version: 66.12
glider: 36
mission: 18
dive: 2
start: 3 8 115 19 5 30
data:
$ID,36
$MISSION,18
$DIVE,2
$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,3720
$T_TURN,540
$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,550
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$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,3250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,22
$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,45
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2300
$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,-978.6759
$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
$GPS1,080315,190142,3220.8435,-6435.2017,9,1.2,27,-15.5,0.5,216.2,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.1
$GPS2,080315,190507,3220.8169,-6435.2021,15,1.4,15,-15.5,0.3,183.7,7,10.7
$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,173.3,21629,-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,-0.94,-146.6,197,2207,235,468,0.0,0.0,0,171,0.00,0.00,-152.68,0.099,16390,0.000,0.000,186,2207,2805,2708,2903,0,0,0,0,0,0,26.85,26.46,26.36
$GC,173,-0.94,-146.6,186,2207,2708,2903,2.5,-2.4,15,194,11.02,2.30,0.00,0.000,2820,0.271,0.062,2938,3759,2806,2709,2904,0,0,0,0,0,0,26.09,26.33,26.24
$GC,614,-0.94,-146.6,2938,3759,2709,2904,49.5,-11.4,54,624,0.00,2.28,0.00,0.000,1030,0.000,0.047,2938,2187,2806,2708,2904,0,0,0,0,0,0,26.69,26.67,26.70
$GC,924,-0.94,-146.6,2937,2186,2709,2904,88.3,-11.0,85,934,0.00,2.25,0.00,0.000,516,0.000,0.062,2937,638,2806,2709,2904,0,0,0,0,0,0,26.95,26.67,26.96
$GC,1455,-0.94,-146.6,2937,638,2709,2904,153.2,-11.6,130,1459,0.00,2.22,0.00,0.000,1030,0.000,0.050,2927,2193,2806,2709,2904,0,0,0,0,0,0,26.82,26.76,26.83
$STATE,1690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1690,begin apogee
$GC,1693,-0.23,0.0,2927,2193,2709,2903,180.8,-11.7,142,1797,0.75,0.00,100.15,0.966,10246,0.151,0.000,3178,2193,2300,2226,2374,0,0,0,0,0,0,26.53,25.30,24.65
$STATE,1798,end apogee,CONTROL_FINISHED_OK
$STATE,1798,begin climb
$GC,1799,0.94,146.6,3178,2193,2226,2374,185.8,0.0,147,1910,0.98,2.42,100.18,0.929,10500,0.107,0.067,3532,3756,1794,1719,1870,0,0,0,0,0,0,25.44,25.00,24.52
$GC,2262,0.94,146.6,3531,3756,1719,1869,131.3,12.9,175,2272,0.00,2.28,0.00,0.000,1030,0.000,0.050,3543,2197,1794,1719,1870,0,0,0,0,0,0,26.47,26.45,26.48
$GC,2573,0.94,146.6,3543,2196,1719,1870,93.7,12.4,206,2583,0.00,2.33,0.00,0.000,260,0.000,0.062,3543,3748,1794,1719,1869,0,0,0,0,0,0,26.82,26.55,26.84
$GC,2777,0.94,146.6,3543,3748,1719,1870,62.9,14.9,224,2787,0.00,2.17,0.00,0.000,1030,0.000,0.050,3555,2198,1794,1719,1870,0,0,0,0,0,0,26.68,26.65,26.70
$GC,3087,0.94,146.6,3555,2198,1719,1870,20.1,14.0,255,3098,0.00,2.22,0.00,0.000,516,0.000,0.060,3566,648,1794,1719,1870,0,0,0,0,0,0,26.93,26.66,26.95
$GC,3136,0.94,146.6,3566,648,1719,1870,13.5,14.0,259,3146,0.00,2.25,0.00,0.000,1030,0.000,0.050,3566,2207,1794,1719,1870,0,0,0,0,0,0,26.73,26.71,26.74
$STATE,3214,end climb,SURFACE_DEPTH_REACHED
$STATE,3214,begin surface coast
$FINISH,0.3,0.998936
$STATE,3236,end surface coast,CONTROL_FINISHED_OK
$STATE,3236,begin surface
$SM_CCo,3250,275.23,0.839,0,0,405,550.19
$SM_GC,1.35,8.48,0.00,275.23,0.057,0.000,0.839,179,2210,405,-9.49,0.28,550.19,0,0,0,0,0,0,26.70,26.97,24.59
$IRIDIUM_FIX,3205.87,-6436.80,030108,082402
$TT8_MAMPS,0.023219,0.023219
$HUMID,39.28
$INTERNAL_PRESSURE,9.00497
$TCM_TEMP,20.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,17.1
$24V_AH,24.52,3.490
$10V_AH,10.55,3.139
$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,21.225,22.725,200.325,275.225,152.675,0.000,0.000,0.000,2.750,0.000,16.225,679.393,1118.531,573.243,1199.317,26.616,0.000,1000.096,0.000,1172.109,0.000,16.781,0.000
$DEVICE_MAMPS,270.647,67.041,965.887,839.254,99.320,0.000,0.000,0.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.579,875.858,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330468
$DATA_FILE_SIZE,13578,269
$CAP_FILE_SIZE,74250,0
$CFSIZE,1024409600,1019232256
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4222.35,0x238a9a,7,5
$INTR,1,1691.33,0x238a9a,2,5
$INTR,2,3238.56,0x238a9a,7,5
$GPS,080315,200512,3220.361,-6435.148,17,1.7,22,-15.5,0.0,71.2,4,5.9