version: 66.12
glider: 35
mission: 21
dive: 4
start: 2 6 114 21 16 54
data:
$ID,35
$MISSION,21
$DIVE,4
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,50
$T_MISSION,60
$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,76769
$MASS_COMP,9469
$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,47.724998
$TGT_DEFAULT_LON,-122.4
$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,-989675.94
$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,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026142744
$P_OVSHOOT_WITHG,0.089055829
$PITCH_GAIN,25
$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,1735
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$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,3368
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-1038.2784
$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,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
$GPS1,060214,211222,4744.177,-12224.553,12,1.4,15,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-50.8
$GPS2,060214,211601,4744.201,-12224.562,16,1.9,16,18.2
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.009,-0.245
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,159.8,2225,-19.7,-10.000,-22.22,2235
$D_GRID,150
$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,-0.97,-146.6,237,1734,313,350,0.0,0.0,0,300,0.00,0.00,-280.92,0.000,16386,0.000,0.000,237,1735,3601,3563,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,303,-0.97,-146.6,237,1734,3563,3639,3.2,-2.2,52,333,10.23,2.28,-11.05,0.000,18948,0.256,0.074,2695,336,3865,3843,3888,0,0,0,0,0,0,24.78,25.34,25.27
$GC,561,-0.97,-146.6,2695,336,3843,3889,45.4,-16.4,86,570,0.00,2.15,0.00,0.000,1030,0.000,0.060,2688,1736,3866,3843,3889,0,0,0,0,0,0,28.83,25.57,28.83
$GC,692,-0.97,-146.6,2687,1736,3843,3889,66.2,-15.1,99,700,0.00,2.20,0.00,0.000,260,0.000,0.072,2677,3132,3866,3843,3889,0,0,0,0,0,0,28.83,25.53,28.83
$GC,793,-0.97,-146.6,2677,3132,3842,3889,81.5,-14.5,109,802,0.00,2.20,0.00,0.000,1030,0.000,0.062,2677,1727,3866,3843,3889,0,0,0,0,0,0,28.83,25.65,28.83
$GC,923,-0.97,-146.6,2677,1727,3843,3889,101.1,-15.2,122,932,0.00,2.25,0.00,0.000,260,0.000,0.072,2669,3139,3866,3843,3889,0,0,0,0,0,0,28.83,25.60,28.83
$GC,994,-0.97,-146.6,2668,3139,3843,3888,111.8,-14.8,129,1003,0.00,2.17,0.00,0.000,1030,0.000,0.060,2668,1729,3866,3843,3889,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1125,-0.97,-146.6,2669,1729,3843,3889,131.3,-14.9,142,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1729,3866,3843,3889,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1243,begin apogee
$GC,1248,-0.20,0.0,2668,1729,3843,3889,150.4,-15.4,154,1357,0.88,0.00,103.40,1.053,10246,0.149,0.000,2943,1729,3368,3337,3399,0,0,0,0,0,0,25.27,28.83,23.47
$STATE,1358,end apogee,CONTROL_FINISHED_OK
$STATE,1359,begin climb
$GC,1361,0.97,146.6,2943,1728,3337,3399,155.7,0.0,165,1475,1.05,2.35,104.93,0.906,10756,0.097,0.074,3312,339,2870,2848,2893,0,0,0,0,0,0,24.40,23.86,23.01
$GC,1601,0.97,146.6,3312,339,2848,2893,138.1,11.0,189,1608,0.00,2.22,0.00,0.000,1030,0.000,0.057,3312,1736,2870,2848,2893,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1729,0.97,146.6,3312,1736,2848,2893,123.7,11.1,202,1738,0.00,2.30,0.00,0.000,260,0.000,0.070,3312,3135,2870,2848,2892,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1792,0.97,146.6,3312,3135,2848,2892,117.4,10.8,208,1800,0.00,2.22,0.00,0.000,1030,0.000,0.060,3322,1736,2870,2848,2893,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1920,0.98,156.7,3322,1736,2848,2892,104.4,9.5,221,1931,0.00,0.00,8.55,0.819,8198,0.000,0.000,3322,1736,2837,2813,2862,0,0,0,0,0,0,28.83,28.83,24.04
$GC,2050,0.98,156.7,3322,1736,2813,2862,90.9,11.3,234,2058,0.00,2.28,0.00,0.000,260,0.000,0.070,3322,3140,2837,2813,2862,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2284,0.98,156.7,3322,3140,2813,2862,60.2,14.8,257,2291,0.00,2.20,0.00,0.000,1030,0.000,0.060,3333,1732,2837,2813,2861,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2411,0.98,156.7,3333,1732,2813,2862,33.1,23.7,270,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1732,2837,2813,2862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2532,0.98,156.7,3333,1732,2813,2862,9.5,15.9,288,2538,0.00,2.20,0.00,0.000,516,0.000,0.074,3344,332,2837,2813,2861,0,0,0,0,0,0,28.83,25.58,28.83
$STATE,2579,end climb,SURFACE_DEPTH_REACHED
$STATE,2579,begin surface coast
$FINISH,0.7,1.023000
$STATE,2600,end surface coast,CONTROL_FINISHED_OK
$STATE,2600,begin surface
$SM_CCo,2618,88.95,0.891,0,0,2351,300.22
$SM_GC,1.21,8.38,2.20,88.95,0.070,0.057,0.891,247,1714,2351,-8.58,-1.13,300.22,0,0,0,0,0,0,25.63,25.72,23.78
$IRIDIUM_FIX,4726.11,-12220.67,060214,212145
$TT8_MAMPS,0.020972,0.020972
$HUMID,38.62
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.4
$24V_AH,23.0,37.845
$10V_AH,10.3,4.527
$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,20.525,31.225,216.875,88.950,0.000,0.000,0.000,0.000,5.500,0.000,18.911,625.983,955.489,528.642,624.324,48.922,29.128,926.441,0.000,595.747,0.000,34.443,0.000
$DEVICE_MAMPS,255.749,74.490,1052.792,891.397,0.000,0.000,0.000,0.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,200.730,394.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354600
$DATA_FILE_SIZE,16948,301
$CAP_FILE_SIZE,57454,0
$CFSIZE,260165632,242720768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060214,220306,4744.229,-12224.559,9,1.5,26,18.2