version: 66.12
glider: 35
mission: 21
dive: 18
start: 2 7 114 15 37 7
data:
$ID,35
$MISSION,21
$DIVE,18
$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,-989810.69
$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,12
$R_STBD_OVSHOOT,51
$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
$GPS1,070214,153135,4742.999,-12224.438,25,1.5,25,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.5
$GPS2,070214,153607,4742.999,-12224.418,14,1.4,14,18.2
$SPEED_LIMITS,0.067,0.213
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.020,0.212
$KALMAN_X,-672.6,-226.6,219.1,859.1,-139.6
$KALMAN_Y,-143.3,-1186.2,215.6,-1112.8,-279.8
$MHEAD_RNG_PITCHd_Wd,347.2,2783,-13.8,-6.667,-17.39,3328
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.57,-146.6,245,1720,2316,2387,0.0,0.0,0,111,0.00,0.00,-92.95,0.000,16386,0.000,0.000,245,1721,3459,3419,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.57,-146.6,245,1721,3419,3501,3.3,-1.6,17,149,10.55,2.25,-17.00,0.000,18692,0.248,0.067,2801,3128,3866,3832,3900,0,0,0,0,0,0,24.84,25.36,25.28
$GC,377,-0.57,-146.6,2800,3128,3832,3900,32.2,-9.7,56,386,0.00,2.22,0.00,0.000,1030,0.000,0.057,2801,1701,3866,3832,3900,0,0,0,0,0,0,28.83,25.63,28.83
$GC,507,-0.57,-146.6,2801,1701,3832,3900,44.8,-9.4,69,516,0.00,2.30,0.00,0.000,260,0.000,0.070,2800,3135,3866,3832,3900,0,0,0,0,0,0,28.83,25.63,28.83
$GC,639,-0.57,-146.6,2800,3135,3832,3900,56.7,-8.8,82,648,0.00,2.15,0.00,0.000,1030,0.000,0.060,2800,1732,3866,3832,3900,0,0,0,0,0,0,28.83,25.76,28.83
$GC,768,-0.57,-146.6,2800,1731,3832,3900,68.1,-9.1,95,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1732,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,888,-0.57,-146.6,2800,1732,3832,3900,77.7,-7.5,107,897,0.00,2.22,0.00,0.000,260,0.000,0.070,2800,3134,3866,3832,3900,0,0,0,0,0,0,28.83,25.75,28.83
$GC,939,-0.57,-146.6,2800,3134,3832,3900,81.8,-7.8,112,948,0.00,2.12,0.00,0.000,1030,0.000,0.057,2800,1732,3866,3832,3900,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1070,-0.57,-146.6,2800,1732,3832,3900,92.3,-7.7,125,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1732,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1189,-0.57,-146.6,2800,1732,3833,3900,102.1,-8.2,137,1198,0.00,2.20,0.00,0.000,260,0.000,0.067,2800,3129,3866,3832,3900,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1293,-0.57,-146.6,2800,3129,3832,3900,110.4,-8.2,147,1300,0.00,2.15,0.00,0.000,1030,0.000,0.057,2800,1732,3866,3832,3900,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1420,-0.57,-146.6,2800,1732,3833,3900,120.9,-7.5,160,1429,0.00,2.20,0.00,0.000,260,0.000,0.067,2800,3130,3866,3832,3900,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1464,-0.57,-146.6,2800,3130,3832,3900,124.1,-7.4,164,1471,0.00,2.17,0.00,0.000,1030,0.000,0.057,2800,1727,3866,3832,3900,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1591,-0.57,-146.6,2800,1727,3832,3900,133.5,-6.8,177,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1727,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1711,-0.57,-146.6,2800,1727,3832,3900,141.6,-7.0,189,1720,0.00,2.20,0.00,0.000,260,0.000,0.067,2800,3128,3866,3832,3900,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1786,-0.57,-146.6,2800,3128,3832,3900,146.4,-6.5,196,1792,0.00,2.12,0.00,0.000,1030,0.000,0.057,2800,1734,3866,3832,3900,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1916,-0.57,-146.6,2800,1734,3832,3900,155.4,-7.5,209,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1734,3866,3832,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2042,-0.57,-146.6,2800,1734,3832,3900,164.6,-7.1,222,2051,0.00,2.17,0.00,0.000,260,0.000,0.067,2800,3128,3866,3832,3900,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2124,-0.57,-146.6,2800,3128,3832,3900,170.5,-6.0,230,2132,0.00,2.10,0.00,0.000,1030,0.000,0.057,2800,1733,3866,3832,3900,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,2211,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2212,begin apogee
$GC,2216,-0.21,0.0,2799,1733,3832,3900,176.8,-6.5,239,2324,0.38,0.00,102.20,1.030,10246,0.127,0.000,2928,1733,3368,3340,3396,0,0,0,0,0,0,25.70,28.83,23.72
$STATE,2324,end apogee,CONTROL_FINISHED_OK
$STATE,2325,begin climb
$GC,2328,0.57,146.6,2928,1733,3340,3396,180.2,0.0,250,2436,0.68,0.00,104.18,0.916,10758,0.094,0.000,3164,1733,2871,2845,2897,0,0,0,0,0,0,24.63,28.83,23.28
$GC,2554,0.57,177.6,3164,1733,2845,2897,170.9,5.7,273,2584,0.00,2.33,23.08,0.916,8452,0.000,0.067,3164,3124,2766,2741,2791,0,0,0,0,0,0,28.83,24.56,23.54
$GC,2649,0.57,177.6,3163,3124,2740,2791,164.1,7.1,282,2656,0.00,2.22,0.00,0.000,1030,0.000,0.055,3173,1734,2766,2741,2791,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2776,0.57,177.6,3172,1734,2740,2791,154.3,7.7,295,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1734,2765,2740,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2896,0.57,177.6,3173,1733,2740,2790,145.6,7.4,307,2905,0.00,2.25,0.00,0.000,260,0.000,0.067,3173,3125,2766,2741,2791,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2947,0.57,177.6,3173,3125,2740,2791,141.9,8.2,312,2956,0.00,2.17,0.00,0.000,1030,0.000,0.057,3181,1731,2765,2740,2791,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3077,0.57,177.6,3181,1731,2740,2791,132.0,7.2,325,3086,0.00,2.20,0.00,0.000,516,0.000,0.070,3191,334,2766,2741,2791,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3138,0.57,177.6,3191,335,2740,2791,127.3,8.1,331,3147,0.00,2.12,0.00,0.000,1030,0.000,0.055,3191,1743,2765,2740,2791,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3268,0.57,177.6,3191,1743,2740,2791,117.5,8.1,344,3277,0.00,2.20,0.00,0.000,260,0.000,0.070,3191,3134,2765,2740,2791,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3319,0.57,177.6,3191,3134,2740,2791,113.4,8.3,349,3328,0.00,2.15,0.00,0.000,1030,0.000,0.057,3202,1732,2765,2740,2791,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3449,0.57,177.6,3201,1732,2740,2791,102.6,8.1,362,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1732,2765,2740,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3569,0.57,177.6,3201,1732,2740,2791,93.4,7.7,374,3578,0.00,2.22,0.00,0.000,260,0.000,0.070,3201,3131,2765,2740,2791,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3650,0.57,177.6,3201,3131,2740,2791,86.6,8.0,382,3659,0.12,2.12,0.00,0.000,5126,0.174,0.057,3179,1734,2765,2740,2791,0,0,0,0,0,0,25.60,25.85,28.83
$GC,3780,0.57,179.2,3178,1734,2740,2791,77.8,6.6,395,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1734,2765,2740,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3900,0.57,179.7,3178,1734,2741,2791,69.8,6.7,407,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1734,2765,2740,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,0.57,179.7,3179,1734,2740,2791,61.5,6.9,419,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1734,2765,2740,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4140,0.57,217.3,3178,1734,2740,2791,53.7,5.5,431,4174,0.00,2.22,28.58,0.934,8452,0.000,0.070,3179,3127,2630,2605,2656,0,0,0,0,0,0,28.83,25.50,24.49
$GC,4261,0.57,217.3,3178,3127,2605,2655,45.5,7.6,442,4267,0.00,2.17,0.00,0.000,1030,0.000,0.057,3188,1732,2630,2605,2656,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4386,0.57,217.3,3188,1732,2604,2656,36.0,7.3,455,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1732,2630,2605,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4506,0.57,217.3,3188,1732,2605,2656,26.6,7.6,467,4515,0.00,2.17,0.00,0.000,516,0.000,0.072,3199,337,2630,2605,2656,0,0,0,0,0,0,28.83,25.66,28.83
$GC,4580,0.57,217.3,3198,337,2605,2656,20.7,8.3,474,4587,0.00,2.12,0.00,0.000,1030,0.000,0.057,3199,1732,2630,2605,2656,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4708,0.57,217.3,3198,1732,2605,2656,10.0,8.9,498,4715,0.00,2.22,0.00,0.000,260,0.000,0.067,3199,3135,2630,2605,2656,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,4770,end climb,SURFACE_DEPTH_REACHED
$STATE,4770,begin surface coast
$FINISH,3.4,1.023016
$STATE,4776,end surface coast,CONTROL_FINISHED_OK
$STATE,4776,begin surface
$SM_CCo,4795,55.40,0.916,0,0,2351,300.22
$SM_GC,2.02,8.23,2.20,55.40,0.084,0.055,0.916,244,1766,2351,-8.55,1.27,300.22,0,0,0,0,0,0,25.68,25.84,24.18
$IRIDIUM_FIX,4726.11,-12216.25,070214,141429
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.15
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,18.9
$ALTIM_BOTTOM_PING,155.4,31.3
$24V_AH,23.3,39.192
$10V_AH,10.4,5.007
$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,19.950,65.725,258.025,55.400,0.000,29.095,36.478,111.102,6.500,0.000,17.483,1217.493,2165.860,457.911,1190.306,106.126,33.209,1050.140,0.000,963.578,0.000,41.826,0.000
$DEVICE_MAMPS,248.300,72.007,1030.445,916.227,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.461,672.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,30173,511
$CAP_FILE_SIZE,80588,0
$CFSIZE,260165632,242106368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,165908,4743.234,-12224.478,12,3.6,32,18.2