version: 66.12
glider: 35
mission: 21
dive: 14
start: 2 7 114 10 15 6
data:
$ID,35
$MISSION,21
$DIVE,14
$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,90
$T_MISSION,105
$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,-989805.69
$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,43
$R_STBD_OVSHOOT,47
$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
$GPS1,070214,100935,4744.053,-12224.491,33,1.1,45,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.7
$GPS2,070214,101407,4744.083,-12224.488,13,1.5,13,18.2
$SPEED_LIMITS,0.067,0.213
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.009,0.161
$KALMAN_X,-1011.0,-140.1,-25.5,1267.7,35.7
$KALMAN_Y,-732.3,-408.7,149.4,775.8,-99.7
$MHEAD_RNG_PITCHd_Wd,338.6,772,-19.4,-6.667,-22.46,1784
$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,-0.81,-78.2,224,1732,2316,2385,0.0,0.0,0,116,0.00,0.00,-97.43,0.000,16386,0.000,0.000,224,1732,3500,3460,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.81,-146.6,224,1732,3460,3541,3.3,-1.8,18,155,10.38,2.28,-15.15,0.000,18692,0.253,0.067,2725,3125,3866,3832,3900,0,0,0,0,0,0,24.92,25.44,25.35
$GC,379,-0.81,-146.6,2724,3125,3832,3900,42.0,-14.1,53,387,0.00,2.17,0.00,0.000,1030,0.000,0.060,2724,1724,3866,3832,3900,0,0,0,0,0,0,28.83,25.68,28.83
$GC,508,-0.81,-146.6,2724,1724,3832,3900,60.1,-13.2,66,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1724,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,627,-0.81,-146.6,2724,1724,3832,3899,74.9,-11.8,78,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1724,3865,3832,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,748,-0.81,-146.6,2724,1724,3832,3900,90.2,-13.5,90,756,0.00,2.22,0.00,0.000,260,0.000,0.070,2715,3129,3866,3832,3900,0,0,0,0,0,0,28.83,25.74,28.83
$GC,801,-0.81,-146.6,2715,3129,3832,3900,96.9,-12.9,95,808,0.00,2.17,0.00,0.000,1030,0.000,0.057,2715,1738,3866,3832,3900,0,0,0,0,0,0,28.83,25.84,28.83
$GC,929,-0.81,-146.6,2715,1737,3832,3900,113.1,-12.4,108,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1737,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1049,-0.81,-146.6,2715,1737,3832,3900,127.2,-11.6,120,1057,0.00,2.20,0.00,0.000,260,0.000,0.070,2715,3129,3866,3832,3900,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1161,-0.81,-146.6,2715,3130,3832,3900,139.9,-11.2,131,1170,0.00,2.15,0.00,0.000,1030,0.000,0.057,2715,1727,3866,3832,3900,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1290,-0.81,-146.6,2715,1727,3832,3900,154.7,-10.9,144,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1727,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1410,-0.81,-146.6,2715,1727,3832,3900,169.4,-11.8,156,1418,0.00,2.25,0.00,0.000,260,0.000,0.070,2715,3136,3866,3832,3900,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1471,-0.81,-146.6,2714,3136,3832,3900,176.3,-11.1,162,1479,0.00,2.15,0.00,0.000,1030,0.000,0.060,2715,1733,3866,3832,3900,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,1509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1513,-0.21,0.0,2714,1733,3832,3900,180.8,-11.0,166,1621,0.65,0.00,102.45,1.028,10246,0.139,0.000,2927,1732,3368,3340,3397,0,0,0,0,0,0,25.53,28.83,23.68
$STATE,1622,end apogee,CONTROL_FINISHED_OK
$STATE,1622,begin climb
$GC,1625,0.81,146.6,2927,1732,3340,3397,184.9,0.0,177,1741,0.90,2.40,104.15,0.919,10756,0.094,0.072,3255,336,2871,2844,2898,0,0,0,0,0,0,24.60,24.10,23.26
$GC,1758,0.81,146.6,3254,336,2843,2898,178.5,7.4,190,1765,0.00,2.28,0.00,0.000,1030,0.000,0.055,3255,1740,2871,2844,2898,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1885,0.81,146.6,3254,1740,2844,2898,166.2,9.5,203,1894,0.00,2.28,0.00,0.000,260,0.000,0.067,3255,3130,2871,2844,2898,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1959,0.81,146.6,3254,3131,2844,2898,158.9,10.4,210,1966,0.00,2.22,0.00,0.000,1030,0.000,0.057,3265,1734,2871,2844,2898,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2086,0.81,146.6,3265,1734,2843,2898,145.4,10.7,223,2095,0.00,2.22,0.00,0.000,516,0.000,0.072,3276,332,2871,2844,2898,0,0,0,0,0,0,28.83,25.31,28.83
$GC,2157,0.81,146.6,3275,332,2843,2899,137.8,10.8,230,2166,0.00,2.17,0.00,0.000,1030,0.000,0.057,3276,1743,2870,2843,2898,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2287,0.81,146.6,3275,1743,2843,2898,123.1,11.1,243,2295,0.00,2.20,0.00,0.000,260,0.000,0.070,3276,3134,2871,2844,2898,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2500,0.81,146.6,3275,3134,2843,2898,97.3,12.2,264,2507,0.00,2.20,0.00,0.000,1030,0.000,0.057,3286,1736,2870,2843,2898,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2628,0.81,146.6,3286,1736,2844,2898,83.7,9.5,277,2636,0.00,2.17,0.00,0.000,516,0.000,0.070,3297,333,2870,2843,2898,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2698,0.81,146.6,3296,333,2844,2899,77.0,9.2,284,2708,0.17,2.12,0.00,0.000,5126,0.181,0.057,3252,1737,2870,2843,2898,0,0,0,0,0,0,25.41,25.81,28.83
$GC,2829,0.81,146.6,3251,1737,2844,2898,66.4,7.6,297,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1737,2871,2844,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2948,0.81,146.6,3251,1737,2844,2898,56.6,8.2,309,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1737,2871,2843,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3069,0.81,146.6,3251,1737,2843,2898,48.1,6.8,321,3077,0.00,2.20,0.00,0.000,516,0.000,0.072,3262,333,2870,2843,2898,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3160,0.81,146.6,3261,333,2843,2899,41.4,7.0,330,3164,0.00,2.10,0.00,0.000,1030,0.000,0.057,3262,1732,2870,2843,2898,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3291,0.81,159.3,3261,1733,2844,2898,32.9,5.9,343,3311,0.00,2.25,10.12,0.817,8452,0.000,0.070,3262,3131,2828,2801,2855,0,0,0,0,0,0,28.83,25.80,24.68
$GC,3333,0.81,159.3,3261,3132,2801,2855,30.0,7.1,347,3342,0.00,2.15,0.00,0.000,1030,0.000,0.060,3272,1725,2828,2801,2855,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3466,0.81,159.3,3272,1725,2801,2855,19.3,9.5,360,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1725,2828,2801,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3533,0.81,159.3,3272,1725,2801,2855,13.1,9.0,373,3540,0.00,2.15,0.00,0.000,516,0.000,0.072,3282,336,2828,2801,2855,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,3625,end climb,SURFACE_DEPTH_REACHED
$STATE,3626,begin surface coast
$FINISH,0.3,1.023032
$STATE,3667,end surface coast,CONTROL_FINISHED_OK
$STATE,3667,begin surface
$SM_CCo,3686,91.57,0.896,0,0,2351,300.22
$SM_GC,1.27,8.07,2.15,91.57,0.065,0.055,0.896,243,1728,2351,-8.54,-1.41,300.22,0,0,0,0,0,0,25.83,25.93,23.94
$IRIDIUM_FIX,4726.11,-12222.38,070214,080820
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.97
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,19.2
$ALTIM_BOTTOM_PING,156.0,35.1
$24V_AH,23.3,38.831
$10V_AH,10.4,4.864
$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,20.175,52.875,216.725,91.575,0.000,29.342,20.338,129.372,6.500,0.000,16.062,955.177,1578.528,446.992,988.798,92.690,33.233,928.470,0.000,774.984,0.000,38.955,0.000
$DEVICE_MAMPS,253.266,72.007,1027.962,896.363,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.007,524.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354592
$DATA_FILE_SIZE,23503,399
$CAP_FILE_SIZE,66004,0
$CFSIZE,260165632,242294784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,111855,4744.636,-12224.353,12,1.9,12,18.2