version: 66.12
glider: 35
mission: 25
dive: 17
start: 11 14 114 15 39 17
data:
$ID,35
$MISSION,25
$DIVE,17
$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,57
$R_STBD_OVSHOOT,40
$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
$GPS1,141114,153135,4743.1372,-12224.9209,12,1.5,28,18.2,0.2,209.9,7,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-61.7
$GPS2,141114,153817,4743.0864,-12224.9600,13,1.6,29,18.2,0.3,203.2,7,5.8
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.084,0.201
$KALMAN_X,-772.3,-45.8,180.9,43.8,-346.9
$KALMAN_Y,1718.8,139.1,10.9,-1679.8,-655.2
$MHEAD_RNG_PITCHd_Wd,4.4,2680,-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,-146.6,227,2331,990,801,0.0,0.0,0,118,0.00,0.00,-99.35,0.092,16386,0.000,0.000,227,2332,2305,2295,2315,0,0,0,0,0,0,26.04,28.83,26.05
$GC,121,-0.63,-146.6,227,2331,2295,2315,3.3,-2.9,18,145,7.47,0.00,-13.15,0.104,18438,0.241,0.000,2222,2331,2605,2595,2615,0,0,0,0,0,0,25.56,25.79,25.71
$GC,206,-0.63,-146.6,2222,2331,2598,2602,12.7,-8.4,34,213,0.00,2.22,0.00,0.000,260,0.000,0.065,2214,3743,2600,2598,2602,0,0,0,0,0,0,26.09,25.84,26.10
$GC,260,-0.63,-146.6,2214,3743,2598,2601,18.0,-9.8,44,267,0.00,2.12,0.00,0.000,1030,0.000,0.050,2214,2326,2599,2598,2600,0,0,0,0,0,0,25.96,25.91,25.98
$GC,334,-0.63,-146.6,2214,2326,2601,2596,24.4,-7.7,53,337,0.00,2.10,0.00,0.000,516,0.000,0.057,2214,921,2598,2601,2595,0,0,0,0,0,0,26.20,25.96,26.21
$GC,429,-0.63,-146.6,2214,921,2609,2588,33.3,-10.2,62,433,0.00,2.10,0.00,0.000,1030,0.000,0.055,2210,2325,2599,2609,2589,0,0,0,0,0,0,26.08,26.01,26.10
$GC,554,-0.63,-146.6,2210,2325,2609,2588,44.0,-8.5,74,558,0.00,2.20,0.00,0.000,260,0.000,0.065,2210,3755,2598,2609,2588,0,0,0,0,0,0,26.34,26.08,26.34
$GC,583,-0.63,-146.6,2210,3755,2609,2588,46.1,-8.2,76,590,0.00,2.17,0.00,0.000,1030,0.000,0.047,2211,2322,2598,2609,2588,0,0,0,0,0,0,26.17,26.12,26.16
$GC,710,-0.63,-146.6,2210,2322,2609,2588,55.9,-7.4,89,714,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,942,2598,2609,2588,0,0,0,0,0,0,26.40,26.15,26.41
$GC,751,-0.63,-146.6,2210,924,2611,2585,59.1,-7.6,93,755,0.00,2.10,0.00,0.000,1030,0.000,0.055,2210,2335,2598,2611,2586,0,0,0,0,0,0,26.22,26.16,26.25
$GC,876,-0.63,-146.6,2210,2335,2610,2586,68.5,-7.2,105,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2335,2598,2610,2586,0,0,0,0,0,0,26.46,26.47,26.46
$GC,996,-0.63,-146.6,2210,2335,2610,2585,76.9,-6.6,117,1000,0.00,2.15,0.00,0.000,260,0.000,0.065,2211,3745,2598,2611,2586,0,0,0,0,0,0,26.49,26.24,26.50
$GC,1031,-0.63,-146.6,2210,3745,2610,2586,79.6,-7.6,120,1035,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2321,2598,2610,2586,0,0,0,0,0,0,26.32,26.27,26.33
$GC,1156,-0.63,-146.6,2210,2321,2610,2585,87.8,-7.1,132,1160,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,916,2598,2610,2586,0,0,0,0,0,0,26.53,26.28,26.53
$GC,1185,-0.63,-146.6,2210,916,2611,2585,90.0,-7.4,134,1192,0.00,2.15,0.00,0.000,1030,0.000,0.052,2210,2333,2598,2611,2585,0,0,0,0,0,0,26.31,26.28,26.33
$GC,1312,-0.63,-146.6,2210,2333,2610,2584,99.5,-7.2,147,1316,0.00,2.15,0.00,0.000,260,0.000,0.065,2210,3746,2597,2611,2584,0,0,0,0,0,0,26.55,26.30,26.57
$GC,1358,-0.63,-146.6,2210,3746,2611,2585,102.8,-7.2,151,1362,0.00,2.08,0.00,0.000,1030,0.000,0.050,2210,2331,2598,2611,2585,0,0,0,0,0,0,26.39,26.34,26.40
$GC,1483,-0.63,-146.6,2210,2331,2610,2585,112.0,-7.5,163,1487,0.00,2.08,0.00,0.000,516,0.000,0.057,2210,926,2597,2611,2584,0,0,0,0,0,0,26.58,26.34,26.60
$GC,1547,-0.63,-146.6,2210,918,2611,2584,116.7,-8.1,169,1554,0.00,2.15,0.00,0.000,1030,0.000,0.052,2210,2338,2597,2611,2584,0,0,0,0,0,0,26.37,26.34,26.39
$GC,1674,-0.63,-146.6,2210,2337,2611,2584,126.6,-7.2,182,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2338,2597,2611,2584,0,0,0,0,0,0,26.60,26.62,26.62
$GC,1794,-0.63,-146.6,2210,2337,2611,2584,134.4,-6.0,194,1798,0.00,2.08,0.00,0.000,516,0.000,0.055,2210,933,2597,2611,2584,0,0,0,0,0,0,26.63,26.39,26.64
$GC,1857,-0.63,-146.6,2210,922,2611,2584,138.6,-7.8,200,1864,0.00,2.12,0.00,0.000,1030,0.000,0.052,2210,2328,2597,2611,2584,0,0,0,0,0,0,26.41,26.39,26.44
$GC,1984,-0.63,-146.6,2210,2329,2611,2584,147.0,-6.1,213,1988,0.00,2.17,0.00,0.000,260,0.000,0.065,2210,3750,2597,2610,2584,0,0,0,0,0,0,26.65,26.39,26.66
$GC,2130,-0.63,-146.6,2210,3750,2610,2584,156.9,-7.0,227,2134,0.00,2.08,0.00,0.000,1030,0.000,0.050,2210,2331,2597,2610,2584,0,0,0,0,0,0,26.48,26.44,26.50
$GC,2255,-0.63,-146.6,2210,2331,2610,2584,164.5,-6.5,239,2259,0.00,2.17,0.00,0.000,260,0.000,0.065,2210,3746,2597,2611,2584,0,0,0,0,0,0,26.67,26.41,26.69
$GC,2304,-0.63,-146.6,2209,3746,2610,2584,167.6,-6.8,243,2311,0.00,2.12,0.00,0.000,1030,0.000,0.047,2210,2331,2597,2610,2584,0,0,0,0,0,0,26.48,26.46,26.49
$GC,2431,-0.63,-146.6,2210,2331,2611,2584,175.5,-5.9,256,2435,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,919,2597,2611,2583,0,0,0,0,0,0,26.69,26.44,26.70
$GC,2487,-0.63,-146.6,2210,919,2611,2584,178.9,-6.2,261,2491,0.00,2.08,0.00,0.000,1030,0.000,0.052,2210,2332,2597,2611,2584,0,0,0,0,0,0,26.50,26.44,26.52
$STATE,2511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2511,begin apogee
$GC,2514,-0.22,0.0,2209,2331,2611,2584,180.8,-7.0,263,2623,0.43,0.00,101.68,1.107,10246,0.122,0.000,2363,2332,2101,2155,2047,0,0,0,0,0,0,26.37,24.52,24.07
$STATE,2624,end apogee,CONTROL_FINISHED_OK
$STATE,2624,begin climb
$GC,2625,0.63,146.6,2363,2332,2155,2047,183.4,0.0,274,2744,0.68,2.28,107.80,1.070,10756,0.089,0.060,2626,932,1595,1691,1500,0,0,0,0,0,0,24.86,24.47,23.86
$GC,2796,0.63,146.6,2626,932,1690,1499,170.2,10.5,291,2800,0.00,2.17,0.00,0.000,1030,0.000,0.052,2626,2337,1595,1691,1500,0,0,0,0,0,0,25.24,25.18,25.25
$GC,2921,0.63,146.6,2626,2338,1690,1500,157.4,10.4,303,2925,0.00,2.22,0.00,0.000,260,0.000,0.065,2626,3746,1595,1691,1500,0,0,0,0,0,0,25.82,25.58,25.83
$GC,3047,0.63,146.6,2626,3746,1689,1501,143.9,10.9,315,3056,0.00,2.12,0.00,0.000,1030,0.000,0.050,2638,2328,1594,1688,1501,0,0,0,0,0,0,25.85,25.80,25.86
$GC,3176,0.63,146.6,2637,2329,1689,1501,129.7,11.2,328,3180,0.00,2.10,0.00,0.000,516,0.000,0.057,2646,943,1594,1689,1500,0,0,0,0,0,0,26.16,25.92,26.17
$GC,3230,0.63,146.6,2646,927,1688,1501,124.3,11.1,333,3237,0.00,2.15,0.00,0.000,1030,0.000,0.052,2647,2333,1594,1689,1500,0,0,0,0,0,0,25.99,25.96,26.01
$GC,3357,0.63,146.6,2646,2333,1689,1500,109.9,10.7,346,3361,0.00,2.17,0.00,0.000,260,0.000,0.065,2647,3740,1595,1689,1501,0,0,0,0,0,0,26.28,26.03,26.29
$GC,3403,0.63,146.6,2646,3740,1689,1501,104.2,12.3,350,3407,0.00,2.10,0.00,0.000,1030,0.000,0.050,2657,2321,1595,1689,1501,0,0,0,0,0,0,26.13,26.08,26.15
$GC,3534,0.63,146.6,2657,2321,1689,1500,89.3,11.1,363,3537,0.00,2.05,0.00,0.000,516,0.000,0.057,2668,931,1595,1689,1501,0,0,0,0,0,0,26.37,26.13,26.38
$GC,3572,0.63,146.6,2668,930,1689,1501,85.4,10.8,366,3580,0.10,2.15,0.00,0.000,5126,0.149,0.052,2633,2342,1594,1689,1500,0,0,0,0,0,0,26.05,26.14,26.11
$GC,3699,0.63,146.6,2633,2342,1689,1500,73.2,8.5,379,3703,0.00,2.15,0.00,0.000,260,0.000,0.067,2633,3739,1594,1689,1500,0,0,0,0,0,0,26.43,26.17,26.44
$GC,3785,0.63,146.6,2633,3739,1689,1501,64.8,9.9,387,3789,0.00,2.08,0.00,0.000,1030,0.000,0.047,2642,2327,1595,1689,1501,0,0,0,0,0,0,26.28,26.23,26.29
$GC,3910,0.63,146.6,2643,2327,1689,1501,51.7,10.4,399,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2327,1595,1689,1501,0,0,0,0,0,0,26.49,26.51,26.51
$GC,4030,0.63,146.6,2642,2327,1689,1501,40.9,8.5,411,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2327,1595,1689,1501,0,0,0,0,0,0,26.52,26.53,26.53
$GC,4150,0.63,146.6,2642,2327,1689,1501,31.4,8.6,423,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2328,1594,1688,1501,0,0,0,0,0,0,26.55,26.56,26.56
$GC,4270,0.63,146.6,2642,2327,1689,1501,20.4,9.4,435,4274,0.00,2.05,0.00,0.000,516,0.000,0.057,2653,935,1595,1689,1501,0,0,0,0,0,0,26.57,26.33,26.58
$GC,4331,0.63,146.6,2653,925,1689,1500,15.0,8.6,446,4337,0.00,2.08,0.00,0.000,1030,0.000,0.052,2653,2333,1595,1689,1501,0,0,0,0,0,0,26.39,26.34,26.41
$GC,4398,0.63,146.6,2653,2333,1689,1501,9.4,8.9,459,4405,0.00,2.15,0.00,0.000,260,0.000,0.065,2653,3743,1595,1689,1501,0,0,0,0,0,0,26.56,26.33,26.57
$GC,4467,0.63,146.6,2653,3743,1689,1500,3.7,8.5,472,4473,0.00,2.08,0.00,0.000,1030,0.000,0.050,2662,2323,1594,1688,1501,0,0,0,0,0,0,26.42,26.37,26.44
$STATE,4494,end climb,SURFACE_DEPTH_REACHED
$STATE,4494,begin surface coast
$FINISH,0.3,1.021666
$STATE,4515,end surface coast,CONTROL_FINISHED_OK
$STATE,4515,begin surface
$SM_CCo,4528,149.30,0.983,0,0,894,350.05
$SM_GC,1.37,6.15,0.00,149.30,0.055,0.000,0.983,215,2323,894,-6.77,-0.28,350.05,0,0,0,0,0,0,26.38,26.53,24.04
$IRIDIUM_FIX,4722.92,-12234.89,141114,140725
$TT8_MAMPS,0.020223,0.020223
$HUMID,64.88
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,19.30
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,125.7,72.6
$24V_AH,23.86,3.235
$10V_AH,10.47,0.772
$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,14.825,84.950,209.475,149.300,112.500,23.702,14.875,255.843,4.000,0.000,31.684,1206.766,2063.180,503.269,1248.788,75.235,33.269,1048.661,0.000,900.094,0.000,13.443,0.000
$DEVICE_MAMPS,240.851,67.041,1107.418,983.268,104.286,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.774,634.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,26986,481
$CAP_FILE_SIZE,88876,0
$CFSIZE,1024409600,1015545856
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5098.67,0x2389de,7,5
$INTR,1,2512.56,0x2389de,2,5
$INTR,2,4518.52,0x2389de,7,5
$GPS,141114,165828,4743.203,-12225.019,9,2.0,36,18.2,0.0,254.1,7,7.0