version: 66.12
glider: 35
mission: 21
dive: 9
start: 2 7 114 3 5 41
data:
$ID,35
$MISSION,21
$DIVE,9
$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,80
$T_MISSION,90
$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,-989799.44
$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,41
$R_STBD_OVSHOOT,46
$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
$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
$GPS1,070214,025721,4742.887,-12224.646,11,3.1,31,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.4
$GPS2,070214,030442,4742.861,-12224.692,9,1.4,14,18.2
$SPEED_LIMITS,0.075,0.222
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.012,0.222
$KALMAN_X,316.3,168.0,38.5,-680.6,-9.3
$KALMAN_Y,737.8,930.5,135.0,-4280.8,-447.0
$MHEAD_RNG_PITCHd_Wd,344.9,3045,-15.4,-7.500,-18.65,2965
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.64,-146.6,245,1727,2316,2385,0.0,0.0,0,117,0.00,0.00,-98.38,0.000,16386,0.000,0.000,245,1727,3504,3465,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.64,-146.6,245,1727,3465,3544,3.2,-1.8,18,156,10.60,2.25,-15.38,0.000,18948,0.256,0.072,2783,333,3866,3832,3900,0,0,0,0,0,0,24.87,25.39,25.32
$GC,332,-0.64,-146.6,2782,333,3832,3900,29.6,-12.5,51,339,0.00,2.15,0.00,0.000,1030,0.000,0.057,2782,1731,3866,3832,3900,0,0,0,0,0,0,28.83,25.62,28.83
$GC,459,-0.64,-146.6,2782,1732,3832,3900,43.5,-10.3,64,467,0.00,2.22,0.00,0.000,260,0.000,0.072,2782,3135,3866,3832,3900,0,0,0,0,0,0,28.83,25.59,28.83
$GC,520,-0.64,-146.6,2783,3135,3832,3900,48.8,-8.3,70,528,0.00,2.17,0.00,0.000,1030,0.000,0.060,2782,1734,3866,3832,3900,0,0,0,0,0,0,28.83,25.70,28.83
$GC,650,-0.64,-146.6,2782,1734,3832,3900,59.3,-8.3,83,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1734,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,770,-0.64,-146.6,2782,1734,3832,3900,69.8,-8.4,95,779,0.00,2.22,0.00,0.000,260,0.000,0.072,2782,3133,3866,3832,3900,0,0,0,0,0,0,28.83,25.70,28.83
$GC,834,-0.64,-146.6,2782,3133,3832,3900,75.8,-9.8,101,841,0.00,2.20,0.00,0.000,1030,0.000,0.060,2782,1730,3866,3832,3900,0,0,0,0,0,0,28.83,25.80,28.83
$GC,961,-0.64,-146.6,2782,1730,3832,3900,88.0,-9.5,114,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1731,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1081,-0.64,-146.6,2782,1730,3832,3900,98.4,-8.4,126,1090,0.00,2.22,0.00,0.000,260,0.000,0.070,2782,3133,3866,3832,3900,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1145,-0.64,-146.6,2782,3133,3832,3900,103.5,-8.0,132,1152,0.00,2.17,0.00,0.000,1030,0.000,0.060,2782,1726,3866,3832,3900,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1272,-0.64,-146.6,2782,1726,3832,3900,112.5,-6.2,145,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1725,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1393,-0.64,-146.6,2782,1726,3832,3900,120.8,-5.9,157,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1726,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1513,-0.64,-146.6,2782,1725,3832,3900,127.5,-4.9,169,1521,0.00,2.22,0.00,0.000,260,0.000,0.070,2782,3134,3866,3832,3901,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1594,-0.64,-146.6,2782,3133,3832,3900,133.1,-7.1,177,1603,0.00,2.12,0.00,0.000,1030,0.000,0.060,2783,1735,3866,3832,3900,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1724,-0.64,-146.6,2782,1734,3832,3900,143.8,-8.1,190,1733,0.00,2.22,0.00,0.000,260,0.000,0.070,2783,3140,3866,3832,3900,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1780,-0.64,-146.6,2782,3140,3832,3900,147.7,-6.5,195,1786,0.00,2.15,0.00,0.000,1030,0.000,0.060,2783,1726,3866,3832,3900,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1907,-0.64,-146.6,2782,1726,3832,3900,159.0,-8.9,208,1915,0.00,2.22,0.00,0.000,260,0.000,0.070,2782,3133,3866,3832,3900,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1972,-0.64,-146.6,2782,3134,3832,3900,164.5,-8.9,214,1979,0.00,2.17,0.00,0.000,1030,0.000,0.060,2782,1709,3866,3832,3900,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2100,-0.64,-146.6,2782,1709,3832,3900,175.1,-7.9,227,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1709,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2168,begin apogee
$GC,2173,-0.21,0.0,2782,1709,3832,3900,180.4,-7.6,234,2280,0.43,0.00,102.43,1.048,10246,0.129,0.000,2926,1709,3368,3339,3398,0,0,0,0,0,0,25.61,28.83,23.68
$STATE,2281,end apogee,CONTROL_FINISHED_OK
$STATE,2281,begin climb
$GC,2284,0.64,146.6,2926,1709,3339,3398,183.8,0.0,245,2401,0.75,2.35,104.57,0.921,10756,0.097,0.074,3195,339,2871,2846,2897,0,0,0,0,0,0,24.60,24.08,23.24
$GC,2444,0.64,154.7,3195,339,2845,2897,177.2,7.2,261,2456,0.00,2.22,7.53,0.772,9222,0.000,0.057,3195,1737,2843,2818,2869,0,0,0,0,0,0,28.83,24.54,23.45
$GC,2584,0.64,171.2,3195,1737,2818,2869,166.1,6.9,275,2604,0.00,2.28,12.75,0.876,8452,0.000,0.070,3195,3136,2788,2763,2814,0,0,0,0,0,0,28.83,24.81,23.72
$GC,2676,0.64,171.2,3195,3136,2763,2814,159.4,8.4,284,2685,0.00,2.20,0.00,0.000,1030,0.000,0.060,3205,1741,2788,2763,2814,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2806,0.64,171.2,3205,1741,2763,2814,147.5,9.1,297,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1740,2788,2763,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2926,0.64,171.2,3205,1740,2763,2814,137.2,7.8,309,2935,0.00,2.25,0.00,0.000,260,0.000,0.070,3205,3134,2788,2763,2814,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3047,0.64,171.2,3205,3134,2763,2814,127.0,8.0,321,3056,0.00,2.17,0.00,0.000,1030,0.000,0.057,3216,1727,2788,2763,2814,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3178,0.64,171.2,3216,1726,2763,2814,117.2,7.9,334,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1726,2788,2763,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3297,0.64,171.2,3216,1727,2763,2814,107.6,8.8,346,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1726,2788,2763,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,0.64,171.2,3216,1727,2763,2814,96.9,8.7,358,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1727,2788,2763,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,0.64,171.2,3216,1727,2763,2814,85.7,9.3,370,3546,0.00,2.17,0.00,0.000,516,0.000,0.072,3227,335,2788,2763,2814,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3598,0.64,171.2,3226,335,2763,2814,80.1,9.7,376,3607,0.00,2.12,0.00,0.000,1030,0.000,0.057,3227,1748,2788,2762,2814,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3728,0.64,171.2,3227,1748,2763,2814,68.9,7.8,389,3737,0.00,2.20,0.00,0.000,260,0.000,0.070,3227,3137,2788,2763,2814,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3782,0.64,171.2,3227,3137,2763,2814,64.4,9.5,394,3790,0.15,2.17,0.00,0.000,5126,0.176,0.060,3197,1728,2788,2763,2814,0,0,0,0,0,0,25.53,25.85,28.83
$GC,3910,0.64,173.6,3197,1728,2763,2814,54.8,7.4,407,3919,0.00,0.00,3.90,0.584,8198,0.000,0.000,3197,1728,2777,2752,2803,0,0,0,0,0,0,28.83,28.83,24.48
$GC,4039,0.64,173.6,3197,1728,2753,2804,45.0,7.7,420,4048,0.00,2.17,0.00,0.000,516,0.000,0.074,3207,337,2778,2752,2804,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4113,0.64,173.6,3207,337,2752,2804,39.1,8.0,427,4120,0.00,2.12,0.00,0.000,1030,0.000,0.057,3207,1742,2778,2752,2804,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4240,0.64,177.0,3207,1742,2752,2804,29.2,7.4,440,4251,0.00,2.15,3.97,0.586,8452,0.000,0.067,3207,3130,2767,2741,2793,0,0,0,0,0,0,28.83,25.89,24.56
$GC,4343,0.64,177.0,3207,3130,2741,2793,20.9,8.2,450,4351,0.00,2.12,0.00,0.000,1030,0.000,0.060,3218,1736,2767,2741,2793,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4474,0.64,177.0,3217,1736,2741,2793,10.2,8.3,474,4481,0.00,2.22,0.00,0.000,260,0.000,0.067,3218,3133,2767,2741,2793,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,4547,end climb,SURFACE_DEPTH_REACHED
$STATE,4548,begin surface coast
$FINISH,1.7,1.023004
$STATE,4574,end surface coast,CONTROL_FINISHED_OK
$STATE,4575,begin surface
$SM_CCo,4593,80.15,0.934,0,0,2351,300.22
$SM_GC,0.90,8.35,2.20,80.15,0.092,0.057,0.934,252,1758,2351,-8.53,1.07,300.22,0,0,0,0,0,0,25.72,25.93,23.99
$IRIDIUM_FIX,4726.11,-12229.50,070214,030300
$TT8_MAMPS,0.020972,0.020972
$HUMID,39.36
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,19.0
$ALTIM_BOTTOM_PING,160.8,33.4
$24V_AH,23.2,38.334
$10V_AH,10.3,4.689
$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,20.275,65.900,235.150,80.150,0.000,89.623,82.667,112.465,6.750,0.000,17.344,1181.235,2124.878,477.547,1243.343,101.619,33.230,1036.513,0.000,912.739,0.000,40.474,0.000
$DEVICE_MAMPS,255.749,74.490,1047.826,933.608,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.067,648.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,26888,493
$CAP_FILE_SIZE,80439,0
$CFSIZE,260165632,242507776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,042454,4742.978,-12225.125,40,1.4,40,18.2