version: 66.12
glider: 35
mission: 25
dive: 16
start: 11 14 114 14 14 17
data:
$ID,35
$MISSION,25
$DIVE,16
$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
$GPS1,141114,140606,4743.0112,-12224.6113,12,1.6,36,18.2,0.3,0.0,7,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-63.0
$GPS2,141114,141317,4742.9370,-12224.6348,14,1.6,54,18.2,0.3,0.0,6,6.4
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.009,0.217
$KALMAN_X,-197.3,-165.9,184.1,-11.4,-3.0
$KALMAN_Y,2252.8,152.6,305.5,-2798.6,-382.4
$MHEAD_RNG_PITCHd_Wd,344.1,2899,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.63,-146.6,244,2322,995,800,0.0,0.0,0,107,0.00,0.00,-88.38,0.094,16386,0.000,0.000,244,2322,2177,2168,2187,0,0,0,0,0,0,26.07,28.83,26.08
$GC,110,-0.63,-146.6,244,2322,2168,2187,3.5,-2.7,16,145,7.35,2.10,-19.77,0.099,18948,0.238,0.055,2220,922,2604,2594,2615,0,0,0,0,0,0,25.60,25.79,25.74
$GC,177,-0.63,-146.6,2220,922,2601,2600,9.6,-7.7,28,184,0.00,2.12,0.00,0.000,1030,0.000,0.052,2210,2331,2600,2601,2600,0,0,0,0,0,0,25.89,25.83,25.91
$GC,245,-0.63,-146.6,2210,2331,2601,2597,16.6,-10.4,41,252,0.00,2.20,0.00,0.000,260,0.000,0.065,2207,3751,2599,2601,2597,0,0,0,0,0,0,26.15,25.89,26.15
$GC,279,-0.63,-146.6,2206,3751,2601,2597,19.6,-9.1,47,285,0.00,2.12,0.00,0.000,1030,0.000,0.050,2207,2334,2599,2601,2597,0,0,0,0,0,0,26.00,25.95,26.01
$GC,344,-0.63,-146.6,2206,2334,2601,2595,25.8,-9.6,54,347,0.00,2.10,0.00,0.000,516,0.000,0.057,2207,916,2598,2602,2595,0,0,0,0,0,0,26.22,25.98,26.23
$GC,402,-0.63,-146.6,2207,916,2608,2589,31.6,-10.8,59,409,0.00,2.17,0.00,0.000,1030,0.000,0.052,2207,2336,2599,2608,2590,0,0,0,0,0,0,26.05,26.01,26.07
$GC,529,-0.63,-146.6,2207,2336,2608,2589,43.0,-8.4,72,533,0.00,2.17,0.00,0.000,260,0.000,0.065,2201,3753,2598,2608,2589,0,0,0,0,0,0,26.34,26.08,26.34
$GC,585,-0.63,-146.6,2201,3753,2608,2589,48.0,-9.3,77,589,0.00,2.12,0.00,0.000,1030,0.000,0.050,2200,2322,2598,2608,2589,0,0,0,0,0,0,26.18,26.13,26.19
$GC,710,-0.63,-146.6,2201,2322,2608,2589,58.2,-7.9,89,714,0.00,2.05,0.00,0.000,516,0.000,0.057,2201,923,2598,2608,2589,0,0,0,0,0,0,26.41,26.17,26.42
$GC,796,-0.63,-146.6,2201,923,2610,2585,65.5,-8.6,97,800,0.00,2.10,0.00,0.000,1030,0.000,0.052,2197,2337,2597,2610,2585,0,0,0,0,0,0,26.25,26.19,26.26
$GC,921,-0.63,-146.6,2196,2337,2610,2585,76.1,-8.8,109,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2337,2598,2610,2586,0,0,0,0,0,0,26.48,26.48,26.48
$GC,1041,-0.63,-146.6,2196,2337,2610,2585,86.4,-8.4,121,1045,0.00,2.17,0.00,0.000,260,0.000,0.065,2195,3750,2597,2610,2585,0,0,0,0,0,0,26.51,26.25,26.52
$GC,1090,-0.63,-146.6,2195,3750,2610,2586,90.2,-8.2,125,1097,0.00,2.15,0.00,0.000,1030,0.000,0.047,2196,2331,2597,2610,2585,0,0,0,0,0,0,26.31,26.29,26.33
$GC,1217,-0.63,-146.6,2195,2331,2610,2585,100.0,-6.9,138,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2331,2597,2610,2585,0,0,0,0,0,0,26.55,26.55,26.55
$GC,1337,-0.63,-146.6,2195,2331,2610,2585,109.0,-7.8,150,1341,0.00,2.05,0.00,0.000,516,0.000,0.057,2196,922,2597,2610,2585,0,0,0,0,0,0,26.56,26.32,26.58
$GC,1376,-0.63,-146.6,2195,922,2610,2584,111.9,-7.5,153,1383,0.00,2.12,0.00,0.000,1030,0.000,0.052,2195,2328,2597,2610,2584,0,0,0,0,0,0,26.36,26.31,26.37
$GC,1503,-0.63,-146.6,2195,2328,2610,2585,122.0,-7.0,166,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2328,2597,2610,2584,0,0,0,0,0,0,26.59,26.60,26.60
$GC,1623,-0.63,-146.6,2195,2328,2610,2585,130.4,-7.1,178,1627,0.00,2.15,0.00,0.000,260,0.000,0.065,2195,3745,2597,2610,2585,0,0,0,0,0,0,26.61,26.36,26.62
$GC,1722,-0.63,-146.6,2194,3745,2610,2584,137.1,-7.0,187,1729,0.00,2.12,0.00,0.000,1030,0.000,0.047,2195,2332,2597,2610,2585,0,0,0,0,0,0,26.42,26.40,26.43
$GC,1849,-0.63,-146.6,2194,2333,2610,2585,145.2,-6.4,200,1852,0.00,2.08,0.00,0.000,516,0.000,0.057,2195,920,2597,2610,2585,0,0,0,0,0,0,26.64,26.39,26.65
$GC,1914,-0.63,-146.6,2195,921,2610,2584,149.9,-7.5,206,1918,0.00,2.08,0.00,0.000,1030,0.000,0.052,2194,2333,2597,2610,2584,0,0,0,0,0,0,26.45,26.39,26.47
$GC,2039,-0.63,-146.6,2194,2334,2610,2584,158.5,-6.8,218,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2334,2597,2610,2584,0,0,0,0,0,0,26.65,26.67,26.67
$GC,2159,-0.63,-146.6,2193,2333,2610,2584,167.0,-7.0,230,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2334,2597,2610,2584,0,0,0,0,0,0,26.67,26.68,26.68
$GC,2279,-0.63,-146.6,2194,2334,2610,2584,175.1,-6.8,242,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2334,2597,2610,2584,0,0,0,0,0,0,26.68,26.70,26.69
$STATE,2328,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2328,begin apogee
$GC,2332,-0.22,0.0,2194,2334,2610,2585,178.7,-7.2,247,2440,0.47,0.00,101.80,1.107,10246,0.127,0.000,2363,2334,2100,2154,2047,0,0,0,0,0,0,26.36,24.67,24.06
$STATE,2441,end apogee,CONTROL_FINISHED_OK
$STATE,2441,begin climb
$GC,2443,0.63,146.6,2362,2334,2154,2047,180.6,0.0,258,2559,0.68,0.00,108.20,1.075,10246,0.089,0.000,2617,2334,1595,1691,1500,0,0,0,0,0,0,24.85,24.44,23.85
$GC,2681,0.63,146.6,2617,2334,1691,1500,161.4,11.0,282,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2334,1595,1691,1500,0,0,0,0,0,0,25.68,25.69,25.69
$GC,2799,0.63,146.6,2617,2334,1691,1500,149.0,11.0,294,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2334,1595,1691,1500,0,0,0,0,0,0,25.94,25.95,25.94
$GC,2919,0.63,146.6,2617,2334,1691,1500,136.7,9.5,306,2923,0.00,2.22,0.00,0.000,260,0.000,0.065,2618,3752,1595,1690,1500,0,0,0,0,0,0,26.09,25.84,26.10
$GC,2988,0.63,146.6,2617,3752,1689,1500,129.7,10.6,312,2995,0.00,2.17,0.00,0.000,1030,0.000,0.047,2628,2327,1594,1689,1500,0,0,0,0,0,0,25.96,25.94,25.97
$GC,3115,0.63,146.6,2628,2327,1689,1500,116.2,10.4,325,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2327,1595,1690,1500,0,0,0,0,0,0,26.25,26.26,26.26
$GC,3235,0.63,146.6,2628,2327,1689,1501,104.1,10.3,337,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2327,1594,1688,1500,0,0,0,0,0,0,26.32,26.33,26.33
$GC,3355,0.63,146.6,2628,2327,1689,1500,92.6,9.2,349,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2327,1594,1689,1500,0,0,0,0,0,0,26.37,26.39,26.39
$GC,3475,0.63,146.6,2628,2327,1689,1501,81.7,8.9,361,3479,0.00,2.20,0.00,0.000,260,0.000,0.065,2628,3747,1594,1689,1500,0,0,0,0,0,0,26.42,26.17,26.43
$GC,3504,0.63,146.6,2628,3748,1689,1500,79.4,8.8,363,3511,0.00,2.12,0.00,0.000,1030,0.000,0.047,2638,2337,1594,1689,1500,0,0,0,0,0,0,26.23,26.20,26.25
$GC,3631,0.63,146.6,2637,2337,1689,1500,67.7,8.8,376,3635,0.00,2.08,0.00,0.000,516,0.000,0.055,2648,919,1595,1689,1501,0,0,0,0,0,0,26.47,26.22,26.48
$GC,3667,0.63,146.6,2648,919,1689,1500,64.1,10.0,379,3671,0.00,2.10,0.00,0.000,1030,0.000,0.052,2648,2342,1594,1688,1500,0,0,0,0,0,0,26.29,26.23,26.31
$GC,3792,0.63,146.6,2648,2342,1689,1500,52.5,10.0,391,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2342,1594,1689,1500,0,0,0,0,0,0,26.51,26.53,26.52
$GC,3912,0.63,146.6,2648,2342,1690,1499,41.4,8.8,403,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2342,1594,1689,1500,0,0,0,0,0,0,26.54,26.55,26.55
$GC,4032,0.63,146.6,2648,2342,1689,1500,31.3,7.7,415,4036,0.00,2.12,0.00,0.000,260,0.000,0.065,2648,3737,1595,1689,1501,0,0,0,0,0,0,26.56,26.31,26.58
$GC,4071,0.63,146.6,2648,3738,1689,1501,28.3,8.3,418,4078,0.00,2.08,0.00,0.000,1030,0.000,0.047,2659,2314,1595,1689,1501,0,0,0,0,0,0,26.39,26.34,26.41
$GC,4198,0.63,146.6,2658,2314,1689,1500,16.4,9.4,435,4204,0.00,2.03,0.00,0.000,516,0.000,0.057,2669,924,1594,1688,1501,0,0,0,0,0,0,26.58,26.34,26.60
$GC,4231,0.63,146.6,2668,924,1689,1500,13.3,9.6,441,4238,0.12,2.08,0.00,0.000,5126,0.161,0.055,2626,2336,1594,1689,1500,0,0,0,0,0,0,26.25,26.35,26.35
$GC,4300,0.63,146.6,2625,2336,1689,1500,7.6,6.9,454,4306,0.00,2.17,0.00,0.000,260,0.000,0.072,2626,3747,1594,1689,1500,0,0,0,0,0,0,26.59,26.34,26.60
$STATE,4381,end climb,SURFACE_DEPTH_REACHED
$STATE,4381,begin surface coast
$FINISH,0.1,1.002004
$STATE,4408,end surface coast,CONTROL_FINISHED_OK
$STATE,4408,begin surface
$SM_CCo,4423,149.62,0.986,0,0,895,350.05
$SM_GC,1.61,6.07,2.12,149.62,0.057,0.045,0.986,227,2336,895,-6.76,1.84,350.05,0,0,0,0,0,0,26.38,26.39,24.06
$IRIDIUM_FIX,4722.92,-12222.38,141114,124649
$TT8_MAMPS,0.020223,0.020223
$HUMID,65.55
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,120.3,73.3
$24V_AH,23.85,3.109
$10V_AH,10.47,0.736
$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,14.700,63.700,210.000,149.625,108.150,31.251,19.548,252.035,4.000,0.000,57.129,1170.828,2089.073,506.625,1184.446,71.039,33.274,989.558,0.000,811.543,0.000,11.881,0.000
$DEVICE_MAMPS,238.368,72.007,1107.418,985.751,99.320,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.563,626.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322836
$DATA_FILE_SIZE,26969,475
$CAP_FILE_SIZE,82244,0
$CFSIZE,1024409600,1015611392
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4848.27,0x2389de,7,5
$INTR,1,2329.57,0x2389de,2,5
$GPS,141114,153135,4743.137,-12224.921,12,1.5,28,18.2,0.2,209.9,7,5.5