version: 66.12
glider: 35
mission: 21
dive: 11
start: 2 7 114 5 49 49
data:
$ID,35
$MISSION,21
$DIVE,11
$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,90
$T_MISSION,105
$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,-989801.94
$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,11
$R_STBD_OVSHOOT,45
$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
$GPS1,070214,054403,4743.024,-12225.241,11,2.2,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.1
$GPS2,070214,054849,4743.002,-12225.286,13,1.5,13,18.2
$SPEED_LIMITS,0.067,0.213
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.116,0.179
$KALMAN_X,-717.2,306.3,-216.5,-269.7,-503.7
$KALMAN_Y,-56.8,843.9,-728.7,-2273.5,-616.7
$MHEAD_RNG_PITCHd_Wd,14.8,2941,-13.8,-6.667,-17.39,3328
$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,-0.57,-146.6,211,1738,2313,2386,0.0,0.0,0,116,0.00,0.00,-97.47,0.000,16386,0.000,0.000,211,1739,3497,3457,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.57,-146.6,211,1738,3458,3537,3.3,-2.1,18,155,10.57,2.30,-15.20,0.000,18692,0.248,0.070,2803,3134,3865,3832,3899,0,0,0,0,0,0,24.93,25.44,25.37
$GC,187,-0.57,-146.6,2802,3133,3833,3899,12.1,-7.6,30,194,0.00,2.25,0.00,0.000,1030,0.000,0.060,2803,1698,3866,3833,3900,0,0,0,0,0,0,28.83,25.54,28.83
$GC,256,-0.57,-146.6,2802,1698,3832,3900,17.6,-7.7,43,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1698,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,324,-0.57,-146.6,2802,1698,3832,3900,23.8,-9.2,52,333,0.00,2.33,0.00,0.000,260,0.000,0.070,2800,3135,3866,3832,3900,0,0,0,0,0,0,28.83,25.56,28.83
$GC,395,-0.57,-146.6,2800,3135,3832,3899,30.1,-8.7,59,404,0.00,2.15,0.00,0.000,1030,0.000,0.060,2801,1733,3866,3833,3899,0,0,0,0,0,0,28.83,25.68,28.83
$GC,525,-0.57,-146.6,2800,1733,3832,3900,43.7,-11.0,72,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1733,3866,3833,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,645,-0.57,-146.6,2800,1733,3832,3900,56.3,-10.1,84,654,0.00,2.25,0.00,0.000,260,0.000,0.070,2800,3135,3866,3833,3899,0,0,0,0,0,0,28.83,25.70,28.83
$GC,679,-0.57,-146.6,2800,3135,3833,3899,59.3,-9.4,87,687,0.00,2.17,0.00,0.000,1030,0.000,0.060,2800,1725,3865,3832,3899,0,0,0,0,0,0,28.83,25.79,28.83
$GC,807,-0.57,-146.6,2800,1726,3832,3899,68.3,-6.3,100,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1726,3865,3832,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,927,-0.57,-146.6,2800,1726,3833,3899,77.0,-8.3,112,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1726,3866,3833,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1046,-0.57,-146.6,2800,1726,3833,3899,88.7,-10.0,124,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1725,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1167,-0.57,-146.6,2800,1725,3832,3899,98.4,-4.4,136,1175,0.00,2.22,0.00,0.000,260,0.000,0.070,2800,3130,3865,3832,3899,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1299,-0.57,-146.6,2800,3130,3832,3899,106.3,-7.8,149,1307,0.00,2.12,0.00,0.000,1030,0.000,0.057,2800,1730,3866,3833,3899,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1428,-0.57,-146.6,2800,1730,3832,3899,117.7,-9.4,162,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1730,3865,3832,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1548,-0.57,-146.6,2800,1731,3832,3899,131.3,-10.5,174,1551,0.00,2.22,0.00,0.000,260,0.000,0.070,2800,3121,3865,3832,3899,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1611,-0.57,-146.6,2800,3136,3833,3899,136.4,-8.0,180,1619,0.00,2.17,0.00,0.000,1030,0.000,0.060,2800,1736,3866,3833,3899,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1739,-0.57,-146.6,2799,1736,3832,3899,147.5,-9.0,193,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1736,3865,3832,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1859,-0.57,-146.6,2800,1737,3832,3899,158.0,-8.6,205,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1736,3866,3833,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1979,-0.57,-146.6,2800,1736,3832,3899,168.2,-8.9,217,1987,0.00,2.20,0.00,0.000,260,0.000,0.070,2800,3135,3866,3833,3899,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2044,-0.57,-146.6,2800,3134,3833,3899,173.2,-8.0,223,2051,0.00,2.17,0.00,0.000,1030,0.000,0.057,2800,1731,3866,3833,3899,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,2130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2130,begin apogee
$GC,2135,-0.21,0.0,2800,1731,3832,3899,180.6,-8.2,232,2242,0.38,0.00,102.75,1.065,10246,0.127,0.000,2929,1731,3368,3339,3398,0,0,0,0,0,0,25.70,28.83,23.68
$STATE,2243,end apogee,CONTROL_FINISHED_OK
$STATE,2243,begin climb
$GC,2247,0.57,146.6,2929,1731,3339,3398,185.5,0.0,243,2363,0.68,2.38,104.68,0.924,10756,0.099,0.074,3176,342,2871,2846,2897,0,0,0,0,0,0,24.59,24.08,23.25
$GC,2429,0.57,199.4,3176,342,2845,2898,181.3,5.0,261,2476,0.00,2.22,38.45,0.921,9222,0.000,0.055,3176,1734,2691,2662,2720,0,0,0,0,0,0,28.83,24.68,23.39
$GC,2597,0.57,199.4,3176,1735,2663,2720,170.0,7.3,278,2606,0.00,2.28,0.00,0.000,260,0.000,0.067,3176,3133,2691,2663,2720,0,0,0,0,0,0,28.83,24.89,28.83
$GC,2691,0.57,199.4,3176,3133,2663,2720,162.6,8.1,287,2698,0.00,2.20,0.00,0.000,1030,0.000,0.057,3185,1737,2691,2663,2720,0,0,0,0,0,0,28.83,25.18,28.83
$GC,2818,0.57,210.7,3185,1736,2663,2720,153.8,6.3,300,2830,0.00,0.00,9.60,0.844,8198,0.000,0.000,3186,1736,2654,2628,2680,0,0,0,0,0,0,28.83,28.83,24.12
$GC,2948,0.57,232.3,3185,1736,2628,2680,146.5,6.0,313,2968,0.00,0.00,16.48,0.909,8198,0.000,0.000,3186,1736,2581,2558,2604,0,0,0,0,0,0,28.83,28.83,24.13
$GC,3088,0.57,279.6,3185,1736,2558,2604,138.9,5.2,327,3129,0.00,2.33,34.00,0.949,8452,0.000,0.070,3186,3139,2420,2402,2439,0,0,0,0,0,0,28.83,24.90,23.95
$GC,3164,0.57,359.8,3185,3139,2402,2438,136.0,4.2,334,3231,0.00,2.22,56.80,0.901,9222,0.000,0.057,3195,1732,2149,2141,2158,0,0,0,0,0,0,28.83,25.12,23.67
$GC,3354,0.57,359.8,3195,1732,2140,2158,118.8,9.2,353,3362,0.00,2.28,0.00,0.000,260,0.000,0.070,3195,3134,2148,2139,2158,0,0,0,0,0,0,28.83,25.10,28.83
$GC,3417,0.57,359.8,3195,3134,2141,2158,112.9,6.8,359,3424,0.00,2.20,0.00,0.000,1030,0.000,0.057,3205,1723,2149,2140,2158,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3544,0.57,359.8,3205,1722,2140,2158,104.4,7.4,372,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1722,2149,2140,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3665,0.57,359.8,3205,1723,2140,2158,94.0,9.2,384,3673,0.00,2.28,0.00,0.000,260,0.000,0.070,3205,3136,2149,2140,2158,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3720,0.57,359.8,3206,3136,2141,2158,88.5,11.6,389,3727,0.15,2.17,0.00,0.000,5126,0.161,0.060,3173,1730,2149,2140,2158,0,0,0,0,0,0,25.41,25.62,28.83
$GC,3846,0.57,359.8,3172,1730,2140,2158,78.4,8.1,402,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1730,2149,2140,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3966,0.57,359.8,3172,1730,2141,2158,68.1,7.9,414,3974,0.00,2.22,0.00,0.000,260,0.000,0.070,3173,3131,2149,2141,2158,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4017,0.57,359.8,3172,3131,2141,2158,63.8,8.8,419,4025,0.00,2.17,0.00,0.000,1030,0.000,0.060,3178,1728,2149,2140,2158,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4147,0.57,359.8,3178,1728,2140,2158,53.2,8.7,432,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1728,2149,2140,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4267,0.57,359.8,3177,1728,2140,2158,43.0,8.8,444,4275,0.00,2.22,0.00,0.000,260,0.000,0.070,3178,3133,2149,2140,2158,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4307,0.57,359.8,3177,3133,2140,2158,39.2,9.6,448,4316,0.00,2.15,0.00,0.000,1030,0.000,0.060,3179,1728,2149,2141,2158,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4438,0.57,359.8,3179,1728,2140,2158,28.6,8.4,461,4446,0.00,2.25,0.00,0.000,260,0.000,0.070,3180,3140,2149,2140,2158,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4479,0.57,359.8,3179,3140,2140,2158,25.1,9.0,465,4487,0.00,2.15,0.00,0.000,1030,0.000,0.060,3186,1731,2149,2140,2158,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4609,0.57,359.8,3186,1731,2140,2158,13.9,8.8,484,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1731,2149,2140,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4676,0.57,359.8,3186,1731,2140,2158,8.7,7.9,497,4683,0.00,2.22,0.00,0.000,260,0.000,0.070,3186,3132,2149,2140,2159,0,0,0,0,0,0,28.83,25.85,28.83
$STATE,4728,end climb,SURFACE_DEPTH_REACHED
$STATE,4728,begin surface coast
$FINISH,0.3,1.022971
$STATE,4771,end surface coast,CONTROL_FINISHED_OK
$STATE,4771,begin surface
$SM_CCo,4849,0.00,0.000,0,0,2149,359.85
$SM_GC,1.24,7.78,2.17,0.00,0.062,0.055,0.000,245,1750,2149,-8.54,1.36,359.85,0,0,0,0,0,0,25.85,25.95,28.83
$IRIDIUM_FIX,4729.30,-12124.71,070214,040419
$TT8_MAMPS,0.020972,0.020972
$HUMID,39.56
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,17.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.0,19.0
$ALTIM_BOTTOM_PING,170.7,30.9
$24V_AH,23.2,38.541
$10V_AH,10.4,4.760
$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,19.550,66.700,362.750,0.000,0.000,30.982,36.928,127.049,8.250,0.000,15.997,1200.088,2169.716,491.766,1172.567,113.128,33.213,1090.590,0.000,936.369,0.000,43.508,0.000
$DEVICE_MAMPS,248.300,74.490,1065.207,0.000,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.757,677.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354572
$DATA_FILE_SIZE,30333,515
$CAP_FILE_SIZE,82340,0
$CFSIZE,260165632,242405376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,071125,4743.170,-12225.124,9,1.9,10,18.2