version: 66.12
glider: 37
mission: 20
dive: 4
start: 4 15 115 15 36 17
data:
$ID,37
$MISSION,20
$DIVE,4
$N_DIVES,0
$D_SURF,2
$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,75
$T_ABORT,2880
$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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78758
$MASS_COMP,9226.7002
$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,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3200
$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,265
$ROLL_MAX,3830
$ROLL_DEG,45
$C_ROLL_DIVE,3930
$C_ROLL_CLIMB,3930
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,280
$VBD_MAX,3960
$C_VBD,2181
$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,-1071.2393
$PRESSURE_SLOPE,0.00091968128
$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,1.75
$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,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,150415,153022,3219.9763,-6436.2798,25,1.1,31,-14.9,1.4,202.1,7,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-60.1
$GPS2,150415,153548,3219.9844,-6436.2651,4,1.1,22,-14.9,0.6,49.9,7,10.0
$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,166.9,20938,-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,-1.33,-68.4,93,3804,425,528,0.0,0.0,0,169,0.00,0.00,-146.45,0.139,16390,0.000,0.000,93,3805,2415,2411,2420,0,0,0,0,0,0,26.72,26.31,26.24
$GC,172,-1.33,-68.4,92,3805,2410,2420,2.9,-2.0,15,189,11.50,0.00,0.00,0.000,2054,0.300,0.000,2766,3805,2417,2408,2426,0,0,0,0,0,0,26.02,26.28,26.19
$GC,490,-1.33,-68.4,2766,3805,2408,2426,16.1,-6.3,47,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,3805,2417,2408,2426,0,0,0,0,0,0,26.94,26.96,26.96
$GC,800,-1.33,-68.4,2765,3805,2407,2426,37.3,-6.9,78,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,3804,2416,2407,2426,0,0,0,0,0,0,27.07,27.09,27.09
$GC,1111,-1.33,-68.4,2766,3805,2407,2426,63.0,-8.3,109,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,3805,2416,2407,2426,0,0,0,0,0,0,27.15,27.17,27.16
$GC,1421,-1.33,-68.4,2766,3805,2407,2426,89.1,-8.8,140,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,3805,2416,2407,2426,0,0,0,0,0,0,27.20,27.21,27.21
$GC,1729,-1.33,-68.4,2766,3805,2407,2426,115.8,-8.5,171,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,3805,2416,2407,2426,0,0,0,0,0,0,27.22,27.24,27.24
$GC,2030,-1.33,-68.4,2765,3805,2407,2427,142.5,-9.3,201,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,3805,2416,2406,2426,0,0,0,0,0,0,27.24,27.27,27.26
$STATE,2129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2129,begin apogee
$GC,2132,-0.23,0.0,2767,3805,2407,2426,150.9,-8.6,211,2190,1.17,0.00,46.78,0.899,10246,0.211,0.000,3123,3805,2181,2154,2209,0,0,0,0,0,0,26.67,26.06,25.44
$STATE,2191,end apogee,CONTROL_FINISHED_OK
$STATE,2191,begin climb
$GC,2192,1.33,68.4,3123,3805,2154,2209,152.2,0.0,214,2250,1.33,0.00,47.75,0.864,10246,0.112,0.000,3615,3805,1944,1913,1976,0,0,0,0,0,0,26.15,25.46,25.04
$GC,2549,1.33,68.4,3614,3805,1913,1976,90.2,18.7,248,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,3805,1944,1913,1976,0,0,0,0,0,0,26.84,26.85,26.85
$GC,2851,1.33,68.4,3614,3805,1913,1976,37.3,16.2,278,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,3805,1944,1913,1976,0,0,0,0,0,0,27.02,27.04,27.03
$STATE,3058,end climb,SURFACE_DEPTH_REACHED
$STATE,3058,begin surface coast
$FINISH,0.3,1.024875
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3070,begin surface
$SM_CCo,3085,286.85,0.767,0,0,459,500.22
$SM_GC,2.12,8.48,0.00,286.85,0.060,0.000,0.767,137,3805,459,-9.46,-3.53,500.22,0,0,0,0,0,0,26.84,27.11,24.93
$IRIDIUM_FIX,3208.42,-6435.71,100208,045749
$TT8_MAMPS,0.02247,0.02247
$HUMID,37.47
$INTERNAL_PRESSURE,9.40654
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.3,16.8
$24V_AH,24.93,3.728
$10V_AH,10.60,1.253
$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,22.475,5.325,94.525,286.850,146.450,35.234,40.540,160.078,1.750,0.000,23.629,712.743,54828.625,519.627,1291.124,45.869,0.000,820.903,0.000,1033.594,0.000,11.535,0.000
$DEVICE_MAMPS,300.443,57.109,898.846,767.247,139.048,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,198.762,978.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330380
$DATA_FILE_SIZE,16874,300
$CAP_FILE_SIZE,38993,0
$CFSIZE,1024409600,1018101760
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1547.45,0x26768a,0,24
$INTR,1,2130.79,0x238a9a,2,5
$INTR,2,3073.49,0x238a9a,7,5
$GPS,150415,163338,3219.920,-6436.317,3,1.3,43,-14.9,0.0,0.0,5,11.3