version: 66.12
glider: 36
mission: 20
dive: 4
start: 7 3 115 14 38 9
data:
$ID,36
$MISSION,20
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,5500
$D_NO_BLEED,50
$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,70
$T_ABORT,2880
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,104
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$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,30
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,030715,143339,3221.3347,-6436.0498,13,0.9,53,-15.5,0.4,31.3,9,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-58.5
$GPS2,030715,143746,3221.3589,-6436.0176,13,0.9,53,-15.5,0.5,65.6,9,3.9
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,171.3,23055,-19.7,-10.000,-22.23,2234
$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,-1.01,-146.6,197,1712,495,573,0.0,0.0,0,171,0.00,0.00,-152.95,0.099,16390,0.000,0.000,186,1712,3005,2981,3030,0,0,0,0,1,0,26.91,26.51,26.41
$GC,173,-1.01,-146.6,186,1712,2975,3030,2.5,-1.7,15,192,10.82,1.95,-0.47,0.437,18692,0.261,0.055,2965,3068,3004,2972,3036,0,0,0,0,0,0,26.13,26.42,26.28
$GC,500,-1.01,-146.6,2965,3068,2964,3035,34.2,-7.4,44,510,0.00,1.98,0.00,0.000,1030,0.000,0.050,2965,1696,3000,2964,3036,0,0,0,0,0,0,26.70,26.68,26.72
$GC,811,-1.01,-146.6,2965,1696,2962,3036,62.0,-9.1,75,821,0.00,1.98,0.00,0.000,260,0.000,0.055,2956,3069,2999,2962,3036,0,0,0,0,0,0,26.97,26.71,26.98
$GC,1139,-1.01,-146.6,2956,3069,2961,3036,93.6,-10.6,104,1149,0.00,1.98,0.00,0.000,1030,0.000,0.050,2956,1692,2997,2959,3036,0,0,0,0,0,0,26.77,26.76,26.79
$GC,1450,-1.01,-146.6,2956,1692,2957,3036,124.6,-9.9,135,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1692,2996,2957,3036,0,0,0,0,0,0,27.01,27.02,27.02
$GC,1759,-1.01,-146.6,2956,1692,2956,3036,154.5,-10.3,164,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1692,2996,2956,3036,0,0,0,0,0,0,27.01,27.03,27.02
$STATE,2018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2018,begin apogee
$GC,2022,-0.24,0.0,2956,1692,2954,3036,181.8,-10.7,177,2125,0.80,0.00,100.05,1.055,10246,0.154,0.000,3222,1691,2499,2418,2581,0,0,0,0,0,0,26.49,25.33,24.59
$STATE,2126,end apogee,CONTROL_FINISHED_OK
$STATE,2126,begin climb
$GC,2128,1.01,146.6,3222,1691,2417,2581,185.6,0.0,182,2239,1.08,0.00,100.70,0.996,10246,0.099,0.000,3614,1691,1993,1877,2110,0,0,0,0,0,0,25.52,25.10,24.28
$GC,2540,1.01,146.6,3613,1691,1873,2110,133.1,14.8,208,2550,0.00,2.00,0.00,0.000,516,0.000,0.062,3624,306,1991,1873,2110,0,0,0,0,0,0,26.70,26.41,26.71
$GC,2644,1.01,146.6,3624,306,1872,2110,117.8,15.0,217,2654,0.00,1.95,0.00,0.000,1030,0.000,0.045,3624,1721,1991,1873,2110,0,0,0,0,0,0,26.57,26.55,26.58
$GC,2954,1.01,146.6,3624,1722,1873,2109,76.8,12.0,248,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,1722,1991,1873,2109,0,0,0,0,0,0,26.89,26.91,26.90
$GC,3254,1.01,146.6,3624,1722,1872,2109,42.9,9.7,278,3265,0.00,2.05,0.00,0.000,516,0.000,0.060,3634,314,1990,1871,2109,0,0,0,0,0,0,26.94,26.65,26.96
$GC,3312,1.01,146.6,3633,314,1871,2109,36.3,11.8,283,3322,0.00,1.85,0.00,0.000,1030,0.000,0.047,3634,1690,1990,1871,2109,0,0,0,0,0,0,26.78,26.75,26.79
$GC,3622,1.05,284.3,3634,1690,1870,2109,10.0,3.7,314,3723,0.00,2.03,88.12,0.879,8452,0.000,0.057,3634,3063,1519,1367,1672,0,0,0,0,0,0,26.97,25.25,24.75
$STATE,3735,end climb,SURFACE_DEPTH_REACHED
$STATE,3736,begin surface coast
$FINISH,0.2,1.012335
$STATE,3760,end surface coast,CONTROL_FINISHED_OK
$STATE,3760,begin surface
$SM_CCo,3777,59.47,0.916,0,0,1294,350.04
$SM_GC,1.31,8.80,2.03,59.47,0.060,0.045,0.916,190,1698,1294,-9.58,2.01,350.04,0,0,0,0,0,0,26.07,26.05,24.55
$IRIDIUM_FIX,3210.97,-6432.31,290408,035604
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.26
$INTERNAL_PRESSURE,9.21982
$TCM_TEMP,22.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,24.28,8.094
$10V_AH,10.25,5.641
$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,21.500,19.775,288.875,59.475,153.425,0.000,0.000,0.000,3.000,0.000,54.164,777.643,1395.841,439.680,1305.681,27.537,0.000,872.597,0.000,1245.100,0.000,17.165,0.000
$DEVICE_MAMPS,260.715,62.075,1055.275,916.227,437.008,0.000,0.000,0.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.415,1064.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330420
$DATA_FILE_SIZE,20222,327
$CAP_FILE_SIZE,62354,0
$CFSIZE,1024409600,1019445248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030715,154328,3220.992,-6435.950,8,1.0,48,-15.5,0.0,0.0,8,4.5