version: 66.12
glider: 35
mission: 21
dive: 10
start: 2 7 114 4 31 6
data:
$ID,35
$MISSION,21
$DIVE,10
$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,-989800.69
$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,11
$R_STBD_OVSHOOT,48
$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
$GPS1,070214,042454,4742.978,-12225.125,40,1.4,40,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.5
$GPS2,070214,043006,4742.954,-12225.158,31,1.4,31,18.2
$SPEED_LIMITS,0.075,0.222
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.085,0.205
$KALMAN_X,-249.3,262.5,-83.8,-662.1,-302.2
$KALMAN_Y,359.6,941.9,-360.6,-3243.5,-615.3
$MHEAD_RNG_PITCHd_Wd,4.3,2978,-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,-146.6,251,1720,2315,2388,0.0,0.0,0,116,0.00,0.00,-97.22,0.000,16386,0.000,0.000,251,1720,3501,3462,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.64,-146.6,251,1720,3462,3541,3.4,-2.4,18,150,10.48,2.33,-14.95,0.000,18692,0.251,0.067,2775,3128,3866,3833,3900,0,0,0,0,0,0,24.86,25.38,25.30
$GC,247,-0.64,-146.6,2775,3129,3833,3900,19.0,-9.5,42,254,0.00,2.22,0.00,0.000,1030,0.000,0.060,2775,1703,3866,3833,3900,0,0,0,0,0,0,28.83,25.53,28.83
$GC,321,-0.64,-146.6,2775,1703,3833,3900,26.0,-10.1,50,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1703,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,441,-0.64,-146.6,2775,1703,3833,3900,37.2,-9.7,62,450,0.00,2.30,0.00,0.000,260,0.000,0.070,2771,3128,3867,3834,3900,0,0,0,0,0,0,28.83,25.58,28.83
$GC,542,-0.64,-146.6,2770,3128,3833,3900,45.8,-8.1,72,551,0.00,2.15,0.00,0.000,1030,0.000,0.060,2771,1726,3866,3833,3900,0,0,0,0,0,0,28.83,25.71,28.83
$GC,672,-0.64,-146.6,2770,1726,3833,3900,57.8,-9.7,85,681,0.00,2.17,0.00,0.000,516,0.000,0.072,2771,331,3866,3833,3900,0,0,0,0,0,0,28.83,25.65,28.83
$GC,733,-0.64,-146.6,2770,331,3833,3900,64.1,-10.6,91,742,0.00,2.12,0.00,0.000,1030,0.000,0.057,2770,1738,3866,3833,3900,0,0,0,0,0,0,28.83,25.78,28.83
$GC,863,-0.64,-146.6,2770,1738,3833,3900,76.4,-8.8,104,872,0.00,2.20,0.00,0.000,260,0.000,0.070,2768,3136,3866,3833,3899,0,0,0,0,0,0,28.83,25.70,28.83
$GC,905,-0.64,-146.6,2768,3137,3833,3900,80.2,-9.0,108,913,0.00,2.15,0.00,0.000,1030,0.000,0.060,2768,1730,3866,3833,3900,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1034,-0.64,-146.6,2768,1730,3833,3900,92.1,-9.5,121,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1730,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1154,-0.64,-146.6,2768,1730,3833,3900,103.7,-9.6,133,1163,0.00,2.25,0.00,0.000,260,0.000,0.070,2767,3135,3866,3833,3900,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1227,-0.64,-146.6,2766,3134,3833,3900,110.6,-8.9,140,1236,0.00,2.12,0.00,0.000,1030,0.000,0.060,2768,1740,3866,3833,3900,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1355,-0.64,-146.6,2767,1740,3833,3899,122.9,-8.4,153,1364,0.00,2.22,0.00,0.000,260,0.000,0.072,2765,3133,3866,3833,3900,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1469,-0.64,-146.6,2764,3134,3833,3900,133.0,-9.5,164,1478,0.00,2.10,0.00,0.000,1030,0.000,0.060,2765,1739,3866,3833,3900,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1600,-0.64,-146.6,2764,1739,3833,3900,145.8,-9.2,177,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1739,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1728,-0.64,-146.6,2765,1739,3833,3900,159.4,-9.2,190,1737,0.00,2.20,0.00,0.000,260,0.000,0.070,2761,3133,3866,3833,3900,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1806,-0.64,-146.6,2761,3133,3833,3899,167.1,-9.8,197,1813,0.00,2.12,0.00,0.000,1030,0.000,0.057,2761,1732,3866,3833,3900,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1933,-0.64,-146.6,2761,1732,3833,3900,179.9,-9.3,210,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1732,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1942,begin apogee
$GC,1946,-0.21,0.0,2761,1732,3833,3900,180.6,-8.5,211,2054,0.50,0.00,102.53,1.038,10246,0.132,0.000,2928,1732,3368,3338,3398,0,0,0,0,0,0,25.53,28.83,23.68
$STATE,2055,end apogee,CONTROL_FINISHED_OK
$STATE,2055,begin climb
$GC,2057,0.64,146.6,2928,1732,3338,3398,185.3,0.0,222,2165,0.73,0.00,104.72,0.914,10502,0.097,0.000,3181,1732,2870,2845,2896,0,0,0,0,0,0,24.58,28.83,23.26
$GC,2285,0.64,161.4,3181,1732,2845,2897,172.1,7.0,245,2303,0.00,0.00,12.00,0.862,8198,0.000,0.000,3181,1732,2821,2794,2848,0,0,0,0,0,0,28.83,28.83,23.58
$GC,2423,0.64,221.4,3181,1732,2794,2848,163.0,5.4,259,2474,0.00,2.33,43.17,0.929,8452,0.000,0.070,3181,3129,2617,2594,2641,0,0,0,0,0,0,28.83,24.57,23.65
$GC,2519,0.64,227.8,3181,3129,2594,2641,157.2,7.3,268,2530,0.00,2.22,6.32,0.728,9222,0.000,0.057,3192,1735,2596,2576,2617,0,0,0,0,0,0,28.83,24.91,23.72
$GC,2651,0.64,227.8,3192,1735,2575,2617,144.8,9.8,281,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1736,2596,2575,2617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2771,0.64,227.8,3191,1735,2575,2617,133.2,11.2,293,2780,0.00,2.25,0.00,0.000,260,0.000,0.070,3192,3132,2596,2576,2617,0,0,0,0,0,0,28.83,25.35,28.83
$GC,2834,0.64,227.8,3192,3132,2576,2617,128.1,8.6,299,2841,0.00,2.17,0.00,0.000,1030,0.000,0.057,3202,1734,2596,2575,2617,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2962,0.64,242.9,3201,1734,2576,2617,119.4,7.0,312,2982,0.00,2.28,12.20,0.872,8452,0.000,0.072,3202,3134,2545,2525,2565,0,0,0,0,0,0,28.83,25.39,24.32
$GC,3055,0.64,242.9,3201,3134,2525,2565,112.8,8.6,321,3063,0.00,2.17,0.00,0.000,1030,0.000,0.060,3212,1732,2545,2525,2565,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3185,0.64,242.9,3212,1732,2525,2565,100.3,9.8,334,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1732,2545,2525,2565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3305,0.64,242.9,3212,1732,2525,2565,87.9,10.4,346,3313,0.00,2.25,0.00,0.000,260,0.000,0.070,3212,3141,2545,2525,2565,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3349,0.64,242.9,3212,3141,2525,2565,83.9,10.1,350,3355,0.00,2.17,0.00,0.000,1030,0.000,0.060,3221,1728,2545,2525,2565,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3476,0.64,242.9,3221,1728,2525,2565,70.8,9.3,363,3484,0.00,2.17,0.00,0.000,516,0.000,0.072,3232,335,2545,2525,2565,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3540,0.64,242.9,3232,335,2525,2565,64.4,11.0,369,3546,0.00,2.12,0.00,0.000,1030,0.000,0.057,3232,1744,2544,2524,2565,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3666,0.64,242.9,3232,1745,2524,2565,50.1,10.5,382,3675,0.00,2.20,0.00,0.000,260,0.000,0.070,3232,3132,2545,2525,2565,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3727,0.64,242.9,3232,3132,2524,2565,43.1,11.1,388,3736,0.15,2.15,0.00,0.000,5126,0.174,0.060,3202,1728,2545,2525,2565,0,0,0,0,0,0,25.55,25.84,28.83
$GC,3857,0.64,242.9,3201,1728,2525,2565,31.4,7.6,401,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1728,2544,2524,2565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3977,0.64,251.1,3201,1728,2524,2565,22.4,7.2,413,3990,0.00,2.25,6.93,0.747,8452,0.000,0.070,3201,3125,2517,2496,2539,0,0,0,0,0,0,28.83,25.82,24.65
$GC,4053,0.64,251.1,3201,3125,2496,2538,16.5,8.2,424,4059,0.00,2.12,0.00,0.000,1030,0.000,0.060,3212,1734,2517,2496,2539,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4121,0.64,251.1,3212,1734,2496,2539,10.5,8.5,437,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1734,2517,2496,2539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4188,0.64,251.1,3212,1734,2496,2539,4.6,8.6,450,4195,0.00,2.25,0.00,0.000,260,0.000,0.070,3212,3140,2517,2496,2538,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,4200,end climb,SURFACE_DEPTH_REACHED
$STATE,4200,begin surface coast
$FINISH,-0.2,1.010026
$STATE,4257,end surface coast,CONTROL_FINISHED_OK
$STATE,4257,begin surface
$SM_CCo,4275,32.50,0.901,0,0,2351,300.22
$SM_GC,0.84,7.85,2.20,32.50,0.057,0.057,0.901,211,1768,2351,-8.61,1.44,300.22,0,0,0,0,0,0,25.87,25.86,24.43
$IRIDIUM_FIX,4726.11,-12222.38,070214,030345
$TT8_MAMPS,0.020972,0.020972
$HUMID,39.95
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,165.8,33.5
$24V_AH,23.3,38.431
$10V_AH,10.4,4.723
$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,19.700,66.000,287.875,32.500,0.000,29.403,41.396,130.648,7.000,0.000,34.439,1099.970,1849.742,476.715,1104.548,102.567,33.255,1011.676,0.000,843.235,0.000,41.992,0.000
$DEVICE_MAMPS,250.783,72.007,1037.894,901.329,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.312,609.021,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354572
$DATA_FILE_SIZE,26922,463
$CAP_FILE_SIZE,76687,0
$CFSIZE,260165632,242466816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,054403,4743.024,-12225.241,11,2.2,31,18.2