version: 66.12
glider: 37
mission: 22
dive: 4
start: 8 28 115 13 50 55
data:
$ID,37
$MISSION,22
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,70
$T_ABORT,2880
$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
$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,78758
$MASS_COMP,9226.7002
$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,9
$N_NOCOMM,1
$NOCOMM_ACTION,256
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,3200
$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,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,95
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$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,-1069.0311
$PRESSURE_SLOPE,0.00091968128
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,50
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$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,1.75
$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,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,280815,134640,3219.4094,-6437.4907,2,0.9,7,-14.9,0.6,234.5,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.2
$GPS2,280815,135032,3219.3645,-6437.5103,4,0.9,11,-14.9,0.0,0.0,10,9.1
$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,160.7,20962,-19.7,-10.000,-22.23,2234
$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,-0.94,-146.6,157,2009,363,473,0.0,0.0,0,181,0.00,0.00,-163.65,0.142,16386,0.000,0.000,157,2010,2770,2756,2785,0,0,0,0,0,0,27.12,28.83,27.13
$GC,184,-0.94,-146.6,157,2009,2756,2785,3.1,-2.8,16,205,11.62,2.20,-1.35,0.447,18692,0.298,0.062,2882,3548,2805,2792,2819,0,0,0,0,0,0,26.16,26.48,26.35
$GC,535,-0.94,-146.6,2882,3548,2791,2819,45.0,-4.2,47,545,0.00,2.15,0.00,0.000,1030,0.000,0.050,2883,1927,2805,2792,2819,0,0,0,0,0,0,26.93,26.91,26.94
$GC,845,-0.94,-146.6,2882,1927,2792,2819,61.8,-5.7,78,855,0.00,2.30,0.00,0.000,260,0.000,0.062,2870,3548,2806,2793,2819,0,0,0,0,0,0,27.20,26.91,27.22
$GC,1183,-0.94,-146.6,2870,3548,2792,2819,85.9,-6.6,108,1193,0.00,2.10,0.00,0.000,1030,0.000,0.050,2870,1938,2805,2792,2819,0,0,0,0,0,0,27.03,27.02,27.05
$GC,1493,-0.94,-146.6,2869,1938,2792,2818,109.1,-8.1,139,1503,0.00,2.28,0.00,0.000,260,0.000,0.062,2858,3548,2804,2790,2818,0,0,0,0,0,0,27.26,26.95,27.27
$GC,1575,-0.94,-146.6,2858,3548,2790,2818,115.8,-8.5,146,1585,0.12,2.17,0.00,0.000,3078,0.181,0.047,2899,1910,2804,2790,2818,0,0,0,0,0,0,26.67,27.03,26.76
$GC,1885,-0.94,-146.6,2899,1911,2788,2818,137.2,-7.3,177,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1911,2803,2789,2818,0,0,0,0,0,0,27.27,27.29,27.29
$STATE,2123,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2123,begin apogee
$GC,2127,-0.23,0.0,2899,1910,2787,2817,154.9,-7.4,198,2230,0.65,0.00,99.70,0.737,10246,0.154,0.000,3125,1910,2300,2283,2318,0,0,0,0,0,0,26.63,25.82,25.26
$STATE,2231,end apogee,CONTROL_FINISHED_OK
$STATE,2231,begin climb
$GC,2232,0.94,146.6,3125,1910,2282,2317,157.3,0.0,203,2346,0.95,2.30,101.10,0.720,10500,0.107,0.067,3492,3435,1794,1765,1824,0,0,0,0,0,0,25.94,25.67,25.10
$GC,2382,0.94,146.6,3492,3435,1765,1823,140.0,17.2,213,2393,0.00,2.17,0.00,0.000,1030,0.000,0.050,3504,1869,1794,1765,1823,0,0,0,0,0,0,26.27,26.25,26.29
$GC,2693,0.94,146.6,3503,1870,1765,1823,94.5,13.3,244,2703,0.00,2.17,0.00,0.000,516,0.000,0.062,3516,327,1794,1765,1823,0,0,0,0,0,0,27.00,26.71,27.01
$GC,3022,0.94,146.6,3516,327,1765,1821,49.1,14.3,273,3032,0.00,2.10,0.00,0.000,1030,0.000,0.052,3516,1906,1793,1765,1821,0,0,0,0,0,0,26.94,26.91,26.95
$GC,3331,1.00,338.0,3515,1906,1765,1821,27.1,1.2,304,3471,0.00,2.35,129.12,0.646,8708,0.000,0.067,3527,340,1135,1077,1194,0,0,0,0,0,0,27.20,25.81,25.29
$STATE,3619,end climb,SURFACE_DEPTH_REACHED
$STATE,3619,begin surface coast
$FINISH,-0.4,1.023167
$STATE,3632,end surface coast,CONTROL_FINISHED_OK
$STATE,3632,begin surface
$SM_CCo,3649,7.00,0.524,0,0,1096,350.04
$SM_GC,2.35,8.23,2.30,7.00,0.057,0.047,0.524,153,1951,1096,-9.45,-2.91,350.04,0,0,0,0,0,0,26.53,26.59,25.81
$IRIDIUM_FIX,3205.87,-6436.80,240608,031340
$TT8_MAMPS,0.021721,0.021721
$HUMID,48.11
$INTERNAL_PRESSURE,9.36748
$TCM_TEMP,26.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,49.1,47.6
$24V_AH,25.10,6.993
$10V_AH,10.70,4.427
$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,21.575,26.600,329.925,7.000,165.000,0.000,0.000,0.000,0.500,0.000,11.945,774.774,1164.570,383.427,1370.053,31.015,0.000,896.788,0.000,1351.811,0.000,2.711,0.000
$DEVICE_MAMPS,297.960,67.041,737.451,523.913,446.940,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.306,1082.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353620
$DATA_FILE_SIZE,20297,332
$CAP_FILE_SIZE,57335,0
$CFSIZE,1024409600,975863808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280815,145241,3218.685,-6437.908,4,0.8,15,-14.9,0.5,260.0,11,9.4