version: 66.12
glider: 35
mission: 25
dive: 9
start: 11 14 114 4 25 4
data:
$ID,35
$MISSION,25
$DIVE,9
$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,90
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26.663748
$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,64
$R_STBD_OVSHOOT,37
$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
$GPS1,141114,041252,4742.8701,-12224.6602,13,1.9,40,18.2,0.3,0.0,7,9.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-62.7
$GPS2,141114,042404,4742.8052,-12224.7744,11,1.9,32,18.2,0.0,0.0,8,7.6
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.039,0.214
$KALMAN_X,28.2,139.9,42.7,-572.9,-90.7
$KALMAN_Y,957.8,197.7,112.9,-1597.3,-102.0
$MHEAD_RNG_PITCHd_Wd,352.0,3157,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.55,-146.6,212,2309,982,811,0.0,0.0,0,113,0.00,0.00,-93.80,0.094,16386,0.000,0.000,212,2309,2212,2205,2220,0,0,0,0,0,0,26.07,28.83,26.08
$GC,115,-0.55,-146.6,212,2309,2205,2220,3.0,-1.6,17,150,7.68,2.28,-17.90,0.102,18692,0.241,0.065,2253,3739,2605,2595,2615,0,0,0,0,0,0,25.58,25.77,25.73
$GC,272,-0.55,-146.6,2253,3739,2594,2605,17.5,-8.9,47,278,0.00,2.12,0.00,0.000,1030,0.000,0.050,2253,2334,2599,2595,2603,0,0,0,0,0,0,25.99,25.94,26.00
$GC,340,-0.55,-146.6,2253,2334,2599,2597,23.4,-8.3,56,344,0.00,2.10,0.00,0.000,516,0.000,0.057,2253,911,2598,2600,2597,0,0,0,0,0,0,26.22,25.98,26.23
$GC,419,-0.55,-146.6,2253,911,2607,2591,28.9,-7.7,63,426,0.00,2.17,0.00,0.000,1030,0.000,0.055,2253,2328,2599,2607,2591,0,0,0,0,0,0,26.05,26.01,26.07
$GC,546,-0.55,-146.6,2253,2328,2607,2591,39.5,-8.8,76,550,0.00,2.17,0.00,0.000,260,0.000,0.065,2250,3743,2598,2606,2591,0,0,0,0,0,0,26.34,26.08,26.36
$GC,652,-0.55,-146.6,2250,3743,2606,2591,48.6,-8.5,86,656,0.00,2.10,0.00,0.000,1030,0.000,0.050,2250,2324,2598,2605,2591,0,0,0,0,0,0,26.21,26.16,26.22
$GC,777,-0.55,-146.6,2250,2324,2606,2590,57.7,-6.4,98,781,0.00,2.05,0.00,0.000,516,0.000,0.057,2249,924,2598,2606,2590,0,0,0,0,0,0,26.44,26.19,26.44
$GC,885,-0.55,-146.6,2250,923,2609,2586,64.2,-6.3,108,893,0.00,2.15,0.00,0.000,1030,0.000,0.055,2250,2340,2597,2609,2586,0,0,0,0,0,0,26.25,26.21,26.27
$GC,1012,-0.55,-146.6,2249,2340,2608,2585,73.2,-8.0,121,1016,0.00,2.15,0.00,0.000,260,0.000,0.065,2250,3746,2597,2608,2586,0,0,0,0,0,0,26.50,26.24,26.51
$GC,1051,-0.55,-146.6,2249,3746,2608,2586,76.3,-8.5,124,1058,0.00,2.15,0.00,0.000,1030,0.000,0.050,2250,2324,2597,2608,2586,0,0,0,0,0,0,26.30,26.28,26.32
$GC,1178,-0.55,-146.6,2249,2324,2608,2586,85.8,-6.6,137,1182,0.00,2.05,0.00,0.000,516,0.000,0.057,2250,939,2597,2608,2586,0,0,0,0,0,0,26.53,26.29,26.54
$GC,1292,-0.55,-146.6,2249,921,2609,2585,93.7,-7.8,148,1299,0.00,2.15,0.00,0.000,1030,0.000,0.055,2250,2340,2597,2609,2585,0,0,0,0,0,0,26.33,26.29,26.35
$GC,1419,-0.55,-146.6,2249,2339,2609,2585,102.3,-6.1,161,1423,0.00,2.15,0.00,0.000,260,0.000,0.065,2250,3750,2596,2608,2585,0,0,0,0,0,0,26.56,26.32,26.58
$GC,1505,-0.55,-146.6,2250,3750,2609,2586,109.0,-7.9,169,1509,0.00,2.10,0.00,0.000,1030,0.000,0.050,2250,2317,2596,2608,2585,0,0,0,0,0,0,26.41,26.36,26.42
$GC,1630,-0.55,-146.6,2250,2317,2608,2585,118.4,-7.6,181,1633,0.00,2.05,0.00,0.000,516,0.000,0.057,2250,922,2596,2608,2585,0,0,0,0,0,0,26.60,26.36,26.62
$GC,1679,-0.55,-146.6,2249,922,2608,2585,122.1,-8.0,185,1686,0.00,2.12,0.00,0.000,1030,0.000,0.055,2249,2331,2597,2609,2585,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1806,-0.55,-146.6,2249,2331,2608,2585,131.0,-6.5,198,1810,0.00,2.15,0.00,0.000,260,0.000,0.065,2250,3746,2596,2608,2585,0,0,0,0,0,0,26.63,26.37,26.64
$GC,1884,-0.55,-146.6,2249,3746,2608,2586,135.8,-6.0,205,1892,0.00,2.12,0.00,0.000,1030,0.000,0.050,2250,2332,2596,2608,2585,0,0,0,0,0,0,26.44,26.40,26.44
$GC,2012,-0.55,-146.6,2249,2332,2608,2585,142.9,-5.3,218,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2332,2596,2608,2585,0,0,0,0,0,0,26.65,26.67,26.66
$GC,2132,-0.55,-146.6,2249,2332,2608,2585,148.8,-4.9,230,2141,0.00,2.17,0.00,0.000,260,0.000,0.065,2249,3747,2597,2608,2586,0,0,0,0,0,0,26.67,26.40,26.67
$GC,2162,-0.55,-146.6,2249,3747,2608,2585,150.6,-5.5,233,2166,0.00,2.08,0.00,0.000,1030,0.000,0.050,2250,2326,2596,2608,2585,0,0,0,0,0,0,26.48,26.44,26.50
$GC,2287,-0.55,-146.6,2249,2326,2608,2585,158.1,-6.3,245,2291,0.00,2.05,0.00,0.000,516,0.000,0.057,2250,930,2596,2608,2585,0,0,0,0,0,0,26.68,26.44,26.69
$GC,2388,-0.55,-146.6,2249,913,2608,2585,164.2,-6.2,255,2392,0.00,2.10,0.00,0.000,1030,0.000,0.055,2249,2346,2596,2608,2585,0,0,0,0,0,0,26.49,26.43,26.51
$GC,2513,-0.55,-146.6,2249,2346,2608,2585,171.6,-5.9,267,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2346,2596,2608,2585,0,0,0,0,0,0,26.70,26.71,26.71
$GC,2633,-0.55,-146.6,2249,2346,2608,2585,177.9,-5.1,279,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2347,2596,2608,2585,0,0,0,0,0,0,26.70,26.72,26.72
$STATE,2682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2682,begin apogee
$GC,2685,-0.19,0.0,2249,2346,2608,2585,180.5,-5.3,284,2794,0.35,0.00,101.88,1.112,10246,0.122,0.000,2377,2347,2099,2150,2049,0,0,0,0,0,0,26.39,24.65,24.05
$STATE,2795,end apogee,CONTROL_FINISHED_OK
$STATE,2795,begin climb
$GC,2796,0.55,146.6,2377,2347,2150,2049,181.8,0.0,295,2914,0.57,2.30,108.30,1.088,10500,0.087,0.070,2596,3736,1595,1689,1501,0,0,0,0,0,0,24.84,24.48,23.87
$GC,2959,0.55,146.6,2596,3736,1689,1503,170.9,9.7,311,2966,0.00,2.20,0.00,0.000,1030,0.000,0.047,2606,2344,1596,1689,1503,0,0,0,0,0,0,25.19,25.17,25.20
$GC,3086,0.55,146.6,2606,2344,1689,1503,159.0,9.0,324,3090,0.00,2.15,0.00,0.000,516,0.000,0.057,2617,918,1596,1689,1503,0,0,0,0,0,0,25.82,25.58,25.83
$GC,3146,0.55,146.6,2617,918,1689,1503,153.2,10.0,329,3153,0.00,2.15,0.00,0.000,1030,0.000,0.055,2617,2336,1596,1689,1503,0,0,0,0,0,0,25.75,25.70,25.77
$GC,3272,0.55,146.6,2616,2337,1689,1503,141.1,9.2,342,3276,0.00,2.20,0.00,0.000,260,0.000,0.065,2617,3747,1596,1689,1503,0,0,0,0,0,0,26.10,25.84,26.10
$GC,3398,0.55,146.6,2617,3747,1689,1505,127.9,9.9,354,3407,0.00,2.12,0.00,0.000,1030,0.000,0.050,2627,2319,1597,1689,1505,0,0,0,0,0,0,26.03,25.98,26.05
$GC,3528,0.55,146.6,2627,2319,1689,1505,116.6,8.8,367,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2319,1597,1689,1505,0,0,0,0,0,0,26.29,26.31,26.30
$GC,3648,0.55,146.6,2627,2319,1689,1505,105.8,8.6,379,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2319,1597,1689,1505,0,0,0,0,0,0,26.36,26.37,26.36
$GC,3768,0.55,146.6,2627,2319,1689,1505,95.6,8.2,391,3772,0.00,2.25,0.00,0.000,260,0.000,0.067,2627,3741,1597,1689,1505,0,0,0,0,0,0,26.41,26.15,26.42
$GC,3812,0.55,146.6,2627,3752,1689,1505,91.3,10.5,395,3819,0.00,2.15,0.00,0.000,1030,0.000,0.050,2637,2329,1597,1689,1505,0,0,0,0,0,0,26.22,26.19,26.23
$GC,3939,0.55,146.6,2637,2329,1689,1505,79.6,9.1,408,3942,0.00,2.05,0.00,0.000,516,0.000,0.057,2648,928,1597,1689,1505,0,0,0,0,0,0,26.46,26.22,26.47
$GC,3974,0.55,146.6,2648,927,1689,1505,76.5,8.6,411,3979,0.12,2.10,0.00,0.000,5126,0.164,0.055,2605,2340,1597,1689,1505,0,0,0,0,0,0,26.13,26.22,26.23
$GC,4099,0.55,146.6,2605,2340,1689,1505,67.3,7.7,423,4103,0.00,2.10,0.00,0.000,516,0.000,0.057,2615,924,1597,1689,1505,0,0,0,0,0,0,26.51,26.26,26.52
$GC,4135,0.55,146.6,2615,924,1689,1506,64.5,7.8,426,4139,0.00,2.10,0.00,0.000,1030,0.000,0.055,2615,2343,1597,1689,1505,0,0,0,0,0,0,26.33,26.27,26.34
$GC,4260,0.55,146.6,2615,2343,1689,1505,54.3,8.0,438,4264,0.00,2.12,0.00,0.000,260,0.000,0.065,2615,3738,1597,1689,1505,0,0,0,0,0,0,26.54,26.28,26.55
$GC,4366,0.55,146.6,2615,3738,1689,1506,44.9,8.5,448,4370,0.00,2.08,0.00,0.000,1030,0.000,0.050,2626,2318,1597,1689,1505,0,0,0,0,0,0,26.39,26.34,26.40
$GC,4491,0.55,146.6,2626,2318,1689,1506,34.6,8.0,460,4495,0.00,2.03,0.00,0.000,516,0.000,0.057,2636,947,1597,1689,1505,0,0,0,0,0,0,26.58,26.34,26.60
$GC,4534,0.55,146.6,2636,931,1689,1505,31.2,8.2,464,4542,0.00,2.12,0.00,0.000,1030,0.000,0.052,2637,2338,1597,1689,1506,0,0,0,0,0,0,26.38,26.34,26.39
$GC,4661,0.55,146.6,2636,2338,1689,1505,19.9,9.4,477,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2338,1597,1689,1505,0,0,0,0,0,0,26.61,26.63,26.62
$GC,4729,0.55,146.6,2636,2338,1689,1505,14.0,8.3,490,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2338,1597,1689,1505,0,0,0,0,0,0,26.62,26.63,26.63
$GC,4796,0.55,146.6,2636,2338,1689,1505,8.5,7.9,503,4802,0.00,2.15,0.00,0.000,260,0.000,0.065,2637,3740,1597,1689,1506,0,0,0,0,0,0,26.63,26.36,26.64
$STATE,4883,end climb,SURFACE_DEPTH_REACHED
$STATE,4883,begin surface coast
$FINISH,0.8,1.021593
$STATE,4909,end surface coast,CONTROL_FINISHED_OK
$STATE,4909,begin surface
$SM_CCo,4924,150.00,0.991,0,0,895,350.05
$SM_GC,1.59,6.40,2.12,150.00,0.082,0.047,0.991,232,2319,895,-6.80,1.55,350.05,0,0,0,0,0,0,26.39,26.41,24.05
$IRIDIUM_FIX,4726.11,-12226.80,141114,024602
$TT8_MAMPS,0.020223,0.020223
$HUMID,65.04
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,19.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,125.7,70.8
$24V_AH,23.87,2.213
$10V_AH,10.44,0.498
$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,15.125,85.250,210.175,150.000,111.700,27.357,15.312,500.286,4.000,0.000,35.136,1308.015,2248.400,524.520,1582.653,84.784,33.277,1104.627,0.000,989.172,0.000,13.442,0.000
$DEVICE_MAMPS,240.851,69.524,1112.384,990.717,101.803,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.925,692.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322968
$DATA_FILE_SIZE,30203,525
$CAP_FILE_SIZE,98603,0
$CFSIZE,1024409600,1016053760
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5678.50,0x2389de,7,5
$INTR,1,2682.93,0x2389de,2,5
$GPS,141114,055041,4743.307,-12224.767,9,1.6,25,18.2,0.2,296.3,7,6.3