version: 66.12
glider: 35
mission: 22
dive: 8
start: 3 20 114 23 25 44
data:
$ID,35
$MISSION,22
$DIVE,8
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,720
$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,240
$T_MISSION,270
$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,-992689.38
$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,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,20
$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
$GPS1,200314,231957,3220.053,-6437.308,10,2.3,30,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.2
$GPS2,200314,232445,3220.048,-6437.346,11,2.3,31,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.214,-0.119
$KALMAN_X,-2842.5,-194.5,-448.5,2745.9,-2719.1
$KALMAN_Y,2055.8,99.0,-69.2,-3087.8,1117.1
$MHEAD_RNG_PITCHd_Wd,134.5,21885,-19.7,-10.000,-22.22,2235
$D_GRID,720
$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,-0.82,-146.6,207,1872,1214,1305,0.0,0.0,0,89,0.00,0.00,-70.88,0.000,16386,0.000,0.000,207,1873,2424,2378,2471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.82,-146.6,207,1873,2378,2471,3.2,-4.3,7,124,11.40,0.10,-16.10,0.000,18694,0.278,0.114,2832,1778,2774,2738,2810,0,0,0,0,0,0,25.34,25.79,25.74
$GC,424,-0.82,-146.6,2831,1777,2738,2810,39.8,-11.4,40,427,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2774,2739,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,735,-0.82,-146.6,2831,1777,2739,2809,76.3,-13.0,71,738,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2774,2739,2810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1048,-0.82,-146.6,2831,1777,2739,2810,118.9,-13.7,102,1050,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2774,2739,2810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1358,-0.82,-146.6,2831,1777,2739,2810,157.9,-11.8,130,1360,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2774,2739,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1680,-0.82,-146.6,2831,1777,2739,2810,191.5,-9.7,146,1683,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2774,2739,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2001,-0.82,-146.6,2831,1777,2739,2810,226.0,-11.3,162,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1777,2774,2739,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2300,-0.82,-146.6,2831,1777,2739,2809,259.4,-10.9,177,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1777,2774,2739,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.82,-146.6,2832,1777,2739,2809,294.1,-11.3,192,2603,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2774,2739,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2931,-0.82,-146.6,2831,1777,2739,2809,331.7,-10.7,204,2934,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2773,2738,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,-0.82,-146.6,2832,1777,2739,2809,365.1,-11.0,215,3264,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2773,2738,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3592,-0.82,-146.6,2831,1777,2738,2809,406.4,-12.0,226,3595,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2774,2739,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3922,-0.82,-146.6,2831,1777,2738,2809,438.8,-11.5,237,3925,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2773,2738,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4252,-0.82,-146.6,2831,1777,2737,2809,477.4,-11.9,248,4255,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2773,2737,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,-0.82,-146.6,2831,1777,2737,2809,487.8,0.1,259,4585,0.00,0.00,0.00,0.000,262,0.000,0.000,2832,1777,2773,2737,2809,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4761,end dive,NO_VERTICAL_VELOCITY
$STATE,4761,begin apogee
$GC,4766,-0.21,0.0,2831,1777,2736,2809,487.9,0.0,265,4871,0.47,0.00,101.60,1.227,10246,0.070,0.000,3058,1777,2275,2232,2319,0,0,0,0,0,0,26.36,28.83,23.87
$STATE,4872,end apogee,CONTROL_FINISHED_OK
$STATE,4872,begin climb
$GC,4875,0.82,146.6,3058,1777,2233,2319,488.3,0.0,268,4984,0.82,0.00,102.70,1.204,10502,0.062,0.000,3402,1777,1779,1736,1823,0,0,0,0,0,0,25.07,28.83,23.70
$GC,5298,0.82,146.6,3402,1777,1736,1823,445.9,12.5,283,5301,0.12,0.00,0.00,0.000,4358,0.216,0.000,3369,1777,1779,1736,1823,0,0,0,0,0,0,25.61,28.83,28.83
$GC,5629,0.82,193.0,3368,1777,1736,1823,409.9,7.9,294,5665,0.00,0.00,33.08,1.172,8454,0.000,0.000,3368,1777,1621,1578,1664,0,0,0,0,0,0,28.83,28.83,24.44
$GC,5988,0.82,193.0,3368,1777,1578,1664,361.6,15.4,306,5991,0.00,0.00,0.00,0.000,262,0.000,0.000,3368,1777,1621,1578,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6318,0.82,193.0,3368,1777,1578,1664,317.2,11.9,317,6321,0.00,0.00,0.00,0.000,262,0.000,0.000,3369,1777,1621,1578,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6639,0.82,193.0,3368,1777,1578,1664,269.9,14.9,331,6642,0.00,0.00,0.00,0.000,262,0.000,0.000,3368,1777,1621,1578,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6959,0.82,193.0,3368,1777,1578,1665,224.1,13.7,347,6962,0.00,0.00,0.00,0.000,262,0.000,0.000,3369,1777,1621,1578,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7280,0.82,193.0,3368,1777,1578,1664,181.7,13.9,363,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1777,1621,1578,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7579,0.82,193.0,3368,1777,1578,1664,146.3,14.0,379,7582,0.00,0.00,0.00,0.000,262,0.000,0.000,3368,1777,1621,1578,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7890,0.82,193.0,3368,1777,1578,1664,103.2,13.0,410,7893,0.00,0.00,0.00,0.000,262,0.000,0.000,3368,1777,1621,1578,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8202,0.82,193.0,3368,1777,1578,1664,62.0,10.8,441,8205,0.00,0.00,0.00,0.000,262,0.000,0.000,3369,1777,1621,1578,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8514,0.82,193.0,3368,1777,1578,1665,23.6,13.5,472,8516,0.00,0.00,0.00,0.000,262,0.000,0.000,3368,1777,1621,1578,1664,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8652,end climb,SURFACE_DEPTH_REACHED
$STATE,8652,begin surface coast
$FINISH,0.3,1.025595
$STATE,8673,end surface coast,CONTROL_FINISHED_OK
$STATE,8673,begin surface
$SM_CCo,8689,70.65,0.911,0,0,1259,300.22
$SM_GC,1.15,8.00,0.00,70.65,0.060,0.000,0.911,246,1777,1259,-8.86,-0.65,300.22,0,0,0,0,0,0,26.01,28.83,24.48
$IRIDIUM_FIX,3210.97,-6434.50,200314,222231
$TT8_MAMPS,0.020223,0.020223
$HUMID,41.25
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,23.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,18.0
$ALTIM_BOTTOM_PING,441.9,66.0
$24V_AH,23.7,41.221
$10V_AH,10.5,6.256
$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,20.825,2.775,237.375,70.650,0.000,31.313,18.104,121.744,9.250,0.000,34.004,1237.029,6248.562,322.856,1149.628,107.491,33.225,845.851,0.000,903.870,0.000,60.556,0.000
$DEVICE_MAMPS,278.096,114.218,1226.602,911.261,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.559,645.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330092
$DATA_FILE_SIZE,30358,488
$CAP_FILE_SIZE,65354,0
$CFSIZE,260165632,239230976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4947.28,0x235744,1,24
$GPS,210314,015259,3219.693,-6438.171,35,1.6,36,-15.5