version: 66.12
glider: 35
mission: 25
dive: 13
start: 11 14 114 10 7 31
data:
$ID,35
$MISSION,25
$DIVE,13
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,85
$T_MISSION,100
$T_ABORT,120
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,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,350
$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,1000000
$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,2428
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,23
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$GPS1,141114,100005,4744.5474,-12224.3320,13,1.1,29,18.2,0.0,0.0,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.6
$GPS2,141114,100631,4744.5781,-12224.3418,12,1.1,12,18.2,0.2,328.2,7,8.2
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.007,-0.217
$KALMAN_X,-219.1,-150.6,-98.1,638.1,3.6
$KALMAN_Y,2515.6,29.1,-29.3,425.5,649.0
$MHEAD_RNG_PITCHd_Wd,163.6,2929,-14.6,-7.059,-17.99,3147
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.63,-146.6,217,2316,991,799,0.0,0.0,0,118,0.00,0.00,-99.40,0.094,16386,0.000,0.000,216,2316,2307,2294,2321,0,0,0,0,0,0,26.02,28.83,26.03
$GC,121,-0.63,-146.6,216,2317,2294,2321,3.4,-2.6,18,150,7.50,2.10,-12.95,0.104,18948,0.241,0.055,2218,939,2605,2593,2617,0,0,0,0,0,0,25.56,25.75,25.70
$GC,242,-0.63,-146.6,2218,939,2602,2597,18.3,-11.3,41,249,0.00,2.10,0.00,0.000,1030,0.000,0.055,2213,2330,2600,2603,2597,0,0,0,0,0,0,25.93,25.86,25.95
$GC,310,-0.63,-146.6,2213,2330,2602,2596,25.5,-10.2,49,314,0.00,2.20,0.00,0.000,260,0.000,0.065,2210,3750,2599,2602,2597,0,0,0,0,0,0,26.18,25.93,26.19
$GC,356,-0.63,-146.6,2210,3750,2602,2596,30.4,-10.8,53,360,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2345,2599,2602,2596,0,0,0,0,0,0,26.04,25.99,26.05
$GC,481,-0.63,-146.6,2210,2344,2602,2595,41.0,-8.3,65,485,0.00,2.10,0.00,0.000,516,0.000,0.057,2210,955,2598,2602,2595,0,0,0,0,0,0,26.29,26.06,26.30
$GC,592,-0.63,-146.6,2210,921,2608,2590,51.1,-9.2,76,595,0.00,2.10,0.00,0.000,1030,0.000,0.055,2210,2332,2599,2609,2590,0,0,0,0,0,0,26.16,26.10,26.17
$GC,717,-0.63,-146.6,2210,2332,2608,2590,61.7,-8.7,88,721,0.00,2.17,0.00,0.000,260,0.000,0.065,2209,3748,2599,2608,2590,0,0,0,0,0,0,26.41,26.15,26.41
$GC,762,-0.63,-146.6,2210,3747,2608,2590,65.8,-9.1,92,766,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2328,2599,2609,2590,0,0,0,0,0,0,26.24,26.19,26.25
$GC,887,-0.63,-146.6,2210,2328,2608,2590,75.6,-8.0,104,891,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,924,2599,2608,2590,0,0,0,0,0,0,26.46,26.22,26.47
$GC,926,-0.63,-146.6,2210,923,2609,2588,78.6,-8.0,107,933,0.00,2.15,0.00,0.000,1030,0.000,0.052,2210,2334,2598,2609,2588,0,0,0,0,0,0,26.25,26.22,26.27
$GC,1053,-0.63,-146.6,2210,2334,2609,2588,89.2,-8.1,120,1057,0.00,2.17,0.00,0.000,260,0.000,0.065,2210,3755,2598,2609,2588,0,0,0,0,0,0,26.51,26.25,26.51
$GC,1099,-0.63,-146.6,2210,3755,2609,2588,93.0,-8.2,124,1103,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2329,2598,2609,2588,0,0,0,0,0,0,26.34,26.28,26.34
$GC,1224,-0.63,-146.6,2209,2330,2609,2588,102.6,-8.3,136,1228,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,922,2598,2609,2588,0,0,0,0,0,0,26.54,26.29,26.55
$GC,1271,-0.63,-146.6,2210,922,2609,2588,106.2,-8.3,140,1280,0.00,2.10,0.00,0.000,1030,0.000,0.055,2210,2343,2599,2610,2588,0,0,0,0,0,0,26.36,26.29,26.37
$GC,1401,-0.63,-146.6,2210,2343,2609,2588,116.2,-7.0,153,1410,0.00,2.12,0.00,0.000,260,0.000,0.065,2210,3742,2598,2609,2588,0,0,0,0,0,0,26.57,26.32,26.58
$GC,1473,-0.63,-146.6,2210,3742,2609,2588,121.6,-7.7,160,1477,0.00,2.08,0.00,0.000,1030,0.000,0.050,2210,2328,2598,2609,2588,0,0,0,0,0,0,26.40,26.35,26.41
$GC,1599,-0.63,-146.6,2210,2328,2609,2588,131.0,-7.4,172,1602,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,917,2598,2609,2588,0,0,0,0,0,0,26.60,26.36,26.61
$GC,1667,-0.63,-146.6,2210,917,2609,2587,136.0,-7.8,178,1674,0.00,2.12,0.00,0.000,1030,0.000,0.052,2210,2323,2598,2609,2587,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1794,-0.63,-146.6,2210,2323,2610,2588,145.4,-6.9,191,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2323,2597,2608,2587,0,0,0,0,0,0,26.63,26.65,26.64
$GC,1914,-0.63,-146.6,2210,2323,2609,2587,153.5,-6.9,203,1918,0.00,2.17,0.00,0.000,260,0.000,0.065,2210,3755,2598,2609,2587,0,0,0,0,0,0,26.65,26.38,26.65
$GC,1993,-0.63,-146.6,2210,3755,2609,2588,158.5,-6.7,210,2000,0.00,2.15,0.00,0.000,1030,0.000,0.050,2210,2326,2598,2609,2587,0,0,0,0,0,0,26.45,26.42,26.46
$GC,2120,-0.63,-146.6,2210,2326,2609,2587,167.3,-6.2,223,2124,0.00,2.20,0.00,0.000,260,0.000,0.065,2210,3755,2597,2608,2587,0,0,0,0,0,0,26.66,26.40,26.67
$GC,2159,-0.63,-146.6,2210,3755,2609,2587,169.8,-6.5,226,2166,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2324,2597,2608,2587,0,0,0,0,0,0,26.48,26.44,26.50
$STATE,2215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2215,begin apogee
$GC,2218,-0.22,0.0,2210,2324,2609,2587,173.3,-6.2,232,2327,0.43,0.00,101.82,1.110,10246,0.124,0.000,2362,2319,2101,2154,2048,0,0,0,0,0,0,26.34,24.65,24.03
$STATE,2328,end apogee,CONTROL_FINISHED_OK
$STATE,2328,begin climb
$GC,2329,0.63,146.6,2362,2319,2153,2047,174.8,0.0,243,2447,0.68,2.38,108.12,1.090,10500,0.087,0.070,2617,3746,1594,1690,1499,0,0,0,0,0,0,24.84,24.46,23.84
$GC,2493,0.63,146.6,2617,3746,1689,1500,162.2,11.7,259,2500,0.00,2.17,0.00,0.000,1030,0.000,0.047,2627,2334,1594,1689,1500,0,0,0,0,0,0,25.21,25.16,25.22
$GC,2619,0.63,146.6,2627,2334,1689,1500,149.1,10.5,272,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2333,1594,1688,1500,0,0,0,0,0,0,25.81,25.82,25.82
$GC,2740,0.63,146.6,2627,2334,1689,1500,136.8,10.5,284,2744,0.00,2.22,0.00,0.000,260,0.000,0.065,2628,3743,1594,1689,1500,0,0,0,0,0,0,26.01,25.77,26.03
$GC,2805,0.63,146.6,2627,3743,1689,1501,129.2,11.8,290,2810,0.00,2.12,0.00,0.000,1030,0.000,0.050,2638,2317,1594,1688,1500,0,0,0,0,0,0,25.92,25.86,25.93
$GC,2931,0.63,146.6,2638,2317,1688,1500,116.6,9.7,302,2934,0.00,2.05,0.00,0.000,516,0.000,0.057,2649,932,1594,1689,1500,0,0,0,0,0,0,26.20,25.96,26.21
$GC,2996,0.63,146.6,2649,932,1689,1500,109.6,10.3,308,3000,0.00,2.10,0.00,0.000,1030,0.000,0.055,2649,2338,1594,1689,1500,0,0,0,0,0,0,26.06,26.01,26.08
$GC,3121,0.63,146.6,2649,2338,1688,1499,96.8,10.4,320,3125,0.00,2.17,0.00,0.000,260,0.000,0.065,2649,3746,1594,1689,1500,0,0,0,0,0,0,26.32,26.06,26.33
$GC,3190,0.63,146.6,2648,3746,1689,1500,89.8,10.8,326,3197,0.00,2.15,0.00,0.000,1030,0.000,0.047,2659,2326,1594,1688,1500,0,0,0,0,0,0,26.15,26.13,26.17
$GC,3317,0.63,146.6,2659,2326,1689,1500,76.8,9.7,339,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2326,1594,1688,1500,0,0,0,0,0,0,26.40,26.41,26.41
$GC,3437,0.63,146.6,2659,2326,1689,1500,65.2,9.5,351,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2326,1594,1689,1500,0,0,0,0,0,0,26.44,26.46,26.46
$GC,3557,0.63,146.6,2660,2326,1688,1500,54.4,8.7,363,3561,0.00,2.22,0.00,0.000,260,0.000,0.065,2659,3746,1594,1689,1500,0,0,0,0,0,0,26.48,26.22,26.49
$GC,3593,0.63,146.6,2659,3746,1688,1500,50.9,9.6,366,3597,0.12,2.08,0.00,0.000,5126,0.171,0.050,2629,2331,1594,1688,1500,0,0,0,0,0,0,26.14,26.27,26.25
$GC,3718,0.63,146.6,2628,2332,1688,1500,40.3,8.5,378,3722,0.00,2.05,0.00,0.000,516,0.000,0.057,2639,941,1594,1689,1500,0,0,0,0,0,0,26.52,26.28,26.53
$GC,3751,0.63,146.6,2638,931,1689,1500,37.9,8.2,381,3758,0.00,2.12,0.00,0.000,1030,0.000,0.052,2639,2339,1594,1688,1500,0,0,0,0,0,0,26.32,26.29,26.34
$GC,3878,0.63,146.6,2638,2339,1689,1500,27.4,7.9,394,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2339,1594,1688,1500,0,0,0,0,0,0,26.55,26.57,26.56
$GC,3998,0.63,146.6,2639,2339,1689,1501,18.6,7.1,408,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2339,1594,1688,1500,0,0,0,0,0,0,26.58,26.59,26.59
$GC,4066,0.63,146.6,2639,2339,1688,1500,13.7,6.9,421,4072,0.00,2.15,0.00,0.000,260,0.000,0.065,2639,3749,1594,1688,1500,0,0,0,0,0,0,26.59,26.33,26.60
$STATE,4214,end climb,SURFACE_DEPTH_REACHED
$STATE,4214,begin surface coast
$FINISH,0.3,1.021760
$STATE,4239,end surface coast,CONTROL_FINISHED_OK
$STATE,4239,begin surface
$SM_CCo,4254,147.85,0.998,0,0,895,350.05
$SM_GC,1.49,6.07,2.12,147.85,0.055,0.055,0.998,223,2323,895,-6.75,1.89,350.05,0,0,0,0,0,0,26.39,26.39,24.03
$IRIDIUM_FIX,4729.30,-12310.30,141114,083744
$TT8_MAMPS,0.019474,0.019474
$HUMID,65.08
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,120.1,68.2
$24V_AH,23.84,2.728
$10V_AH,10.47,0.634
$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,14.800,76.725,209.950,147.850,112.350,29.661,17.760,250.188,3.250,0.000,15.502,1135.197,1927.843,507.680,1165.733,69.454,33.289,1008.915,0.000,832.200,0.000,14.777,0.000
$DEVICE_MAMPS,240.851,69.524,1109.901,998.166,104.286,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.683,600.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322900
$DATA_FILE_SIZE,26931,455
$CAP_FILE_SIZE,82770,0
$CFSIZE,1024409600,1015808000
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4968.69,0x2389de,7,5
$INTR,1,2216.49,0x2389de,2,5
$GPS,141114,112204,4744.225,-12224.260,6,1.6,33,18.2,0.4,13.3,7,5.5