version: 66.12
glider: 35
mission: 22
dive: 50
start: 3 26 114 3 6 28
data:
$ID,35
$MISSION,22
$DIVE,50
$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,60
$T_MISSION,75
$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,0
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,90
$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,-993516.94
$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,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,65
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$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,50
$ALTIM_PING_DELTA,5
$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
$GPS1,260314,025821,3227.086,-6433.008,9,3.1,29,-15.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-51.1
$GPS2,260314,030529,3227.199,-6432.980,11,4.3,31,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,3227.199,-6420.182
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.224,-0.099
$KALMAN_X,-282.1,-2.0,-21.5,1204.2,58.0
$KALMAN_Y,1852.7,886.8,607.5,-206.4,355.3
$MHEAD_RNG_PITCHd_Wd,105.5,20000,-19.7,-10.000,-22.22,2235
$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,-0.76,-146.6,244,2074,867,1097,0.0,0.0,0,109,0.00,0.00,-91.43,0.000,16386,0.000,0.000,244,2074,2438,2429,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.76,-146.6,243,2074,2428,2447,3.0,-5.1,9,132,10.70,2.25,-2.95,0.000,18692,0.271,0.067,2788,3514,2497,2489,2506,0,0,0,0,0,0,25.41,26.01,25.91
$GC,361,-0.49,-146.6,2788,3514,2488,2500,30.4,-9.5,34,370,0.32,2.08,0.00,0.000,3078,0.189,0.052,2884,2092,2494,2488,2500,0,0,0,0,0,0,25.60,26.23,28.83
$GC,671,-0.44,-146.6,2884,2091,2486,2500,49.5,-5.6,65,680,0.00,2.20,0.00,0.000,260,0.000,0.070,2874,3509,2493,2487,2500,0,0,0,0,0,0,28.83,26.16,28.83
$GC,911,-0.36,-146.6,2874,3509,2486,2500,71.7,-11.3,88,918,0.22,2.05,0.00,0.000,3078,0.174,0.052,2938,2104,2493,2486,2500,0,0,0,0,0,0,25.84,26.33,28.83
$GC,1218,-0.36,-146.6,2937,2105,2485,2500,100.3,-8.3,119,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2104,2493,2486,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,-0.36,-146.6,2938,2104,2485,2500,120.4,-6.3,149,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2104,2492,2485,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1817,-0.36,-146.6,2938,2104,2485,2500,144.9,-8.0,179,1827,0.00,2.05,0.00,0.000,516,0.000,0.065,2938,713,2491,2483,2500,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2054,-0.36,-146.6,2938,713,2483,2500,162.6,-6.9,193,2060,0.00,2.05,0.00,0.000,1030,0.000,0.055,2932,2115,2491,2483,2500,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,2259,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2259,begin apogee
$GC,2263,-0.19,0.0,2932,2115,2482,2501,175.7,-5.7,204,2367,0.17,0.00,98.72,0.924,10246,0.171,0.000,2987,2114,2000,1971,2029,0,0,0,0,0,0,26.06,28.83,24.37
$STATE,2368,end apogee,CONTROL_FINISHED_OK
$STATE,2368,begin climb
$GC,2371,0.76,146.6,2987,2114,1971,2029,177.4,0.0,209,2484,0.85,2.22,105.55,0.909,11012,0.137,0.067,3271,721,1502,1453,1552,0,0,0,0,0,0,25.22,25.13,24.24
$GC,2506,1.02,213.5,3271,722,1452,1552,168.7,6.9,216,2562,0.25,2.10,49.60,0.891,11270,0.074,0.055,3399,2108,1276,1194,1358,0,0,0,0,0,0,25.49,25.46,24.23
$GC,2861,1.02,213.5,3399,2108,1200,1359,109.7,17.6,245,2869,0.00,2.15,0.00,0.000,260,0.000,0.072,3399,3498,1279,1200,1359,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3096,0.96,213.5,3399,3498,1201,1359,67.6,17.2,268,3103,0.20,2.08,0.00,0.000,5126,0.181,0.055,3355,2103,1280,1201,1359,0,0,0,0,0,0,25.81,26.20,28.83
$GC,3403,1.02,213.5,3354,2100,1201,1359,23.9,14.2,299,3412,0.00,2.17,0.00,0.000,260,0.000,0.074,3354,3500,1280,1201,1359,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,3553,end climb,SURFACE_DEPTH_REACHED
$STATE,3553,begin surface coast
$FINISH,1.6,1.025750
$STATE,3574,end surface coast,CONTROL_FINISHED_OK
$STATE,3574,begin surface
$SM_CCo,3593,64.62,0.824,0,0,982,300.22
$SM_GC,0.89,8.05,2.10,64.62,0.065,0.052,0.824,246,2104,982,-8.72,1.64,300.22,0,0,0,0,0,0,26.09,26.31,24.66
$IRIDIUM_FIX,3213.52,-6430.00,260314,020237
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.54
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,24.2,47.044
$10V_AH,10.4,8.072
$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,20.775,25.500,253.875,64.625,0.000,59.883,60.067,159.365,6.500,0.000,34.580,809.784,1776.841,377.231,1062.727,81.886,33.203,792.326,0.000,714.447,0.000,40.469,0.000
$DEVICE_MAMPS,270.647,74.490,923.676,824.356,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,212.266,416.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330236
$DATA_FILE_SIZE,16896,316
$CAP_FILE_SIZE,54103,0
$CFSIZE,260165632,237248512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260314,040833,3227.357,-6432.323,8,8.2,28,-15.5