094,-9.33,-0.25,350.04,0,0,0,0,0,0,26.74,27.01,24.65
$IRIDIUM_FIX,3205.87,-6436.80,030108,133025
$TT8_MAMPS,0.02247,0.02247
$HUMID,38.85
$INTERNAL_PRESSURE,9.01473
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.3
$24V_AH,24.30,4.035
$10V_AH,10.55,3.359
$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,20.800,45.750,203.875,135.000,103.775,26.063,41.517,115.716,7.000,0.000,15.485,1058.277,2945.620,425.535,2058.323,46.534,0.000,1043.808,0.000,1816.462,0.000,45.108,0.000
$DEVICE_MAMPS,260.715,64.558,1055.275,826.839,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.343,1261.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330348
$DATA_FILE_SIZE,23589,387
$CAP_FILE_SIZE,70233,0
$CFSIZE,1024409600,1018953728
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6992.04,0x238a9a,7,5
$INTR,1,6107.71,0x238a9a,7,5
$GPS,090315,034854,3217.185,-6435.650,40,1.6,41,-15.5,0.4,332.0,6,12.4