version: 66.12
glider: 36
mission: 20
dive: 6
start: 7 3 115 17 29 58
data:
$ID,36
$MISSION,20
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,3990
$C_ROLL_CLIMB,3990
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,68
$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
$GPS1,030715,170910,3220.9426,-6436.0488,10,1.0,50,-15.5,0.2,256.0,8,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.5
$GPS2,030715,170910,3220.9426,-6436.0488,901,99.0,901,-15.5,0.2,256.0,8,3.9
$SPEED_LIMITS,0.084,0.168
$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,170.4,22375,-28.8,-10.000,-30.74,1046
$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,14,-1.42,-68.4,173,3959,1211,1373,0.0,0.0,0,110,0.00,0.00,-88.97,0.099,16390,0.000,0.000,173,3960,2736,2625,2847,0,0,0,0,0,0,26.95,26.51,26.46
$GC,113,-1.42,-68.4,173,3960,2625,2847,2.7,-2.8,9,130,10.98,0.00,0.00,0.000,2054,0.281,0.000,2836,3960,2735,2624,2847,0,0,0,0,0,0,26.10,26.39,26.27
$GC,431,-1.42,-68.4,2836,3960,2625,2847,30.1,-3.6,41,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,3960,2736,2625,2847,0,0,0,0,0,0,26.91,26.94,26.93
$GC,731,-1.42,-68.4,2836,3960,2625,2847,38.5,-2.1,71,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,3960,2736,2625,2847,0,0,0,0,0,0,26.96,26.98,26.97
$GC,1032,-1.42,-68.4,2836,3960,2625,2847,51.6,-4.6,101,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,3960,2736,2625,2847,0,0,0,0,0,0,26.98,27.01,27.00
$GC,1333,-1.42,-68.4,2836,3960,2625,2847,68.2,-5.6,131,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,3960,2736,2625,2847,0,0,0,0,0,0,26.99,27.01,27.01
$GC,1643,-1.42,-68.4,2836,3960,2625,2847,83.1,-6.0,162,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,3960,2736,2625,2847,0,0,0,0,0,0,27.00,27.02,27.01
$GC,1953,-1.42,-68.4,2836,3960,2625,2847,103.0,-7.3,193,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,3960,2736,2625,2847,0,0,0,0,0,0,27.01,27.03,27.02
$STATE,2110,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2110,begin apogee
$GC,2113,-0.24,0.0,2836,3960,2625,2846,115.1,-7.8,209,2164,1.23,0.00,47.12,0.988,10246,0.196,0.000,3214,3960,2499,2404,2595,0,0,0,0,0,0,26.39,25.72,25.01
$STATE,2165,end apogee,CONTROL_FINISHED_OK
$STATE,2165,begin climb
$GC,2167,1.42,68.4,3214,3960,2405,2595,116.6,0.0,214,2222,1.45,0.00,45.92,0.939,10246,0.112,0.000,3741,3960,2263,2158,2369,0,0,0,0,0,0,25.84,25.19,24.70
$GC,2521,1.42,68.4,3741,3960,2158,2369,63.4,14.8,250,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,3741,3960,2263,2157,2369,0,0,0,0,0,0,26.69,26.71,26.70
$GC,2823,1.42,68.4,3741,3960,2157,2369,29.7,8.2,280,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,3741,3960,2263,2157,2369,0,0,0,0,0,0,26.84,26.87,26.86
$GC,3133,1.45,139.8,3741,3960,2157,2369,18.2,3.0,311,3182,0.00,0.00,45.55,0.899,8198,0.000,0.000,3741,3960,2017,1900,2135,0,0,0,0,0,0,26.92,25.72,25.08
$STATE,3360,end climb,SURFACE_DEPTH_REACHED
$STATE,3360,begin surface coast
$FINISH,0.1,0.997996
$STATE,3401,end surface coast,CONTROL_FINISHED_OK
$STATE,3401,begin surface
$SM_CCo,3416,158.30,0.924,0,0,1294,350.04
$SM_GC,1.27,8.95,0.00,158.30,0.057,0.000,0.924,200,3960,1294,-9.57,-0.85,350.04,0,0,0,0,0,0,26.42,26.69,24.53
$IRIDIUM_FIX,3210.97,-6438.02,290408,052152
$TT8_MAMPS,0.023219,0.023219
$HUMID,42.36
$INTERNAL_PRESSURE,9.22959
$TCM_TEMP,23.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,24.53,8.329
$10V_AH,10.33,5.738
$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,22.600,5.550,138.600,158.300,88.975,23.391,20.613,206.929,1.250,0.000,901.622,796.637,1297.529,359.151,2320.382,37.288,0.000,690.050,0.000,1159.748,0.000,5.799,0.000
$DEVICE_MAMPS,280.579,49.660,988.234,923.676,99.320,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.448,1101.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330380
$DATA_FILE_SIZE,20304,338
$CAP_FILE_SIZE,42425,0
$CFSIZE,1024409600,1019346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030715,183203,3220.892,-6436.245,84,1.2,124,-15.5,0.7,148.0,9,8.4