version: 66.12
glider: 35
mission: 22
dive: 7
start: 3 20 114 22 7 24
data:
$ID,35
$MISSION,22
$DIVE,7
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,5000
$D_NO_BLEED,500
$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,80
$T_MISSION,90
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77621
$MASS_COMP,9331
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,32.308331
$TGT_DEFAULT_LON,-64.599998
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-992688.12
$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,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,24
$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,0
$C_ROLL_DIVE,50
$C_ROLL_CLIMB,50
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2276
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2812
$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,10
$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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,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,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,200314,220223,3220.270,-6436.875,33,1.8,36,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.5
$GPS2,200314,220619,3220.270,-6436.903,12,1.9,12,-15.5
$SPEED_LIMITS,0.075,0.222
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.183,-0.126
$KALMAN_X,-1396.2,-68.3,-461.2,1877.4,-787.2
$KALMAN_Y,1770.8,196.7,-90.2,-2479.3,445.8
$MHEAD_RNG_PITCHd_Wd,140.1,21882,-15.4,-7.500,-18.65,2965
$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,-0.64,-146.6,243,33,1224,1296,0.0,0.0,0,89,0.00,0.00,-70.85,0.000,16386,0.000,0.000,244,33,2426,2379,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.64,-146.6,243,33,2379,2474,3.0,-4.1,7,122,11.45,0.00,-15.23,0.000,18694,0.276,0.000,2891,28,2774,2720,2828,0,0,0,0,0,0,25.29,28.83,25.72
$GC,424,-0.64,-146.6,2891,28,2720,2828,38.3,-10.7,40,427,0.00,0.00,0.00,0.000,262,0.000,0.000,2892,28,2774,2720,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-0.64,-146.6,2891,28,2720,2828,73.4,-10.8,71,738,0.00,0.00,0.00,0.000,262,0.000,0.000,2891,28,2774,2721,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1046,-0.64,-146.6,2891,28,2720,2828,107.6,-10.2,102,1049,0.00,0.00,0.00,0.000,262,0.000,0.000,2892,28,2774,2721,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1356,-0.64,-146.6,2891,28,2720,2828,138.3,-10.0,133,1359,0.00,0.00,0.00,0.000,262,0.000,0.000,2892,28,2774,2720,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1670,-0.64,-146.6,2891,28,2720,2828,171.2,-10.4,154,1672,0.00,0.00,0.00,0.000,262,0.000,0.000,2892,28,2774,2721,2828,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1768,begin apogee
$GC,1773,-0.21,0.0,2891,28,2720,2827,180.8,-9.2,159,1877,0.43,0.00,99.10,0.991,10246,0.149,0.000,3030,28,2276,2219,2334,0,0,0,0,0,0,25.63,28.83,24.25
$STATE,1878,end apogee,CONTROL_FINISHED_OK
$STATE,1878,begin climb
$GC,1880,0.64,146.6,3029,28,2218,2334,184.5,0.0,164,1984,0.75,0.00,99.32,0.904,10502,0.119,0.000,3284,28,1779,1720,1839,0,0,0,0,0,0,25.08,28.83,24.10
$GC,2284,0.64,146.6,3285,28,1720,1839,150.5,8.2,184,2287,0.00,0.00,0.00,0.000,262,0.000,0.000,3285,27,1779,1720,1839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2596,0.64,196.3,3284,28,1720,1839,129.1,5.8,214,2634,0.00,0.00,34.35,0.944,8454,0.000,0.000,3285,28,1609,1549,1670,0,0,0,0,0,0,28.83,28.83,24.67
$GC,2934,0.64,196.3,3285,28,1550,1670,103.0,7.6,248,2937,0.00,0.00,0.00,0.000,262,0.000,0.000,3285,28,1610,1551,1669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3246,0.64,196.3,3284,28,1550,1670,78.5,8.3,279,3249,0.00,0.00,0.00,0.000,262,0.000,0.000,3285,28,1610,1551,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3557,0.64,196.3,3284,28,1550,1670,52.5,8.1,310,3560,0.00,0.00,0.00,0.000,262,0.000,0.000,3285,28,1609,1550,1669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,0.64,196.3,3285,28,1550,1669,26.4,8.7,341,3872,0.00,0.00,0.00,0.000,262,0.000,0.000,3285,28,1609,1550,1669,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4159,end climb,SURFACE_DEPTH_REACHED
$STATE,4159,begin surface coast
$FINISH,-0.3,1.010474
$STATE,4209,end surface coast,CONTROL_FINISHED_OK
$STATE,4209,begin surface
$SM_CCo,4225,67.50,0.886,0,0,1259,300.22
$SM_GC,1.37,7.90,0.00,67.50,0.065,0.000,0.886,224,28,1259,-8.93,-0.62,300.22,0,0,0,0,0,0,26.11,28.83,24.60
$IRIDIUM_FIX,3208.42,-6432.20,200314,202024
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.90
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.2
$24V_AH,24.1,41.112
$10V_AH,10.5,6.219
$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,20.525,5.775,232.775,67.500,0.000,24.560,20.620,106.401,2.500,0.000,15.285,899.984,2430.197,314.121,821.648,78.546,33.230,698.857,0.000,647.776,0.000,16.742,0.000
$DEVICE_MAMPS,275.613,54.626,990.717,886.431,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.493,495.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330120
$DATA_FILE_SIZE,23721,375
$CAP_FILE_SIZE,42928,0
$CFSIZE,260165632,239296512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1778.03,0x235746,2,24
$GPS,200314,231957,3220.053,-6437.308,10,2.3,30,-15.5