version: 66.12
glider: 35
mission: 25
dive: 3
start: 11 13 114 20 58 28
data:
$ID,35
$MISSION,25
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,5500
$D_NO_BLEED,50
$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,50
$T_MISSION,60
$T_ABORT,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,77080
$MASS_COMP,9247
$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,4743
$TGT_DEFAULT_LON,-12224.5
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$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,2430
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26.663748
$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,2332
$C_ROLL_CLIMB,2332
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2100
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$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,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1037.434
$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,15
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,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,0.004269524
$SEABIRD_T_H,0.00061604282
$SEABIRD_T_I,2.0033509e-05
$SEABIRD_T_J,1.8499288e-06
$SEABIRD_C_G,-9.6420546
$SEABIRD_C_H,1.1096923
$SEABIRD_C_I,-0.001213078
$SEABIRD_C_J,0.00016721067
$GPS1,131114,205307,4743.2280,-12224.4365,10,1.3,10,18.2,0.3,8.8,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-38.9
$GPS2,131114,205711,4743.2559,-12224.4658,11,1.4,27,18.2,0.3,323.6,8,5.2
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.021,0.244
$KALMAN_X,18.8,48.5,47.9,-91.4,46.2
$KALMAN_Y,87.8,2.7,2.0,396.4,25.6
$MHEAD_RNG_PITCHd_Wd,336.9,2304,-19.7,-10.000,-22.22,2235
$D_GRID,176
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.74,-146.6,231,2324,389,273,0.0,0.0,0,190,0.00,0.00,-170.62,0.092,16386,0.000,0.000,231,2325,2523,2491,2556,0,0,0,0,0,0,26.35,28.83,26.36
$GC,193,-0.74,-146.6,231,2325,2490,2556,3.8,-5.4,31,212,7.47,2.15,-3.50,0.142,18692,0.251,0.065,2182,3716,2605,2574,2637,0,0,0,0,0,0,25.73,25.93,25.89
$GC,409,-0.74,-146.6,2182,3716,2584,2599,32.7,-13.7,64,414,0.00,2.08,-0.30,0.675,17414,0.000,0.050,2182,2339,2608,2603,2613,0,0,0,0,0,0,26.15,26.09,25.98
$GC,534,-0.74,-146.6,2182,2339,2608,2606,46.1,-10.3,76,538,0.00,2.12,0.00,0.000,516,0.000,0.057,2182,913,2607,2609,2605,0,0,0,0,0,0,26.39,26.14,26.40
$GC,570,-0.74,-146.6,2182,913,2613,2600,49.9,-10.7,79,574,0.00,2.08,0.00,0.000,1030,0.000,0.055,2180,2304,2607,2614,2600,0,0,0,0,0,0,26.21,26.15,26.22
$GC,695,-0.74,-146.6,2180,2305,2613,2600,62.2,-10.0,91,699,0.00,2.22,0.00,0.000,260,0.000,0.067,2179,3751,2606,2613,2600,0,0,0,0,0,0,26.45,26.17,26.46
$GC,760,-0.74,-146.6,2179,3751,2612,2600,69.5,-11.3,97,765,0.00,2.12,0.00,0.000,1030,0.000,0.050,2179,2329,2606,2612,2600,0,0,0,0,0,0,26.28,26.22,26.29
$GC,886,-0.74,-146.6,2179,2329,2612,2599,82.9,-10.5,109,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2329,2606,2612,2600,0,0,0,0,0,0,26.50,26.51,26.51
$GC,1006,-0.74,-146.6,2179,2329,2612,2599,94.1,-8.9,121,1009,0.00,2.10,0.00,0.000,516,0.000,0.057,2180,910,2606,2613,2599,0,0,0,0,0,0,26.53,26.27,26.54
$GC,1143,-0.74,-146.6,2179,909,2617,2595,107.2,-10.1,134,1147,0.00,2.12,0.00,0.000,1030,0.000,0.055,2179,2343,2606,2617,2595,0,0,0,0,0,0,26.35,26.28,26.37
$GC,1268,-0.74,-146.6,2179,2343,2616,2595,119.0,-9.5,146,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2343,2606,2617,2595,0,0,0,0,0,0,26.57,26.58,26.58
$GC,1388,-0.74,-146.6,2179,2343,2616,2594,129.6,-9.3,158,1392,0.00,2.10,0.00,0.000,516,0.000,0.057,2179,920,2605,2617,2594,0,0,0,0,0,0,26.58,26.34,26.60
$GC,1497,-0.74,-146.6,2179,920,2617,2593,139.3,-8.8,168,1505,0.00,2.10,0.00,0.000,1030,0.000,0.055,2174,2338,2605,2617,2594,0,0,0,0,0,0,26.41,26.34,26.42
$STATE,1625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1625,begin apogee
$GC,1629,-0.19,0.0,2174,2338,2617,2594,150.9,-8.7,181,1735,0.55,0.00,102.97,1.090,10246,0.132,0.000,2372,2338,2100,2147,2053,0,0,0,0,0,0,26.27,24.60,24.01
$STATE,1736,end apogee,CONTROL_FINISHED_OK
$STATE,1737,begin climb
$GC,1738,0.74,146.6,2372,2338,2147,2053,153.2,0.0,192,1855,0.75,0.00,109.12,1.055,10246,0.092,0.000,2652,2338,1594,1687,1502,0,0,0,0,0,0,24.77,24.30,23.86
$GC,1975,0.74,146.6,2651,2338,1687,1503,132.5,10.2,216,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2338,1595,1688,1503,0,0,0,0,0,0,25.68,25.70,25.69
$GC,2094,0.74,146.6,2651,2338,1688,1503,120.3,9.7,228,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2338,1595,1687,1504,0,0,0,0,0,0,25.94,25.96,25.96
$GC,2214,0.74,146.6,2651,2338,1688,1504,107.8,10.8,240,2218,0.00,2.15,0.00,0.000,516,0.000,0.057,2662,919,1595,1687,1504,0,0,0,0,0,0,26.10,25.86,26.11
$GC,2323,0.74,146.6,2662,918,1688,1503,96.4,11.3,250,2330,0.00,2.17,0.00,0.000,1030,0.000,0.055,2663,2336,1595,1688,1503,0,0,0,0,0,0,25.98,25.94,26.00
$GC,2450,0.74,146.6,2662,2336,1688,1504,81.5,11.5,263,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2336,1595,1688,1503,0,0,0,0,0,0,26.28,26.29,26.29
$GC,2570,0.74,146.6,2662,2336,1688,1504,68.3,11.0,275,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2336,1595,1688,1503,0,0,0,0,0,0,26.34,26.36,26.36
$GC,2690,0.74,146.6,2662,2336,1688,1504,55.3,10.6,287,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2336,1596,1688,1504,0,0,0,0,0,0,26.40,26.41,26.41
$GC,2810,0.74,146.6,2662,2336,1687,1503,42.0,11.1,299,2814,0.00,2.17,0.00,0.000,260,0.000,0.070,2662,3742,1595,1688,1503,0,0,0,0,0,0,26.44,26.17,26.45
$GC,2936,0.74,146.6,2662,3742,1686,1506,25.1,13.3,311,2940,0.00,2.10,0.00,0.000,1030,0.000,0.050,2673,2316,1596,1686,1506,0,0,0,0,0,0,26.29,26.25,26.31
$GC,3062,0.74,260.8,2673,2316,1687,1506,16.1,4.8,330,3156,0.00,2.38,84.47,0.991,8452,0.000,0.070,2673,3733,1201,1314,1089,0,0,0,0,0,0,26.51,24.82,24.25
$STATE,3253,end climb,SURFACE_DEPTH_REACHED
$STATE,3253,begin surface coast
$FINISH,-0.0,1.020968
$STATE,3278,end surface coast,CONTROL_FINISHED_OK
$STATE,3278,begin surface
$SM_CCo,3293,203.12,0.963,0,0,378,500.24
$SM_GC,1.01,6.35,2.17,203.12,0.047,0.047,0.963,189,2341,378,-6.85,1.75,500.24,0,0,0,0,0,0,25.63,25.58,23.93
$IRIDIUM_FIX,4726.11,-12219.67,131114,204955
$TT8_MAMPS,0.019474,0.019474
$HUMID,65.12
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,19.30
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.7,19.7
$24V_AH,23.86,1.356
$10V_AH,10.28,0.286
$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,15.125,34.350,296.575,203.125,174.425,0.000,0.000,0.000,9.500,0.000,29.783,850.546,1377.422,624.806,698.344,53.068,31.357,1026.716,0.000,657.121,0.000,34.451,0.000
$DEVICE_MAMPS,250.783,69.524,1090.037,963.404,675.376,0.000,0.000,0.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.560,488.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323168
$DATA_FILE_SIZE,20284,371
$CAP_FILE_SIZE,78309,0
$CFSIZE,1024409600,1016545280
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3330.20,0x2389de,7,5
$INTR,1,73.41,0x235636,0,24
$INTR,2,1626.38,0x2389de,2,5
$GPS,131114,215804,4743.747,-12224.564,10,1.9,43,18.2,0.2,0.0,8,5.6