version: 66.12
glider: 35
mission: 22
dive: 19
start: 3 24 114 10 50 56
data:
$ID,35
$MISSION,22
$DIVE,19
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,3600
$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,1200
$T_MISSION,1260
$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,13
$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,-992703.12
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2200
$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,0
$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
$GPS1,240314,104500,3219.063,-6439.441,40,1.8,40,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-55.0
$GPS2,240314,105031,3219.086,-6439.409,12,1.6,12,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,BDA_200
$TGT_LATLONG,3220.500,-6437.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.145,0.197
$KALMAN_X,15365.5,0.0,0.0,-40819.1,51219.1
$KALMAN_Y,-11748.6,0.0,0.0,14562.1,-61764.2
$MHEAD_RNG_PITCHd_Wd,339.1,4589,-19.7,-10.000,-22.22,2235
$D_GRID,3600
$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,14,begin dive
$GC,16,-0.76,-146.6,228,2119,912,983,0.0,0.0,0,149,0.00,0.00,-128.88,0.000,16390,0.000,0.000,228,2120,2698,2640,2757,0,0,0,0,0,0,28.83,28.83,25.77
$GC,152,-0.76,-146.6,228,2120,2640,2757,4.3,-5.2,13,169,11.10,2.12,0.00,0.000,2564,0.273,0.057,2810,693,2700,2641,2759,0,0,0,0,0,0,25.13,25.93,28.83
$GC,373,-0.66,-146.6,2810,693,2640,2759,45.2,-14.8,35,382,0.15,2.08,0.00,0.000,3078,0.201,0.055,2838,2111,2700,2641,2759,0,0,0,0,0,0,25.66,26.06,28.83
$GC,682,-0.66,-146.6,2837,2112,2641,2759,85.4,-13.4,66,690,0.00,2.15,0.00,0.000,516,0.000,0.065,2838,691,2700,2640,2760,0,0,0,0,0,0,28.83,26.06,28.83
$GC,753,-0.60,-146.6,2838,692,2640,2760,96.6,-16.2,73,762,0.00,2.05,0.00,0.000,1030,0.000,0.057,2831,2102,2700,2641,2759,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1063,-0.60,-146.6,2830,2103,2640,2760,115.1,0.1,104,1072,0.00,2.12,0.00,0.000,516,0.000,0.062,2831,693,2700,2641,2760,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1297,-0.60,-146.6,2830,693,2641,2761,115.6,0.0,127,1305,0.12,2.10,0.00,0.000,3078,0.201,0.062,2853,2094,2700,2641,2760,0,0,0,0,0,0,25.87,26.17,28.83
$STATE,1402,end dive,NO_VERTICAL_VELOCITY
$STATE,1402,begin apogee
$GC,1407,-0.19,0.0,2852,2094,2640,2760,115.4,0.0,138,1508,0.45,0.00,97.15,1.001,10246,0.186,0.000,2986,2094,2200,2139,2262,0,0,0,0,0,0,25.51,28.83,24.06
$STATE,1509,end apogee,CONTROL_FINISHED_OK
$STATE,1509,begin climb
$GC,1512,0.76,146.6,2986,2095,2139,2262,115.6,0.0,148,1671,0.90,2.35,139.62,0.956,10500,0.154,0.070,3266,3504,1703,1642,1764,0,0,0,0,1,0,24.95,24.72,23.77
$GC,1844,0.88,194.1,3266,3504,1642,1764,94.7,7.8,181,1897,0.12,2.10,46.30,0.961,11270,0.109,0.052,3346,2089,1541,1493,1589,0,0,0,0,0,0,25.67,25.72,24.15
$GC,2204,0.88,194.1,3345,2088,1491,1588,45.6,14.0,217,2213,0.00,2.08,0.00,0.000,516,0.000,0.065,3356,709,1539,1491,1588,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2275,0.88,194.1,3356,709,1489,1588,36.3,13.2,224,2284,0.00,2.08,0.00,0.000,1030,0.000,0.055,3356,2109,1538,1489,1588,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,2513,end climb,SURFACE_DEPTH_REACHED
$STATE,2514,begin surface coast
$FINISH,1.2,1.025639
$STATE,2534,end surface coast,CONTROL_FINISHED_OK
$STATE,2534,begin surface
$SM_CCo,2550,83.72,0.914,0,0,1183,300.22
$SM_GC,1.10,8.15,0.00,83.72,0.067,0.000,0.914,245,2109,1183,-8.72,0.23,300.22,0,0,0,0,0,0,25.98,28.83,24.27
$IRIDIUM_FIX,3205.87,-6440.20,240314,070732
$TT8_MAMPS,0.020223,0.020223
$HUMID,36.61
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.8,43.988
$10V_AH,10.4,7.220
$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,21.000,21.225,283.075,83.725,0.000,30.693,38.002,162.154,1.000,0.000,15.740,580.789,1082.896,430.535,807.406,68.820,0.386,793.467,0.000,556.693,0.000,6.885,0.000
$DEVICE_MAMPS,273.130,69.524,1000.649,913.744,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,164.756,328.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330084
$DATA_FILE_SIZE,13565,250
$CAP_FILE_SIZE,41245,0
$CFSIZE,260165632,238288896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240314,113537,3219.288,-6439.504,8,1.6,8,-15.5