version: 66.12
glider: 35
mission: 25
dive: 11
start: 11 14 114 7 21 7
data:
$ID,35
$MISSION,25
$DIVE,11
$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,100
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,2428
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,23
$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,55
$R_STBD_OVSHOOT,39
$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
$GPS1,141114,071329,4743.9224,-12224.6709,7,1.4,42,18.2,0.2,0.0,8,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.1
$GPS2,141114,072007,4743.9604,-12224.7100,15,1.1,15,18.2,0.2,303.0,7,8.6
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.101,0.189
$KALMAN_X,-276.6,24.0,-62.3,27.0,-252.9
$KALMAN_Y,1332.6,79.2,-164.4,548.5,40.6
$MHEAD_RNG_PITCHd_Wd,9.9,1033,-14.8,-7.059,-18.22,3050
$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,-0.65,-142.1,216,2338,995,800,0.0,0.0,0,118,0.00,0.00,-99.32,0.094,16386,0.000,0.000,216,2338,2297,2284,2310,0,0,0,0,0,0,26.03,28.83,26.04
$GC,121,-0.65,-146.6,216,2338,2284,2310,3.3,-2.6,18,150,7.57,2.22,-13.50,0.107,18692,0.243,0.065,2214,3742,2605,2592,2619,0,0,0,0,0,0,25.57,25.75,25.70
$GC,310,-0.65,-146.6,2214,3742,2593,2608,24.0,-9.6,50,317,0.00,2.15,0.00,0.000,1030,0.000,0.047,2214,2338,2600,2596,2604,0,0,0,0,0,0,25.98,25.96,26.00
$GC,437,-0.65,-146.6,2214,2338,2599,2599,33.4,-8.0,63,441,0.00,2.10,0.00,0.000,516,0.000,0.057,2214,950,2599,2599,2599,0,0,0,0,0,0,26.27,26.03,26.28
$GC,521,-0.65,-146.6,2214,915,2606,2592,40.6,-8.6,71,528,0.00,2.15,0.00,0.000,1030,0.000,0.055,2210,2324,2599,2606,2592,0,0,0,0,0,0,26.10,26.07,26.12
$GC,648,-0.65,-146.6,2210,2324,2606,2592,52.0,-8.7,84,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2324,2599,2606,2592,0,0,0,0,0,0,26.38,26.39,26.39
$GC,768,-0.65,-146.6,2210,2324,2606,2592,62.3,-8.7,96,772,0.00,2.10,0.00,0.000,516,0.000,0.057,2211,906,2599,2606,2592,0,0,0,0,0,0,26.42,26.18,26.44
$GC,853,-0.65,-146.6,2210,905,2608,2589,70.3,-9.2,104,857,0.00,2.12,0.00,0.000,1030,0.000,0.055,2210,2336,2599,2608,2590,0,0,0,0,0,0,26.26,26.20,26.27
$GC,978,-0.65,-146.6,2210,2337,2609,2590,81.6,-9.0,116,982,0.00,2.15,0.00,0.000,260,0.000,0.067,2210,3743,2598,2608,2589,0,0,0,0,0,0,26.49,26.22,26.50
$GC,1037,-0.65,-146.6,2210,3743,2608,2590,86.4,-8.2,121,1044,0.00,2.15,0.00,0.000,1030,0.000,0.047,2210,2322,2598,2608,2589,0,0,0,0,0,0,26.29,26.27,26.31
$GC,1164,-0.65,-146.6,2210,2321,2608,2589,96.0,-7.4,134,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2322,2598,2608,2589,0,0,0,0,0,0,26.53,26.54,26.54
$GC,1285,-0.65,-146.6,2210,2322,2608,2589,105.2,-7.3,146,1294,0.00,2.20,0.00,0.000,260,0.000,0.065,2210,3749,2599,2608,2590,0,0,0,0,0,0,26.53,26.29,26.53
$GC,1319,-0.65,-146.6,2209,3749,2608,2589,107.4,-7.4,149,1326,0.00,2.12,0.00,0.000,1030,0.000,0.050,2210,2330,2598,2608,2589,0,0,0,0,0,0,26.36,26.33,26.37
$GC,1446,-0.65,-146.6,2210,2330,2608,2589,115.8,-6.3,162,1449,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,935,2598,2608,2589,0,0,0,0,0,0,26.58,26.33,26.59
$GC,1479,-0.65,-146.6,2210,923,2608,2588,117.9,-6.6,165,1487,0.00,2.12,0.00,0.000,1030,0.000,0.052,2210,2327,2598,2609,2588,0,0,0,0,0,0,26.36,26.33,26.39
$GC,1606,-0.65,-146.6,2210,2326,2608,2588,126.6,-6.9,178,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2327,2598,2608,2588,0,0,0,0,0,0,26.60,26.61,26.61
$GC,1726,-0.65,-146.6,2210,2327,2608,2588,135.6,-6.9,190,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2327,2598,2608,2588,0,0,0,0,0,0,26.62,26.63,26.63
$GC,1846,-0.65,-146.6,2210,2327,2608,2588,144.2,-6.8,202,1850,0.00,2.05,0.00,0.000,516,0.000,0.055,2210,923,2598,2608,2588,0,0,0,0,0,0,26.63,26.39,26.65
$GC,1895,-0.65,-146.6,2210,922,2609,2588,147.3,-6.7,206,1902,0.00,2.12,0.00,0.000,1030,0.000,0.055,2210,2331,2598,2608,2588,0,0,0,0,0,0,26.42,26.39,26.44
$GC,2022,-0.65,-146.6,2210,2331,2608,2588,155.1,-5.6,219,2026,0.00,2.15,0.00,0.000,260,0.000,0.065,2209,3749,2598,2608,2588,0,0,0,0,0,0,26.65,26.39,26.66
$GC,2141,-0.65,-146.6,2209,3749,2608,2588,162.1,-7.2,230,2148,0.00,2.12,0.00,0.000,1030,0.000,0.050,2209,2336,2598,2609,2588,0,0,0,0,0,0,26.46,26.44,26.48
$GC,2268,-0.65,-146.6,2209,2336,2608,2588,170.4,-6.9,243,2272,0.00,2.08,0.00,0.000,516,0.000,0.057,2209,916,2598,2608,2588,0,0,0,0,0,0,26.67,26.43,26.69
$GC,2363,-0.65,-146.6,2209,916,2609,2587,176.7,-7.0,252,2367,0.00,2.08,0.00,0.000,1030,0.000,0.055,2209,2333,2598,2609,2587,0,0,0,0,0,0,26.49,26.43,26.51
$STATE,2387,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2387,begin apogee
$GC,2391,-0.22,0.0,2209,2333,2608,2587,178.1,-6.4,254,2499,0.43,0.00,101.93,1.122,10246,0.124,0.000,2361,2333,2100,2153,2047,0,0,0,0,0,0,26.36,24.64,24.03
$STATE,2500,end apogee,CONTROL_FINISHED_OK
$STATE,2500,begin climb
$GC,2502,0.65,146.6,2361,2333,2153,2047,179.9,0.0,265,2619,0.70,0.00,108.38,1.080,10758,0.092,0.000,2624,2333,1595,1692,1498,0,0,0,0,0,0,24.83,24.44,23.86
$GC,2738,0.65,146.6,2624,2333,1692,1499,158.9,10.6,289,2742,0.00,2.22,0.00,0.000,260,0.000,0.062,2624,3742,1595,1692,1499,0,0,0,0,0,0,25.68,25.44,25.69
$GC,2764,0.65,146.6,2624,3742,1690,1499,155.8,11.5,291,2768,0.00,2.15,0.00,0.000,1030,0.000,0.047,2634,2324,1595,1691,1499,0,0,0,0,0,0,25.59,25.54,25.60
$GC,2889,0.65,146.6,2634,2324,1690,1499,141.9,10.9,303,2893,0.00,2.25,0.00,0.000,260,0.000,0.065,2634,3745,1594,1690,1499,0,0,0,0,0,0,25.98,25.74,26.00
$GC,2935,0.65,146.6,2634,3744,1690,1499,136.0,13.1,307,2939,0.00,2.12,0.00,0.000,1030,0.000,0.047,2645,2323,1594,1690,1499,0,0,0,0,0,0,25.87,25.82,25.89
$GC,3060,0.65,146.6,2645,2323,1690,1499,121.0,12.3,319,3064,0.00,2.08,0.00,0.000,516,0.000,0.057,2656,925,1594,1690,1499,0,0,0,0,0,0,26.17,25.93,26.18
$GC,3116,0.65,146.6,2655,924,1690,1499,114.6,11.2,324,3120,0.00,2.12,0.00,0.000,1030,0.000,0.055,2656,2342,1594,1690,1499,0,0,0,0,0,0,26.03,25.96,26.04
$GC,3241,0.65,146.6,2655,2342,1690,1500,100.1,11.7,336,3245,0.00,2.17,0.00,0.000,260,0.000,0.065,2655,3749,1594,1690,1499,0,0,0,0,0,0,26.29,26.03,26.30
$GC,3287,0.65,146.6,2655,3749,1690,1500,94.5,12.0,340,3291,0.00,2.10,0.00,0.000,1030,0.000,0.050,2667,2327,1595,1690,1500,0,0,0,0,0,0,26.14,26.09,26.15
$GC,3412,0.65,146.6,2666,2327,1690,1500,80.7,10.6,352,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2327,1595,1690,1500,0,0,0,0,0,0,26.38,26.39,26.39
$GC,3532,0.65,146.6,2666,2327,1690,1499,67.4,11.0,364,3536,0.00,2.05,0.00,0.000,516,0.000,0.057,2677,931,1595,1690,1500,0,0,0,0,0,0,26.42,26.18,26.44
$GC,3588,0.65,146.6,2677,931,1690,1499,61.1,11.3,369,3592,0.12,2.08,0.00,0.000,5126,0.164,0.055,2636,2332,1594,1689,1499,0,0,0,0,0,0,26.10,26.19,26.20
$GC,3713,0.65,146.6,2635,2332,1690,1500,49.8,8.6,381,3717,0.00,2.08,0.00,0.000,516,0.000,0.057,2646,924,1595,1690,1500,0,0,0,0,0,0,26.48,26.24,26.49
$GC,3738,0.65,146.6,2645,924,1690,1499,47.4,9.3,383,3742,0.00,2.08,0.00,0.000,1030,0.000,0.055,2646,2332,1594,1689,1499,0,0,0,0,0,0,26.30,26.24,26.31
$GC,3864,0.65,146.6,2645,2332,1690,1500,35.6,10.3,395,3867,0.00,2.08,0.00,0.000,516,0.000,0.057,2656,927,1595,1690,1500,0,0,0,0,0,0,26.51,26.27,26.53
$GC,3912,0.65,146.6,2656,927,1690,1499,31.3,9.3,399,3920,0.00,2.12,0.00,0.000,1030,0.000,0.052,2656,2330,1595,1690,1500,0,0,0,0,0,0,26.31,26.29,26.33
$GC,4039,0.65,146.6,2656,2330,1690,1500,19.7,9.2,412,4046,0.00,2.17,0.00,0.000,260,0.000,0.065,2656,3751,1595,1690,1500,0,0,0,0,0,0,26.55,26.29,26.56
$GC,4113,0.65,146.6,2656,3751,1690,1500,12.8,9.9,426,4119,0.00,2.08,0.00,0.000,1030,0.000,0.050,2667,2329,1595,1690,1500,0,0,0,0,0,0,26.39,26.34,26.40
$GC,4181,0.65,146.6,2666,2329,1690,1500,7.2,7.9,439,4188,0.08,2.17,0.00,0.000,4356,0.194,0.062,2635,3748,1595,1690,1500,0,0,0,0,0,0,26.25,26.32,26.31
$STATE,4254,end climb,SURFACE_DEPTH_REACHED
$STATE,4254,begin surface coast
$FINISH,-0.0,0.999944
$STATE,4286,end surface coast,CONTROL_FINISHED_OK
$STATE,4286,begin surface
$SM_CCo,4301,149.88,0.976,0,0,895,350.05
$SM_GC,1.29,6.10,2.12,149.88,0.057,0.047,0.976,226,2326,895,-6.75,1.84,350.05,0,0,0,0,0,0,26.37,26.37,24.06
$IRIDIUM_FIX,4726.11,-12226.80,141114,055201
$TT8_MAMPS,0.020223,0.020223
$HUMID,65.19
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,120.6,72.4
$24V_AH,23.86,2.472
$10V_AH,10.45,0.566
$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,15.000,76.500,210.300,149.875,112.825,24.907,37.209,247.194,4.000,0.000,18.251,1142.051,1966.188,509.519,1180.797,69.099,33.277,1012.284,0.000,837.037,0.000,11.879,0.000
$DEVICE_MAMPS,243.334,67.041,1122.316,975.819,106.769,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.461,605.299,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322916
$DATA_FILE_SIZE,26897,459
$CAP_FILE_SIZE,82582,0
$CFSIZE,1024409600,1015939072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4891.97,0x2389de,7,5
$INTR,1,2388.89,0x2389de,2,5
$GPS,141114,083617,4744.673,-12224.393,11,1.7,21,18.2,0.3,341.4,7,6.7