version: 66.12
glider: 35
mission: 21
dive: 8
start: 2 7 114 1 43 51
data:
$ID,35
$MISSION,21
$DIVE,8
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$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,80
$T_MISSION,90
$T_ABORT,2880
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,76769
$MASS_COMP,9469
$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,47.724998
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-989798.19
$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,2995
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026142744
$P_OVSHOOT_WITHG,0.089055829
$PITCH_GAIN,24
$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,1735
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,3368
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2784
$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,10
$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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,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,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,070214,013753,4743.595,-12224.354,21,2.0,39,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.0
$GPS2,070214,014251,4743.596,-12224.351,8,3.5,28,18.2
$SPEED_LIMITS,0.075,0.222
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.072,-0.210
$KALMAN_X,389.3,148.6,51.0,-324.6,165.1
$KALMAN_Y,826.1,856.8,461.6,-3260.0,-67.8
$MHEAD_RNG_PITCHd_Wd,180.7,1119,-15.4,-7.500,-18.65,2965
$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,-0.64,-146.6,245,1743,2314,2385,0.0,0.0,0,116,0.00,0.00,-97.53,0.000,16386,0.000,0.000,245,1743,3489,3451,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.64,-146.6,244,1743,3451,3528,3.1,-1.8,18,155,10.55,2.30,-16.08,0.000,18948,0.253,0.072,2784,333,3866,3833,3900,0,0,0,0,0,0,24.85,25.38,25.32
$GC,380,-0.64,-146.6,2784,333,3833,3900,35.5,-10.7,55,387,0.00,2.17,0.00,0.000,1030,0.000,0.060,2783,1742,3866,3832,3900,0,0,0,0,0,0,28.83,25.64,28.83
$GC,508,-0.64,-146.6,2783,1742,3833,3900,48.2,-10.0,68,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1742,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,628,-0.64,-146.6,2783,1742,3833,3900,59.3,-8.6,80,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1742,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,748,-0.64,-146.6,2783,1742,3833,3900,70.2,-9.1,92,757,0.00,2.22,0.00,0.000,260,0.000,0.072,2783,3138,3866,3833,3900,0,0,0,0,0,0,28.83,25.69,28.83
$GC,852,-0.64,-146.6,2783,3138,3833,3900,79.4,-8.9,102,859,0.00,2.17,0.00,0.000,1030,0.000,0.060,2783,1735,3866,3833,3900,0,0,0,0,0,0,28.83,25.81,28.83
$GC,979,-0.64,-146.6,2783,1735,3833,3900,92.4,-10.1,115,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1735,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-0.64,-146.6,2783,1735,3833,3900,103.8,-9.1,127,1108,0.00,2.22,0.00,0.000,260,0.000,0.072,2783,3131,3866,3833,3900,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1174,-0.64,-146.6,2783,3131,3833,3900,110.0,-8.4,134,1181,0.00,2.15,0.00,0.000,1030,0.000,0.060,2783,1736,3866,3833,3900,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1301,-0.64,-146.6,2783,1736,3833,3900,119.4,-7.1,147,1313,0.00,2.20,0.00,0.000,516,0.000,0.072,2783,333,3866,3833,3900,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1377,-0.64,-146.6,2782,334,3833,3900,125.5,-8.8,154,1385,0.00,2.15,0.00,0.000,1030,0.000,0.057,2783,1728,3866,3833,3900,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1505,-0.64,-146.6,2783,1728,3833,3900,135.8,-7.9,167,1514,0.00,2.22,0.00,0.000,260,0.000,0.072,2783,3133,3866,3833,3900,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1576,-0.64,-146.6,2783,3133,3833,3900,140.9,-6.7,174,1585,0.00,2.12,0.00,0.000,1030,0.000,0.060,2783,1736,3866,3833,3900,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1709,-0.64,-146.6,2782,1735,3833,3900,151.0,-8.2,187,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1735,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1836,-0.64,-146.6,2783,1735,3833,3900,161.7,-8.2,200,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1735,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1956,-0.64,-146.6,2783,1735,3833,3900,172.0,-8.8,212,1965,0.00,2.20,0.00,0.000,260,0.000,0.072,2783,3133,3866,3833,3900,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,2015,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2015,begin apogee
$GC,2023,-0.21,0.0,2783,1723,3833,3900,177.1,-8.1,218,2129,0.43,0.00,102.68,1.050,10246,0.132,0.000,2926,1723,3368,3338,3398,0,0,0,0,0,0,25.59,28.83,23.65
$STATE,2130,end apogee,CONTROL_FINISHED_OK
$STATE,2132,begin climb
$GC,2133,0.64,146.6,2926,1723,3338,3398,180.9,0.0,229,2248,0.75,2.35,104.47,0.924,10756,0.097,0.074,3196,339,2871,2846,2896,0,0,0,0,0,0,24.55,24.05,23.21
$GC,2275,0.64,174.6,3195,339,2846,2896,175.5,6.5,243,2302,0.00,2.25,21.17,0.886,9222,0.000,0.057,3196,1742,2775,2751,2800,0,0,0,0,0,0,28.83,24.40,23.30
$GC,2421,0.64,174.6,3195,1742,2751,2801,163.5,8.6,258,2430,0.00,2.28,0.00,0.000,260,0.000,0.070,3195,3132,2775,2751,2800,0,0,0,0,0,0,28.83,24.79,28.83
$GC,2542,0.64,174.6,3195,3132,2751,2800,152.5,8.8,270,2551,0.00,2.22,0.00,0.000,1030,0.000,0.060,3204,1738,2776,2752,2801,0,0,0,0,0,0,28.83,25.16,28.83
$GC,2672,0.64,174.6,3205,1738,2751,2800,140.7,9.5,283,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1737,2776,2752,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2792,0.64,174.6,3204,1738,2751,2801,129.6,9.0,295,2801,0.00,2.28,0.00,0.000,260,0.000,0.070,3205,3136,2776,2751,2801,0,0,0,0,0,0,28.83,25.42,28.83
$GC,2866,0.64,174.6,3204,3136,2751,2800,122.0,10.5,302,2873,0.00,2.20,0.00,0.000,1030,0.000,0.060,3215,1732,2775,2751,2800,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2993,0.64,174.6,3216,1732,2751,2800,109.6,8.9,315,3002,0.00,2.22,0.00,0.000,516,0.000,0.074,3226,331,2776,2751,2801,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3064,0.64,174.6,3226,331,2752,2801,102.2,10.7,322,3073,0.00,2.12,0.00,0.000,1030,0.000,0.057,3226,1739,2776,2751,2801,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3194,0.64,174.6,3226,1739,2751,2801,88.6,10.5,335,3198,0.00,2.22,0.00,0.000,260,0.000,0.070,3226,3126,2776,2751,2801,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3285,0.64,174.6,3226,3136,2751,2801,79.3,10.2,344,3295,0.15,2.17,0.00,0.000,5126,0.176,0.060,3196,1732,2776,2751,2801,0,0,0,0,0,0,25.46,25.75,28.83
$GC,3415,0.64,174.6,3196,1732,2751,2800,68.8,8.3,357,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1732,2776,2751,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3535,0.64,174.6,3196,1732,2751,2801,59.4,7.7,369,3544,0.00,2.25,0.00,0.000,260,0.000,0.070,3196,3138,2776,2752,2800,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3616,0.64,174.6,3196,3138,2751,2800,52.3,9.0,377,3625,0.00,2.17,0.00,0.000,1030,0.000,0.060,3205,1730,2776,2751,2801,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3746,0.64,174.6,3205,1730,2751,2800,41.4,8.2,390,3755,0.00,2.25,0.00,0.000,260,0.000,0.070,3205,3134,2775,2751,2800,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3827,0.64,174.6,3205,3135,2751,2801,34.3,9.1,398,3836,0.00,2.17,0.00,0.000,1030,0.000,0.060,3216,1728,2776,2751,2801,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3958,0.64,174.6,3215,1728,2751,2801,23.0,8.4,411,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1728,2776,2751,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4078,0.64,174.6,3215,1728,2751,2801,14.0,7.7,430,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1727,2775,2751,2800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4146,0.64,214.5,3216,1727,2751,2801,9.3,6.1,443,4181,0.00,0.00,28.38,0.906,8198,0.000,0.000,3216,1727,2640,2616,2665,0,0,0,0,0,0,28.83,28.83,24.53
$STATE,4220,end climb,SURFACE_DEPTH_REACHED
$STATE,4220,begin surface coast
$FINISH,-0.1,1.023019
$STATE,4268,end surface coast,CONTROL_FINISHED_OK
$STATE,4268,begin surface
$SM_CCo,4284,55.83,0.924,0,0,2350,300.22
$SM_GC,2.14,7.97,0.00,55.83,0.065,0.000,0.924,246,1727,2350,-8.54,-0.23,300.22,0,0,0,0,0,0,25.55,28.83,24.01
$IRIDIUM_FIX,4729.30,-12226.80,070214,000043
$TT8_MAMPS,0.020972,0.020972
$HUMID,39.13
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,19.1
$ALTIM_BOTTOM_PING,151.0,35.5
$24V_AH,23.2,38.236
$10V_AH,10.4,4.653
$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,19.850,57.525,256.700,55.825,0.000,25.116,38.182,127.651,6.250,0.000,31.687,1094.815,1874.979,451.513,1132.210,99.753,33.227,1002.001,0.000,888.267,0.000,37.435,0.000
$DEVICE_MAMPS,253.266,74.490,1050.309,923.676,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.711,613.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354600
$DATA_FILE_SIZE,26913,466
$CAP_FILE_SIZE,73850,0
$CFSIZE,260165632,242552832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,025721,4742.887,-12224.646,11,3.1,31,18.2