version: 66.12
glider: 35
mission: 21
dive: 5
start: 2 6 114 22 25 39
data:
$ID,35
$MISSION,21
$DIVE,5
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,76769
$MASS_COMP,9469
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,47.724998
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-989794.44
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2995
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026142744
$P_OVSHOOT_WITHG,0.089055829
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,1735
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,3368
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2784
$PRESSURE_SLOPE,0.00092600001
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,060214,222057,4744.387,-12224.506,11,2.1,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.3
$GPS2,060214,222445,4744.417,-12224.492,10,2.1,30,18.2
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.010,-0.245
$KALMAN_X,15.1,15.1,15.1,40.9,36.7
$KALMAN_Y,276.5,276.5,276.5,-457.4,670.5
$MHEAD_RNG_PITCHd_Wd,164.2,2623,-19.7,-10.000,-22.22,2235
$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,-1.00,-146.6,246,1748,2315,2385,0.0,0.0,0,121,0.00,0.00,-103.47,0.000,16386,0.000,0.000,246,1748,3540,3503,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.00,-146.6,246,1748,3503,3577,3.1,-1.4,19,155,9.98,2.33,-14.45,0.000,18948,0.253,0.072,2671,326,3866,3835,3898,0,0,0,0,0,0,24.93,25.48,25.41
$GC,383,-1.00,-146.6,2671,326,3835,3898,43.6,-13.7,54,391,0.00,2.22,0.00,0.000,1030,0.000,0.057,2661,1770,3866,3835,3898,0,0,0,0,0,0,28.83,25.67,28.83
$GC,513,-1.00,-146.6,2661,1770,3834,3898,59.2,-12.1,67,522,0.00,2.30,0.00,0.000,516,0.000,0.072,2661,324,3866,3835,3898,0,0,0,0,0,0,28.83,25.60,28.83
$GC,607,-1.00,-146.6,2661,324,3835,3898,73.0,-15.6,76,614,0.00,2.15,0.00,0.000,1030,0.000,0.060,2651,1742,3866,3835,3898,0,0,0,0,0,0,28.83,25.75,28.83
$GC,735,-1.00,-146.6,2651,1742,3835,3898,91.3,-12.7,89,744,0.00,2.20,0.00,0.000,260,0.000,0.072,2641,3130,3866,3835,3898,0,0,0,0,0,0,28.83,25.66,28.83
$GC,859,-1.00,-146.6,2641,3131,3835,3898,110.6,-16.0,101,868,0.10,2.12,0.00,0.000,3078,0.174,0.062,2671,1733,3866,3835,3898,0,0,0,0,0,0,25.43,25.77,28.83
$GC,991,-1.00,-146.6,2671,1733,3835,3898,130.1,-14.0,114,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1733,3866,3835,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1118,-1.00,-146.6,2671,1733,3835,3898,148.0,-13.3,127,1126,0.00,2.17,0.00,0.000,516,0.000,0.074,2672,336,3866,3835,3897,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1165,-1.00,-146.6,2671,336,3835,3898,154.8,-14.7,131,1172,0.00,2.12,0.00,0.000,1030,0.000,0.057,2662,1733,3866,3835,3898,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1292,-1.00,-146.6,2661,1733,3835,3898,174.0,-13.7,144,1301,0.00,2.22,0.00,0.000,260,0.000,0.072,2651,3133,3866,3835,3898,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,1321,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1321,begin apogee
$GC,1328,-0.21,0.0,2650,1733,3835,3897,178.9,-15.3,147,1436,0.88,0.00,103.60,1.068,10246,0.154,0.000,2924,1734,3368,3338,3398,0,0,0,0,0,0,25.25,28.83,23.53
$STATE,1438,end apogee,CONTROL_FINISHED_OK
$STATE,1439,begin climb
$GC,1440,1.00,146.6,2924,1734,3338,3398,184.1,0.0,158,1550,1.08,0.00,104.80,0.924,10758,0.094,0.000,3297,1733,2871,2848,2895,0,0,0,0,0,0,24.46,28.83,23.06
$GC,1668,1.00,146.6,3297,1733,2848,2895,165.2,12.0,181,1677,0.00,2.35,0.00,0.000,260,0.000,0.070,3297,3129,2871,2848,2895,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1741,1.00,146.6,3297,3129,2848,2895,155.9,12.8,188,1749,0.00,2.28,0.00,0.000,1030,0.000,0.060,3307,1706,2871,2848,2895,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1869,1.00,146.6,3308,1706,2848,2895,138.6,12.9,201,1878,0.00,2.22,0.00,0.000,516,0.000,0.072,3318,332,2871,2848,2895,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1950,1.00,146.6,3318,332,2847,2895,126.9,14.6,209,1954,0.00,2.17,0.00,0.000,1030,0.000,0.057,3318,1741,2871,2847,2895,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2075,1.00,146.6,3318,1741,2847,2895,110.9,12.4,221,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1741,2871,2847,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2195,1.00,146.6,3318,1741,2847,2895,97.5,10.9,233,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1741,2871,2847,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,1.00,146.6,3318,1741,2847,2895,85.1,10.7,245,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1740,2871,2848,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2435,1.00,146.6,3318,1741,2848,2895,72.8,10.9,257,2443,0.00,2.22,0.00,0.000,260,0.000,0.070,3318,3133,2871,2847,2895,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2616,1.00,146.6,3318,3133,2847,2895,52.8,11.3,275,2625,0.00,2.17,0.00,0.000,1030,0.000,0.060,3329,1725,2871,2847,2895,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2746,1.00,146.6,3328,1725,2847,2895,38.5,10.3,288,2755,0.00,2.20,0.00,0.000,516,0.000,0.074,3340,333,2871,2847,2895,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2820,1.00,146.6,3339,334,2847,2895,31.1,10.7,295,2827,0.00,2.15,0.00,0.000,1030,0.000,0.057,3340,1738,2871,2847,2895,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2947,1.00,146.6,3339,1738,2847,2895,17.8,10.7,309,2954,0.00,2.22,0.00,0.000,260,0.000,0.070,3340,3137,2871,2847,2895,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,3076,end climb,SURFACE_DEPTH_REACHED
$STATE,3076,begin surface coast
$FINISH,2.6,1.023019
$STATE,3087,end surface coast,CONTROL_FINISHED_OK
$STATE,3087,begin surface
$SM_CCo,3105,99.15,0.904,0,0,2350,300.22
$SM_GC,1.44,9.00,2.20,99.15,0.107,0.057,0.904,248,1766,2350,-8.54,1.39,300.22,0,0,0,0,0,0,25.66,25.83,23.78
$IRIDIUM_FIX,4726.11,-12234.89,060214,222208
$TT8_MAMPS,0.020972,0.020972
$HUMID,38.69
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,18.8
$ALTIM_BOTTOM_PING,151.0,37.2
$24V_AH,23.1,37.952
$10V_AH,10.3,4.560
$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,21.025,44.250,208.400,99.150,0.000,0.000,0.000,0.000,6.000,0.000,32.877,794.764,1306.976,425.938,707.547,59.600,30.075,840.314,0.000,660.250,0.000,37.442,0.000
$DEVICE_MAMPS,253.266,74.490,1067.690,903.812,0.000,0.000,0.000,0.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,228.433,441.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354592
$DATA_FILE_SIZE,20278,336
$CAP_FILE_SIZE,68403,0
$CFSIZE,260165632,242679808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060214,231955,4744.323,-12224.395,12,1.6,12,18.2