version: 66.12
glider: 37
mission: 22
dive: 6
start: 8 28 115 16 41 41
data:
$ID,37
$MISSION,22
$DIVE,6
$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,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
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,256
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$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,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,245
$C_ROLL_CLIMB,245
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2380
$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,-1069.0311
$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,50
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$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
$GPS1,280815,163714,3218.1040,-6438.3403,4,0.9,7,-14.9,0.0,161.4,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-71.6
$GPS2,280815,164101,3218.0884,-6438.3633,5,1.0,11,-14.9,0.9,74.0,10,9.9
$SPEED_LIMITS,0.373,0.383
$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,153.7,19907,-11.4,-10.000,-14.63,6223
$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,-0.59,-244.3,166,278,1105,1186,0.0,0.0,0,141,0.00,0.00,-124.22,0.142,16386,0.000,0.000,167,279,2975,2964,2986,0,0,0,0,0,0,27.14,28.83,27.16
$GC,144,-0.59,-244.3,166,279,2964,2986,4.5,-6.9,12,171,11.65,0.00,-6.93,0.194,18438,0.286,0.000,3004,278,3223,3217,3229,0,0,0,0,0,0,26.25,26.51,26.42
$GC,470,-0.59,-244.3,3004,278,3217,3229,50.0,-8.2,45,471,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,278,3223,3217,3229,0,0,0,0,0,0,27.10,27.13,27.13
$GC,771,-0.59,-244.3,3004,278,3216,3229,74.4,-8.6,75,772,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,278,3222,3217,3228,0,0,0,0,0,0,27.19,27.21,27.20
$GC,1071,-0.59,-244.3,3004,278,3217,3228,98.1,-7.6,105,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,278,3222,3217,3228,0,0,0,0,0,0,27.22,27.24,27.24
$GC,1382,-0.59,-244.3,3004,278,3217,3228,118.9,-7.3,136,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,278,3222,3216,3228,0,0,0,0,0,0,27.24,27.27,27.27
$GC,1693,-0.59,-244.3,3004,278,3217,3226,142.4,-9.8,167,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,278,3221,3217,3226,0,0,0,0,0,0,27.26,27.28,27.27
$STATE,1779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1779,begin apogee
$GC,1783,-0.23,0.0,3004,278,3216,3225,150.6,-8.7,176,1953,0.35,0.00,167.00,0.737,10246,0.139,0.000,3134,278,2380,2371,2389,0,0,0,0,0,0,26.74,25.64,25.10
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1955,0.59,244.3,3133,278,2371,2389,155.5,0.0,184,2131,0.62,0.00,169.10,0.723,10246,0.122,0.000,3373,278,1537,1510,1564,0,0,0,0,0,0,25.74,25.58,25.07
$GC,2431,0.59,244.3,3372,278,1510,1564,116.8,8.7,227,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,278,1537,1510,1564,0,0,0,0,0,0,26.91,26.94,26.94
$GC,2732,0.59,244.3,3372,278,1510,1564,90.6,8.2,257,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,278,1537,1510,1564,0,0,0,0,0,0,27.09,27.11,27.10
$GC,3042,0.59,244.3,3372,278,1510,1564,66.0,8.0,288,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,278,1537,1510,1564,0,0,0,0,0,0,27.17,27.19,27.19
$GC,3352,0.66,491.5,3372,278,1510,1563,43.9,5.9,319,3532,0.05,0.00,176.43,0.660,10246,0.179,0.000,3446,278,687,626,748,0,0,0,0,0,0,27.01,25.67,25.19
$STATE,3830,end climb,SURFACE_DEPTH_REACHED
$STATE,3830,begin surface coast
$FINISH,0.4,1.023317
$STATE,3852,end surface coast,CONTROL_FINISHED_OK
$STATE,3852,begin surface
$SM_CCo,3927,0.00,0.000,0,0,687,491.80
$SM_GC,0.51,8.20,0.00,0.00,0.070,0.000,0.000,150,278,687,-9.44,0.93,491.80,0,0,0,0,0,0,26.67,26.96,26.72
$IRIDIUM_FIX,3203.33,-6440.20,240608,060408
$TT8_MAMPS,0.02247,0.02247
$HUMID,48.89
$INTERNAL_PRESSURE,9.29912
$TCM_TEMP,25.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,49.5,48.1
$24V_AH,25.07,7.212
$10V_AH,10.68,4.505
$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,20.875,0.000,512.525,0.000,131.150,0.000,0.000,0.000,1.250,0.000,11.751,814.360,1373.434,515.942,1266.322,30.215,0.000,939.364,0.000,1264.283,0.000,2.710,0.000
$DEVICE_MAMPS,285.545,0.000,737.451,0.000,193.674,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.235,1202.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353684
$DATA_FILE_SIZE,23565,369
$CAP_FILE_SIZE,47943,1
$CFSIZE,1024409600,975765504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280815,174752,3217.618,-6438.727,5,1.1,21,-14.9,0.0,0.0,8,9.4