version: 66.12
glider: 35
mission: 21
dive: 17
start: 2 7 114 14 23 1
data:
$ID,35
$MISSION,21
$DIVE,17
$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,-989809.44
$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,13
$R_STBD_OVSHOOT,49
$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
$GPS1,070214,141706,4743.419,-12224.319,29,1.3,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.3
$GPS2,070214,142201,4743.423,-12224.283,10,1.3,10,18.2
$SPEED_LIMITS,0.067,0.213
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.021,-0.083
$KALMAN_X,-807.0,-272.9,454.4,971.5,-156.4
$KALMAN_Y,-210.5,-1286.7,721.1,-665.3,-334.8
$MHEAD_RNG_PITCHd_Wd,175.8,828,-36.0,-6.667,-37.98,536
$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,-1.50,-23.4,242,1733,2313,2388,0.0,0.0,0,110,0.00,0.00,-91.30,0.000,16390,0.000,0.000,242,1733,3448,3407,3490,0,0,0,0,0,0,28.83,28.83,25.35
$GC,113,-1.50,-45.9,241,1733,3407,3490,3.6,-2.4,17,132,9.35,0.00,-3.30,0.000,18950,0.251,0.000,2512,1730,3523,3480,3566,0,0,0,0,0,0,24.89,28.83,25.36
$GC,194,-1.50,-45.9,2512,1730,3480,3566,19.4,-18.8,32,201,0.00,2.25,0.00,0.000,260,0.000,0.067,2502,3132,3523,3480,3566,0,0,0,0,0,0,28.83,25.50,28.83
$GC,414,-1.50,-45.9,2502,3132,3480,3566,64.8,-19.7,54,422,0.00,2.22,0.00,0.000,1030,0.000,0.057,2502,1702,3523,3481,3566,0,0,0,0,0,0,28.83,25.69,28.83
$GC,543,-1.50,-45.9,2502,1702,3480,3566,90.0,-19.5,67,551,0.00,2.10,0.00,0.000,516,0.000,0.070,2503,339,3523,3480,3566,0,0,0,0,0,0,28.83,25.67,28.83
$GC,596,-1.50,-45.9,2502,339,3480,3566,100.6,-19.8,72,603,0.00,2.15,0.00,0.000,1030,0.000,0.057,2492,1731,3523,3481,3566,0,0,0,0,0,0,28.83,25.78,28.83
$GC,723,-1.50,-45.9,2492,1731,3480,3566,123.1,-17.4,85,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1731,3523,3481,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,844,-1.50,-45.9,2492,1731,3480,3566,143.8,-15.9,97,853,0.00,2.17,0.00,0.000,516,0.000,0.067,2492,335,3523,3480,3566,0,0,0,0,0,0,28.83,25.76,28.83
$GC,888,-1.50,-45.9,2492,335,3480,3566,150.9,-16.9,101,896,0.10,2.15,0.00,0.000,3078,0.204,0.057,2510,1730,3523,3480,3566,0,0,0,0,0,0,25.44,25.86,28.83
$GC,1015,-1.50,-45.9,2510,1731,3481,3566,172.4,-16.7,114,1024,0.00,2.22,0.00,0.000,260,0.000,0.067,2500,3141,3523,3480,3566,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,1045,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1045,begin apogee
$GC,1052,-0.21,0.0,2500,1729,3480,3566,177.7,-16.9,117,1089,1.48,0.00,32.85,1.030,10246,0.191,0.000,2920,1728,3368,3334,3402,0,0,0,0,0,0,25.14,28.83,24.27
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1090,begin climb
$GC,1092,1.50,45.9,2920,1728,3334,3402,181.7,0.0,121,1137,1.52,2.38,33.25,0.993,10756,0.094,0.070,3474,294,3212,3176,3249,0,0,0,0,0,0,25.31,24.87,23.94
$GC,1184,1.50,52.4,3473,294,3175,3250,177.3,5.4,130,1200,0.00,2.25,6.38,0.770,9222,0.000,0.057,3474,1747,3190,3153,3228,0,0,0,0,0,0,28.83,25.15,23.91
$GC,1320,1.50,64.0,3473,1748,3153,3228,171.5,4.5,144,1339,0.00,2.28,9.80,0.876,8452,0.000,0.067,3473,3129,3151,3116,3186,0,0,0,0,0,0,28.83,25.21,24.06
$GC,1564,1.50,64.0,3473,3128,3116,3186,154.4,7.8,168,1571,0.00,2.20,0.00,0.000,1030,0.000,0.055,3484,1700,3151,3116,3186,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1691,1.50,64.0,3484,1700,3116,3186,144.4,7.7,181,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,1700,3150,3115,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1811,1.50,64.0,3484,1700,3116,3186,135.0,8.1,193,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,1700,3151,3116,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,1.50,64.0,3484,1700,3116,3186,125.8,7.2,205,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,1701,3151,3116,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,1.50,64.0,3484,1700,3116,3186,116.6,7.8,217,2061,0.00,2.10,0.00,0.000,516,0.000,0.070,3495,338,3151,3116,3186,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2287,1.50,65.7,3495,337,3115,3187,101.2,6.3,240,2293,0.00,2.12,0.00,0.000,1030,0.000,0.057,3495,1742,3150,3115,3186,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2414,1.50,68.8,3495,1742,3116,3186,93.2,6.1,253,2423,0.00,0.00,5.35,0.720,8198,0.000,0.000,3495,1742,3134,3098,3170,0,0,0,0,0,0,28.83,28.83,24.53
$GC,2544,1.50,76.7,3495,1742,3098,3170,86.1,5.2,266,2556,0.00,2.20,6.95,0.792,8452,0.000,0.070,3495,3126,3108,3073,3143,0,0,0,0,0,0,28.83,25.79,24.56
$GC,2747,1.50,77.2,3494,3126,3073,3143,73.9,6.6,286,2753,0.00,2.12,0.00,0.000,1030,0.000,0.057,3505,1729,3108,3073,3143,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2874,1.50,77.2,3505,1729,3073,3143,64.9,6.8,299,2877,0.00,2.15,0.00,0.000,516,0.000,0.070,3516,351,3108,3073,3143,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3104,1.50,77.2,3516,338,3072,3143,48.9,7.4,322,3114,0.17,2.10,0.00,0.000,5126,0.223,0.057,3475,1736,3107,3072,3143,0,0,0,0,0,0,25.37,25.95,28.83
$GC,3235,1.50,83.5,3474,1736,3072,3143,41.0,5.5,335,3247,0.00,2.22,6.32,0.750,8452,0.000,0.070,3475,3130,3085,3051,3120,0,0,0,0,0,0,28.83,25.90,24.65
$GC,3475,1.50,86.3,3474,3130,3051,3120,25.0,6.1,359,3485,0.00,2.15,3.85,0.574,9222,0.000,0.057,3485,1727,3075,3040,3110,0,0,0,0,0,0,28.83,25.95,24.54
$GC,3605,1.50,105.1,3485,1727,3041,3110,20.1,3.1,372,3627,0.00,2.25,14.23,0.876,8452,0.000,0.072,3484,3135,3011,2978,3044,0,0,0,0,0,0,28.83,25.72,24.63
$STATE,3843,end climb,SURFACE_DEPTH_REACHED
$STATE,3843,begin surface coast
$FINISH,0.7,1.022893
$STATE,3900,end surface coast,CONTROL_FINISHED_OK
$STATE,3900,begin surface
$SM_CCo,3920,129.73,0.886,0,0,2351,300.22
$SM_GC,1.24,9.75,2.20,129.73,0.124,0.055,0.886,246,1762,2351,-8.54,1.22,300.22,0,0,0,0,0,0,25.72,25.85,23.70
$IRIDIUM_FIX,4726.11,-12220.67,070214,121242
$TT8_MAMPS,0.020972,0.020972
$HUMID,38.62
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,20.2
$ALTIM_BOTTOM_PING,156.1,31.3
$24V_AH,23.7,39.097
$10V_AH,10.4,4.971
$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,22.375,48.200,118.975,129.725,0.000,29.962,36.814,138.118,6.500,0.000,12.808,1071.107,1693.869,380.887,1115.354,96.499,33.207,874.492,0.000,878.016,0.000,38.929,0.000
$DEVICE_MAMPS,250.783,72.007,1030.445,886.431,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.010,565.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354544
$DATA_FILE_SIZE,23575,429
$CAP_FILE_SIZE,68393,0
$CFSIZE,260165632,242167808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,153135,4742.999,-12224.438,25,1.5,25,18.2