version: 66.12
glider: 35
mission: 25
dive: 4
start: 11 13 114 22 5 57
data:
$ID,35
$MISSION,25
$DIVE,4
$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,400
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2445
$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,48
$R_STBD_OVSHOOT,33
$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
$GPS1,131114,215804,4743.7471,-12224.5645,10,1.9,43,18.2,0.2,0.0,8,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-51.4
$GPS2,131114,220438,4743.7549,-12224.6191,13,1.6,14,18.2,0.2,298.3,7,7.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.046,0.240
$KALMAN_X,-113.3,55.6,56.9,-169.6,-53.4
$KALMAN_Y,272.7,7.5,-5.2,1143.3,98.4
$MHEAD_RNG_PITCHd_Wd,352.7,1388,-19.7,-10.000,-22.22,2235
$D_GRID,174
$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,-0.74,-146.6,179,2336,441,308,0.0,0.0,0,170,0.00,0.00,-151.55,0.092,16386,0.000,0.000,179,2336,2367,2346,2389,0,0,0,0,0,0,26.03,28.83,26.05
$GC,173,-0.74,-146.6,179,2336,2346,2389,3.4,-2.9,25,200,7.78,2.22,-9.62,0.109,18692,0.251,0.067,2194,3760,2604,2584,2625,0,0,0,0,0,0,25.54,25.72,25.66
$GC,332,-0.74,-146.6,2194,3760,2586,2609,22.8,-10.9,53,342,0.00,2.17,-0.22,0.864,17414,0.000,0.055,2194,2320,2608,2601,2615,0,0,0,0,0,0,25.93,25.81,25.50
$GC,462,-0.74,-146.6,2194,2320,2605,2608,35.4,-11.0,66,466,0.00,2.08,0.00,0.000,516,0.000,0.060,2194,921,2608,2607,2609,0,0,0,0,0,0,26.25,26.00,26.25
$GC,574,-0.74,-146.6,2194,921,2613,2599,48.4,-11.2,77,577,0.00,2.12,0.00,0.000,1030,0.000,0.055,2194,2331,2606,2613,2599,0,0,0,0,0,0,26.12,26.05,26.13
$GC,705,-0.74,-146.6,2193,2331,2613,2599,63.0,-10.6,90,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2331,2606,2613,2599,0,0,0,0,0,0,26.36,26.38,26.38
$GC,825,-0.74,-146.6,2193,2331,2613,2599,76.6,-11.7,102,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2331,2606,2613,2599,0,0,0,0,0,0,26.41,26.42,26.42
$GC,946,-0.74,-146.6,2193,2331,2613,2598,90.5,-11.9,114,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2331,2605,2613,2598,0,0,0,0,0,0,26.41,26.44,26.43
$GC,1065,-0.74,-146.6,2193,2331,2613,2598,103.9,-10.9,126,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2331,2605,2613,2598,0,0,0,0,0,0,26.48,26.50,26.50
$GC,1186,-0.74,-146.6,2193,2331,2613,2598,116.3,-10.0,138,1190,0.00,2.10,0.00,0.000,516,0.000,0.057,2194,917,2605,2613,2598,0,0,0,0,0,0,26.51,26.26,26.53
$GC,1261,-0.74,-146.6,2193,916,2616,2595,124.5,-11.6,145,1269,0.00,2.15,0.00,0.000,1030,0.000,0.055,2193,2330,2605,2616,2595,0,0,0,0,0,0,26.29,26.27,26.32
$GC,1389,-0.74,-146.6,2192,2330,2616,2594,137.1,-9.6,158,1393,0.00,2.10,0.00,0.000,516,0.000,0.057,2193,908,2605,2616,2595,0,0,0,0,0,0,26.55,26.31,26.56
$GC,1461,-0.74,-146.6,2193,908,2617,2593,144.6,-10.4,165,1465,0.00,2.12,0.00,0.000,1030,0.000,0.055,2186,2342,2605,2617,2593,0,0,0,0,0,0,26.37,26.30,26.39
$STATE,1523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1524,begin apogee
$GC,1528,-0.19,0.0,2185,2342,2617,2593,150.4,-9.6,171,1634,0.55,0.00,102.78,1.073,10246,0.129,0.000,2385,2342,2100,2150,2050,0,0,0,0,0,0,26.23,24.61,24.01
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1637,0.74,146.6,2384,2342,2150,2050,154.6,0.0,182,1753,0.77,0.00,108.07,1.043,10758,0.087,0.000,2673,2342,1596,1693,1500,0,0,0,0,0,0,24.77,24.31,23.88
$GC,1873,0.74,146.6,2672,2342,1693,1503,134.6,11.9,206,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2342,1598,1693,1503,0,0,0,0,0,0,25.67,25.69,25.69
$GC,1992,0.74,146.6,2672,2342,1693,1503,120.5,11.3,218,1996,0.00,2.15,0.00,0.000,516,0.000,0.057,2684,927,1598,1693,1503,0,0,0,0,0,0,25.94,25.70,25.95
$GC,2087,0.74,146.6,2683,925,1693,1503,109.7,12.0,227,2094,0.00,2.17,0.00,0.000,1030,0.000,0.055,2684,2331,1598,1693,1503,0,0,0,0,0,0,25.85,25.82,25.87
$GC,2214,0.74,146.6,2683,2331,1693,1503,93.3,12.8,240,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2331,1598,1693,1503,0,0,0,0,0,0,26.19,26.20,26.20
$GC,2334,0.74,146.6,2683,2331,1693,1503,79.2,11.8,252,2338,0.00,2.20,0.00,0.000,260,0.000,0.067,2684,3743,1598,1693,1503,0,0,0,0,0,0,26.27,26.01,26.27
$GC,2418,0.74,146.6,2683,3746,1693,1505,68.8,13.0,260,2426,0.00,2.15,0.00,0.000,1030,0.000,0.050,2694,2326,1599,1693,1505,0,0,0,0,0,0,26.12,26.09,26.13
$GC,2546,0.74,146.6,2694,2326,1693,1505,53.8,11.1,273,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2326,1599,1693,1505,0,0,0,0,0,0,26.37,26.39,26.39
$GC,2665,0.74,146.6,2694,2326,1693,1505,40.2,11.4,285,2669,0.00,2.20,0.00,0.000,260,0.000,0.067,2694,3736,1599,1693,1505,0,0,0,0,0,0,26.42,26.15,26.43
$GC,2800,0.74,146.6,2694,3740,1693,1506,27.2,8.9,298,2808,0.00,2.12,0.00,0.000,1030,0.000,0.050,2706,2330,1599,1693,1506,0,0,0,0,0,0,26.26,26.24,26.27
$GC,2928,0.74,146.6,2705,2330,1693,1506,15.6,9.2,315,2935,0.00,2.08,0.00,0.000,516,0.000,0.060,2714,921,1599,1693,1505,0,0,0,0,0,0,26.50,26.25,26.51
$GC,2998,0.74,208.0,2715,921,1693,1505,10.5,7.2,328,3055,0.10,2.10,46.53,0.973,13318,0.171,0.055,2681,2335,1383,1501,1266,0,0,0,0,0,0,26.16,26.26,24.71
$GC,3118,0.74,293.6,2680,2335,1500,1266,3.7,6.1,349,3150,0.00,0.00,29.95,0.934,8450,0.000,0.000,2680,2335,1250,1366,1135,0,0,0,0,0,0,25.82,28.83,25.83
$STATE,3151,end climb,SURFACE_DEPTH_REACHED
$STATE,3151,begin surface coast
$FINISH,-0.0,1.009779
$STATE,3182,end surface coast,CONTROL_FINISHED_OK
$STATE,3182,begin surface
$SM_CCo,3195,115.38,0.949,0,0,723,400.02
$SM_GC,1.17,6.47,0.00,115.38,0.052,0.000,0.949,212,2334,723,-6.88,0.08,400.02,0,0,0,0,0,0,25.41,25.59,23.98
$IRIDIUM_FIX,4722.92,-12225.08,131114,205352
$TT8_MAMPS,0.020223,0.020223
$HUMID,65.27
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.00
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.3,19.2
$ALTIM_BOTTOM_PING,150.4,37.3
$24V_AH,23.88,1.493
$10V_AH,10.24,0.317
$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,15.675,34.250,287.325,115.375,161.400,27.974,15.412,257.579,10.250,0.000,17.448,844.560,1131.777,478.586,1176.852,111.984,32.284,939.165,0.000,845.124,0.000,37.944,0.000
$DEVICE_MAMPS,250.783,67.041,1072.656,948.506,864.084,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,242.783,473.564,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323096
$DATA_FILE_SIZE,20318,360
$CAP_FILE_SIZE,221448,0
$CFSIZE,1024409600,1016332288
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4047.33,0x2389de,7,5
$INTR,1,1525.95,0x2389de,2,5
$INTR,2,3185.71,0x2389de,7,5
$GPS,131114,230222,4744.272,-12224.540,10,1.7,37,18.2,0.2,339.5,7,5.3