version: 66.12
glider: 35
mission: 26
dive: 4
start: 1 30 115 16 42 29
data:
$ID,35
$MISSION,26
$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,75
$T_ABORT,2880
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77482
$MASS_COMP,9268.2998
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,237
$PITCH_MAX,3815
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2332
$C_ROLL_CLIMB,2332
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2248
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$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,-1037.27
$PRESSURE_SLOPE,0.00092600001
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004269524
$SEABIRD_T_H,0.00061604282
$SEABIRD_T_I,2.0033509e-05
$SEABIRD_T_J,1.8499288e-06
$SEABIRD_C_G,-9.6420546
$SEABIRD_C_H,1.1096923
$SEABIRD_C_I,-0.001213078
$SEABIRD_C_J,0.00016721067
$GPS1,300115,163751,3218.8096,-6435.0562,8,2.2,28,-15.5,0.5,219.2,4,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-22.1
$GPS2,300115,164205,3218.8030,-6435.0469,14,1.9,30,-15.5,0.5,33.3,5,11.0
$SPEED_LIMITS,0.100,0.332
$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,169.6,18121,-13.8,-10.000,-16.75,4446
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-293.3,237,2334,358,275,0.0,0.0,0,202,0.00,0.00,-183.73,0.092,16386,0.000,0.000,237,2334,2889,2888,2890,0,0,0,0,0,0,26.57,28.83,26.58
$GC,205,-0.69,-293.3,237,2335,2888,2890,3.2,-2.4,18,238,7.55,2.17,-18.95,0.102,18692,0.271,0.070,2117,3716,3258,3247,3269,0,0,0,0,0,0,25.92,26.15,26.11
$GC,371,-0.69,-293.3,2117,3716,3247,3260,17.6,-11.0,33,381,0.00,2.00,0.00,0.000,1030,0.000,0.052,2117,2334,3253,3247,3259,0,0,0,0,0,0,26.31,26.28,26.32
$GC,681,-0.69,-293.3,2117,2334,3249,3257,48.5,-10.2,64,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2334,3253,3249,3257,0,0,0,0,0,0,26.65,26.65,26.65
$GC,990,-0.69,-293.3,2116,2334,3250,3255,80.9,-11.1,95,1000,0.00,2.10,0.00,0.000,260,0.000,0.070,2116,3719,3252,3249,3255,0,0,0,0,0,0,26.71,26.44,26.72
$GC,1025,-0.69,-293.3,2115,3719,3249,3255,85.3,-11.8,98,1035,0.00,2.00,0.00,0.000,1030,0.000,0.052,2116,2321,3252,3249,3255,0,0,0,0,0,0,26.50,26.48,26.52
$GC,1335,-0.69,-293.3,2116,2321,3249,3254,115.8,-9.3,129,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2321,3251,3249,3254,0,0,0,0,0,0,26.75,26.77,26.76
$GC,1635,-0.69,-293.3,2116,2321,3249,3253,143.4,-9.6,159,1645,0.00,2.15,0.00,0.000,260,0.000,0.070,2116,3722,3251,3249,3253,0,0,0,0,0,0,26.77,26.49,26.78
$GC,1729,-0.69,-293.3,2115,3722,3249,3253,152.0,-9.2,167,1734,0.00,2.00,0.00,0.000,1030,0.000,0.052,2116,2330,3251,3249,3253,0,0,0,0,0,0,26.56,26.54,26.58
$GC,2049,-0.69,-293.3,2116,2329,3249,3253,179.7,-8.0,183,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2330,3251,3249,3253,0,0,0,0,0,0,26.79,26.81,26.80
$STATE,2068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2068,begin apogee
$GC,2072,-0.25,0.0,2116,2330,3249,3253,181.5,-8.2,184,2277,0.45,0.00,201.32,1.157,10246,0.127,0.000,2279,2324,2248,2324,2173,0,0,0,0,0,0,26.44,24.81,24.20
$STATE,2278,end apogee,CONTROL_FINISHED_OK
$STATE,2278,begin climb
$GC,2279,0.69,293.3,2278,2324,2324,2173,186.4,0.0,194,2511,0.73,2.17,218.62,1.060,10756,0.094,0.062,2565,938,1237,1344,1131,0,0,0,0,0,0,24.98,24.65,24.22
$GC,2568,0.69,293.3,2565,938,1344,1131,157.8,13.1,208,2577,0.00,2.15,0.00,0.000,1030,0.000,0.057,2564,2309,1237,1344,1131,0,0,0,0,0,0,25.55,25.51,25.57
$GC,2877,0.69,293.3,2564,2309,1344,1131,114.8,12.8,237,2887,0.00,2.22,0.00,0.000,260,0.000,0.072,2565,3746,1237,1344,1131,0,0,0,0,0,0,26.36,26.10,26.37
$GC,2946,0.69,293.3,2564,3746,1344,1131,105.2,14.2,243,2956,0.00,2.05,0.00,0.000,1030,0.000,0.052,2575,2342,1237,1344,1131,0,0,0,0,0,0,26.22,26.19,26.23
$GC,3257,0.69,293.3,2575,2342,1344,1131,64.9,11.8,274,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2342,1237,1344,1131,0,0,0,0,0,0,26.58,26.60,26.59
$GC,3557,0.69,293.3,2575,2342,1344,1131,24.2,14.1,304,3567,0.00,2.17,0.00,0.000,260,0.000,0.072,2575,3748,1237,1344,1131,0,0,0,0,0,0,26.67,26.39,26.67
$GC,3604,0.69,293.3,2575,3748,1344,1131,17.2,15.0,308,3614,0.00,2.05,0.00,0.000,1030,0.000,0.052,2585,2328,1237,1344,1131,0,0,0,0,0,0,26.46,26.44,26.48
$STATE,3713,end climb,SURFACE_DEPTH_REACHED
$STATE,3713,begin surface coast
$FINISH,0.9,1.013023
$STATE,3724,end surface coast,CONTROL_FINISHED_OK
$STATE,3724,begin surface
$SM_CCo,3737,79.88,1.016,0,0,869,400.02
$SM_GC,1.68,5.90,0.00,79.88,0.052,0.000,1.016,187,2327,869,-6.59,-0.14,400.02,0,0,0,0,0,0,26.49,26.65,24.57
$IRIDIUM_FIX,3205.87,-6436.80,300115,163349
$TT8_MAMPS,0.019474,0.019474
$HUMID,61.53
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,23.00
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.0,17.5
$24V_AH,24.20,4.738
$10V_AH,10.51,1.108
$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,14.625,25.250,419.950,79.875,202.675,0.000,0.000,0.000,6.000,0.000,32.612,743.790,1290.224,576.190,1258.184,37.731,0.000,1053.255,0.000,1216.409,0.000,16.757,0.000
$DEVICE_MAMPS,270.647,72.007,1157.078,1015.547,101.803,0.000,0.000,0.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,0.000,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.806,1042.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353628
$DATA_FILE_SIZE,16931,320
$CAP_FILE_SIZE,68713,0
$CFSIZE,1024409600,1014611968
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3728.01,0x238a9a,7,5
$INTR,1,2069.63,0x238a9a,2,5
$INTR,2,3727.38,0x238a9a,7,5
$GPS,300115,174715,3218.156,-6434.750,12,4.1,32,-15.5,1.0,188.9,4,48.2