version: 66.12
glider: 35
mission: 25
dive: 6
start: 11 14 114 0 25 6
data:
$ID,35
$MISSION,25
$DIVE,6
$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,70
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,2435
$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,50
$C_ROLL_CLIMB,50
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,37
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$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
$GPS1,141114,001635,4743.9414,-12224.2793,10,1.3,32,18.2,0.0,0.0,9,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-57.0
$GPS2,141114,002324,4743.9375,-12224.2695,8,1.0,13,18.2,0.0,0.0,8,5.4
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.055,-0.379
$KALMAN_X,-19.7,100.1,-0.6,175.3,-1.3
$KALMAN_Y,625.4,57.7,34.8,1042.9,105.7
$MHEAD_RNG_PITCHd_Wd,170.1,1760,-11.4,-10.000,-14.63,6221
$D_GRID,173
$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,-0.43,-293.3,231,68,817,644,0.0,0.0,0,133,0.00,0.00,-114.03,0.094,16386,0.000,0.000,232,69,2313,2295,2331,0,0,0,0,0,0,26.08,28.83,26.09
$GC,136,-0.43,-293.3,231,69,2295,2330,3.3,-2.5,19,180,7.93,0.00,-31.77,0.094,18438,0.251,0.000,2290,68,3111,3083,3139,0,0,0,0,0,0,25.60,25.81,25.72
$GC,242,-0.43,-293.3,2290,68,3082,3117,14.6,-8.5,38,249,0.00,0.00,-0.35,0.516,16390,0.000,0.000,2290,68,3111,3106,3117,0,0,0,0,0,0,26.10,25.85,25.80
$GC,312,-0.43,-293.3,2290,68,3105,3114,20.1,-7.6,51,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3110,3106,3115,0,0,0,0,0,0,26.17,26.18,26.18
$GC,432,-0.43,-293.3,2290,68,3106,3111,28.9,-7.2,63,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3108,3105,3111,0,0,0,0,0,0,26.25,26.27,26.27
$GC,551,-0.43,-293.3,2290,68,3105,3109,39.8,-9.0,75,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3107,3106,3109,0,0,0,0,0,0,26.33,26.34,26.34
$GC,673,-0.43,-293.3,2290,68,3105,3108,50.1,-8.5,87,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3106,3105,3108,0,0,0,0,0,0,26.36,26.38,26.37
$GC,792,-0.43,-293.3,2290,68,3106,3106,59.4,-7.6,99,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3106,3105,3107,0,0,0,0,0,0,26.43,26.44,26.44
$GC,912,-0.43,-293.3,2290,68,3106,3106,68.6,-7.4,111,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3105,3105,3106,0,0,0,0,0,0,26.46,26.48,26.48
$GC,1032,-0.43,-293.3,2290,68,3106,3105,77.2,-7.0,123,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3105,3106,3105,0,0,0,0,0,0,26.50,26.51,26.51
$GC,1152,-0.43,-293.3,2290,68,3105,3105,85.8,-7.6,135,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3105,3106,3105,0,0,0,0,0,0,26.52,26.53,26.53
$GC,1272,-0.43,-293.3,2290,68,3106,3104,95.1,-8.1,147,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3105,3106,3104,0,0,0,0,0,0,26.52,26.53,26.53
$GC,1392,-0.43,-293.3,2290,68,3106,3104,103.1,-6.5,159,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3104,3105,3104,0,0,0,0,0,0,26.57,26.59,26.58
$GC,1512,-0.43,-293.3,2289,68,3106,3104,111.1,-6.5,171,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3105,3106,3104,0,0,0,0,0,0,26.59,26.60,26.60
$GC,1633,-0.43,-293.3,2290,68,3106,3104,119.3,-6.8,183,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3105,3106,3104,0,0,0,0,0,0,26.61,26.63,26.63
$GC,1752,-0.43,-293.3,2290,68,3106,3104,128.0,-7.3,195,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3105,3106,3104,0,0,0,0,0,0,26.63,26.64,26.64
$GC,1872,-0.43,-293.3,2290,68,3106,3104,136.5,-7.0,207,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3105,3106,3104,0,0,0,0,0,0,26.64,26.65,26.65
$GC,1992,-0.43,-293.3,2290,68,3106,3104,144.3,-6.7,219,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,68,3104,3105,3104,0,0,0,0,0,0,26.65,26.67,26.67
$STATE,2085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2085,begin apogee
$GC,2088,-0.19,0.0,2289,68,3106,3104,150.6,-7.2,228,2302,0.22,0.00,204.77,1.088,10246,0.117,0.000,2383,68,2099,2198,2001,0,0,0,0,0,0,26.36,24.31,23.86
$STATE,2303,end apogee,CONTROL_FINISHED_OK
$STATE,2303,begin climb
$GC,2305,0.43,293.3,2382,68,2199,2001,160.3,0.0,250,2543,0.45,0.00,230.85,1.097,10246,0.094,0.000,2556,68,1088,1232,945,0,0,0,0,0,0,24.71,24.32,23.77
$GC,2662,0.43,293.3,2556,68,1225,944,135.4,8.1,286,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,68,1084,1225,944,0,0,0,0,0,0,25.57,25.58,25.58
$GC,2782,0.43,293.3,2555,68,1225,944,124.9,9.0,298,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,68,1084,1225,944,0,0,0,0,0,0,25.85,25.86,25.86
$GC,2902,0.43,428.0,2555,68,1225,944,115.3,7.8,310,3014,0.00,0.00,109.30,1.058,8198,0.000,0.000,2556,68,626,720,532,0,0,0,0,0,0,26.01,24.40,23.82
$GC,3132,0.43,428.0,2555,68,716,526,92.5,11.8,333,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,68,621,716,526,0,0,0,0,0,0,25.59,25.60,25.60
$GC,3252,0.43,428.0,2556,67,716,526,77.4,12.9,345,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,68,621,716,526,0,0,0,0,0,0,25.86,25.88,25.88
$GC,3372,0.43,428.0,2555,68,716,526,62.2,13.2,357,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,68,620,716,525,0,0,0,0,0,0,26.03,26.05,26.05
$GC,3492,0.43,428.0,2556,68,716,525,47.2,12.5,369,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,68,620,716,525,0,0,0,0,0,0,26.15,26.16,26.15
$GC,3612,0.43,428.0,2556,68,716,525,31.9,12.6,381,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,68,620,716,525,0,0,0,0,0,0,26.23,26.25,26.24
$GC,3732,0.43,428.0,2555,68,716,525,16.9,12.3,395,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,68,620,716,525,0,0,0,0,0,0,26.30,26.32,26.31
$GC,3800,0.43,428.0,2555,68,716,525,8.3,12.2,408,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,67,620,716,525,0,0,0,0,0,0,26.33,26.34,26.34
$STATE,3862,end climb,SURFACE_DEPTH_REACHED
$STATE,3862,begin surface coast
$FINISH,-0.0,1.003073
$STATE,3883,end surface coast,CONTROL_FINISHED_OK
$STATE,3883,begin surface
$SM_CCo,3956,0.00,0.000,0,0,620,429.94
$SM_GC,1.38,5.97,0.00,0.00,0.055,0.000,0.000,174,68,620,-6.85,0.48,429.94,0,0,0,0,0,0,26.17,26.37,26.20
$IRIDIUM_FIX,4729.30,-12228.52,131114,230357
$TT8_MAMPS,0.019474,0.019474
$HUMID,67.44
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.00
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,150.6,37.0
$24V_AH,23.77,1.816
$10V_AH,10.29,0.385
$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,14.575,3.525,544.925,0.000,146.150,29.692,39.541,221.432,11.250,0.000,16.446,954.500,1596.640,572.163,1159.122,106.656,33.275,1026.476,0.000,830.986,0.000,35.849,0.000
$DEVICE_MAMPS,250.783,52.143,1097.486,0.000,516.464,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,285.554,557.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323132
$DATA_FILE_SIZE,23617,424
$CAP_FILE_SIZE,216568,1
$CFSIZE,1024409600,1016168448
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2086.41,0x2389de,2,5
$INTR,1,3886.57,0x2389de,7,5
$GPS,141114,013205,4743.840,-12224.220,9,1.0,37,18.2,0.0,0.0,9,5.3