version: 66.12
glider: 35
mission: 21
dive: 16
start: 2 7 114 12 53 2
data:
$ID,35
$MISSION,21
$DIVE,16
$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,-989808.19
$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,45
$R_STBD_OVSHOOT,47
$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
$GPS1,070214,124727,4744.146,-12224.312,12,2.8,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.8
$GPS2,070214,125203,4744.161,-12224.314,11,2.8,31,18.2
$SPEED_LIMITS,0.067,0.213
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.021,-0.212
$KALMAN_X,-959.9,-267.2,448.7,1086.2,-39.6
$KALMAN_Y,-317.8,-1111.8,870.8,479.9,-267.6
$MHEAD_RNG_PITCHd_Wd,167.4,2163,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.57,-146.6,234,1723,2316,2386,0.0,0.0,0,116,0.00,0.00,-97.55,0.000,16386,0.000,0.000,234,1723,3511,3471,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.57,-146.6,234,1723,3472,3552,3.3,-2.1,18,150,10.52,2.25,-14.25,0.000,18948,0.251,0.070,2806,337,3866,3832,3901,0,0,0,0,0,0,24.91,25.42,25.34
$GC,270,-0.57,-146.6,2805,337,3832,3901,23.7,-12.1,44,277,0.00,2.15,0.00,0.000,1030,0.000,0.057,2804,1732,3867,3833,3902,0,0,0,0,0,0,28.83,25.61,28.83
$GC,398,-0.57,-146.6,2803,1732,3832,3901,37.5,-10.1,57,406,0.00,2.25,0.00,0.000,260,0.000,0.070,2803,3141,3867,3833,3901,0,0,0,0,0,0,28.83,25.60,28.83
$GC,498,-0.57,-146.6,2802,3141,3833,3901,46.2,-8.2,67,507,0.00,2.15,0.00,0.000,1030,0.000,0.057,2802,1738,3867,3833,3901,0,0,0,0,0,0,28.83,25.73,28.83
$GC,629,-0.57,-146.6,2802,1738,3833,3901,55.6,-6.2,80,637,0.00,2.22,0.00,0.000,260,0.000,0.070,2800,3136,3867,3833,3901,0,0,0,0,0,0,28.83,25.70,28.83
$GC,731,-0.57,-146.6,2800,3136,3833,3901,62.5,-7.3,90,739,0.00,2.12,0.00,0.000,1030,0.000,0.057,2800,1734,3867,3833,3901,0,0,0,0,0,0,28.83,25.82,28.83
$GC,860,-0.57,-146.6,2800,1734,3833,3901,72.1,-7.4,103,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1734,3866,3832,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-0.57,-146.6,2800,1734,3833,3901,82.3,-8.9,115,988,0.00,2.22,0.00,0.000,260,0.000,0.070,2800,3140,3867,3833,3901,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1021,-0.57,-146.6,2800,3140,3832,3901,85.6,-7.8,119,1030,0.00,2.15,0.00,0.000,1030,0.000,0.057,2800,1730,3867,3833,3901,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1151,-0.57,-146.6,2800,1730,3833,3901,97.5,-10.6,132,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1730,3867,3833,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.57,-146.6,2800,1730,3833,3901,109.0,-9.4,144,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1731,3867,3833,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1391,-0.57,-146.6,2800,1730,3833,3901,120.9,-10.2,156,1399,0.00,2.22,0.00,0.000,260,0.000,0.070,2800,3140,3867,3833,3901,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1452,-0.57,-146.6,2800,3140,3833,3901,126.9,-9.7,162,1460,0.00,2.15,0.00,0.000,1030,0.000,0.057,2801,1723,3867,3833,3901,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1582,-0.57,-146.6,2800,1723,3832,3901,138.2,-8.9,175,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1723,3867,3833,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1702,-0.57,-146.6,2800,1723,3833,3901,148.0,-7.7,187,1710,0.00,2.17,0.00,0.000,516,0.000,0.072,2800,328,3867,3833,3901,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1749,-0.57,-146.6,2800,328,3833,3901,151.9,-8.7,191,1756,0.00,2.12,0.00,0.000,1030,0.000,0.057,2800,1738,3867,3833,3901,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1876,-0.57,-146.6,2800,1738,3833,3901,162.4,-7.9,204,1885,0.00,2.17,0.00,0.000,260,0.000,0.070,2800,3136,3867,3833,3901,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1947,-0.57,-146.6,2800,3136,3833,3901,167.5,-7.1,211,1955,0.00,2.12,0.00,0.000,1030,0.000,0.057,2800,1731,3867,3833,3901,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2077,-0.57,-146.6,2800,1731,3832,3901,177.3,-6.9,224,2085,0.00,2.20,0.00,0.000,260,0.000,0.070,2800,3130,3867,3833,3901,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,2106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2106,begin apogee
$GC,2112,-0.21,0.0,2800,1727,3833,3901,180.1,-8.0,227,2220,0.38,0.00,102.75,1.040,10246,0.124,0.000,2929,1727,3367,3340,3395,0,0,0,0,0,0,25.72,28.83,23.70
$STATE,2221,end apogee,CONTROL_FINISHED_OK
$STATE,2223,begin climb
$GC,2224,0.57,146.6,2929,1727,3340,3395,183.7,0.0,238,2337,0.65,0.00,104.30,0.924,10758,0.097,0.000,3158,1727,2871,2845,2897,0,0,0,0,0,0,24.62,28.83,23.25
$GC,2458,0.57,160.4,3157,1727,2845,2897,173.7,6.2,262,2478,0.00,2.38,11.30,0.859,8452,0.000,0.070,3158,3129,2823,2796,2851,0,0,0,0,0,0,28.83,24.73,23.60
$GC,2513,0.57,160.4,3158,3129,2797,2851,169.6,8.7,267,2520,0.00,2.28,0.00,0.000,1030,0.000,0.057,3168,1702,2824,2797,2851,0,0,0,0,0,0,28.83,24.95,28.83
$GC,2640,0.57,160.4,3169,1702,2797,2851,159.4,8.0,280,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1702,2824,2797,2851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,0.57,160.4,3168,1702,2797,2851,150.7,7.3,292,2769,0.00,2.30,0.00,0.000,260,0.000,0.070,3169,3129,2824,2797,2851,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2804,0.57,160.4,3168,3129,2797,2851,147.4,8.4,296,2811,0.00,2.20,0.00,0.000,1030,0.000,0.057,3177,1725,2824,2797,2851,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2931,0.57,160.4,3177,1725,2797,2851,138.2,6.9,309,2940,0.00,2.28,0.00,0.000,260,0.000,0.067,3177,3134,2824,2797,2851,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2975,0.57,160.4,3176,3134,2797,2851,135.5,7.1,313,2982,0.00,2.17,0.00,0.000,1030,0.000,0.057,3187,1725,2824,2797,2851,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3103,0.57,166.9,3187,1725,2797,2851,127.0,6.5,326,3115,0.00,2.22,6.18,0.757,8708,0.000,0.072,3197,337,2801,2774,2829,0,0,0,0,0,0,28.83,25.62,24.38
$GC,3182,0.57,166.9,3197,337,2773,2830,121.1,6.9,334,3191,0.00,2.12,0.00,0.000,1030,0.000,0.057,3197,1746,2802,2774,2830,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3312,0.57,166.9,3197,1746,2774,2830,112.6,7.0,347,3316,0.00,2.17,0.00,0.000,260,0.000,0.070,3197,3113,2801,2773,2829,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3366,0.57,169.3,3197,3127,2774,2829,109.3,6.6,352,3373,0.00,2.17,0.00,0.000,1030,0.000,0.057,3208,1724,2801,2773,2830,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3494,0.57,192.1,3208,1724,2773,2830,100.9,6.0,365,3517,0.00,2.17,18.60,0.916,8708,0.000,0.072,3218,333,2716,2690,2743,0,0,0,0,0,0,28.83,25.50,24.47
$GC,3572,0.57,192.1,3218,333,2689,2743,95.3,7.9,372,3580,0.15,2.12,0.00,0.000,5126,0.164,0.057,3176,1734,2716,2689,2743,0,0,0,0,0,0,25.37,25.61,28.83
$GC,3700,0.57,225.1,3176,1734,2689,2743,88.1,5.7,385,3730,0.00,2.30,24.10,0.929,8452,0.000,0.070,3176,3131,2605,2581,2629,0,0,0,0,0,0,28.83,25.28,24.27
$GC,3835,0.57,225.1,3176,3131,2581,2628,79.4,7.7,398,3842,0.00,2.22,0.00,0.000,1030,0.000,0.057,3186,1703,2604,2581,2628,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3963,0.57,225.1,3186,1703,2581,2628,70.0,7.5,411,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1703,2604,2581,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4083,0.57,225.1,3186,1703,2581,2628,61.3,7.3,423,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1703,2604,2581,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4203,0.57,226.2,3186,1703,2581,2628,53.4,6.6,435,4212,0.00,2.28,0.00,0.000,260,0.000,0.067,3186,3127,2604,2581,2628,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4284,0.57,226.2,3186,3127,2581,2628,47.2,7.7,443,4293,0.00,2.15,0.00,0.000,1030,0.000,0.057,3195,1734,2604,2581,2628,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4414,0.57,226.2,3195,1734,2581,2628,37.5,7.0,456,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1734,2605,2581,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4534,0.57,226.2,3195,1734,2581,2629,29.3,6.8,468,4543,0.00,2.22,0.00,0.000,260,0.000,0.067,3195,3127,2604,2581,2628,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4615,0.57,226.2,3195,3128,2582,2628,23.4,7.5,476,4624,0.00,2.15,0.00,0.000,1030,0.000,0.057,3203,1730,2604,2581,2628,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4746,0.57,226.2,3203,1731,2581,2628,12.9,8.0,497,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1731,2604,2581,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4815,0.57,226.2,3203,1731,2581,2628,7.7,7.3,510,4821,0.00,2.22,0.00,0.000,260,0.000,0.067,3203,3128,2604,2581,2628,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,4863,end climb,SURFACE_DEPTH_REACHED
$STATE,4863,begin surface coast
$FINISH,-0.0,1.022793
$STATE,4909,end surface coast,CONTROL_FINISHED_OK
$STATE,4909,begin surface
$SM_CCo,4927,49.08,0.929,0,0,2351,300.22
$SM_GC,1.88,7.85,2.17,49.08,0.062,0.055,0.929,242,1765,2351,-8.55,1.36,300.22,0,0,0,0,0,0,25.81,25.94,24.24
$IRIDIUM_FIX,4726.11,-12220.67,070214,111108
$TT8_MAMPS,0.020972,0.020972
$HUMID,39.25
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,19.3
$ALTIM_BOTTOM_PING,155.1,34.2
$24V_AH,23.3,39.021
$10V_AH,10.4,4.938
$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,19.550,79.200,267.225,49.075,0.000,23.619,15.122,126.272,6.750,0.000,34.553,1260.625,2204.025,478.692,1206.344,114.664,33.218,1089.714,0.000,982.162,0.000,41.831,0.000
$DEVICE_MAMPS,250.783,72.007,1040.377,928.642,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.848,694.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,30242,528
$CAP_FILE_SIZE,85965,0
$CFSIZE,260165632,242184192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,141706,4743.419,-12224.319,29,1.3,29,18.2