version: 66.12
glider: 35
mission: 25
dive: 12
start: 11 14 114 8 44 41
data:
$ID,35
$MISSION,25
$DIVE,12
$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,67
$R_STBD_OVSHOOT,34
$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
$GPS1,141114,083617,4744.6733,-12224.3926,11,1.7,21,18.2,0.3,341.4,7,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-59.3
$GPS2,141114,084341,4744.7334,-12224.4160,13,1.7,23,18.2,0.3,352.9,7,6.9
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.018,-0.217
$KALMAN_X,-271.0,-75.8,-120.9,545.2,-114.3
$KALMAN_Y,1856.1,28.1,-181.7,1526.0,398.5
$MHEAD_RNG_PITCHd_Wd,157.1,3212,-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,-0.63,-146.6,225,2321,996,800,0.0,0.0,0,123,0.00,0.00,-104.32,0.092,16386,0.000,0.000,225,2321,2364,2352,2377,0,0,0,0,0,0,26.05,28.83,26.06
$GC,126,-0.63,-146.6,225,2321,2352,2376,3.6,-3.2,19,151,7.55,2.08,-10.07,0.109,18948,0.243,0.052,2220,928,2604,2593,2616,0,0,0,0,0,0,25.56,25.77,25.72
$GC,272,-0.63,-146.6,2220,928,2602,2595,21.0,-10.5,46,276,0.00,2.12,0.00,0.000,1030,0.000,0.055,2211,2343,2598,2602,2595,0,0,0,0,0,0,25.96,25.90,25.98
$GC,398,-0.63,-146.6,2211,2343,2602,2594,32.0,-8.7,58,401,0.00,2.10,0.00,0.000,516,0.000,0.057,2212,971,2598,2602,2594,0,0,0,0,0,0,26.25,26.01,26.26
$GC,448,-0.63,-146.6,2211,936,2607,2590,36.9,-9.7,63,452,0.00,2.10,0.00,0.000,1030,0.000,0.055,2210,2333,2598,2607,2590,0,0,0,0,0,0,26.10,26.03,26.10
$GC,573,-0.63,-146.6,2210,2333,2606,2590,47.9,-8.3,75,577,0.00,2.17,0.00,0.000,260,0.000,0.065,2210,3748,2598,2607,2590,0,0,0,0,0,0,26.34,26.09,26.36
$GC,659,-0.63,-146.6,2210,3748,2606,2590,55.8,-9.2,83,663,0.00,2.08,0.00,0.000,1030,0.000,0.050,2210,2348,2598,2606,2590,0,0,0,0,0,0,26.20,26.15,26.22
$GC,784,-0.63,-146.6,2210,2348,2606,2589,65.9,-8.1,95,788,0.00,2.17,0.00,0.000,260,0.000,0.065,2210,3747,2598,2606,2590,0,0,0,0,0,0,26.44,26.17,26.44
$GC,823,-0.63,-146.6,2210,3747,2606,2590,69.0,-8.6,98,830,0.00,2.12,0.00,0.000,1030,0.000,0.050,2210,2329,2598,2606,2590,0,0,0,0,0,0,26.26,26.21,26.27
$GC,949,-0.63,-146.6,2210,2329,2606,2590,79.5,-7.9,111,953,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,923,2598,2606,2590,0,0,0,0,0,0,26.48,26.23,26.49
$GC,1005,-0.63,-146.6,2210,923,2608,2587,84.1,-8.0,116,1009,0.00,2.10,0.00,0.000,1030,0.000,0.055,2210,2336,2597,2608,2587,0,0,0,0,0,0,26.30,26.24,26.32
$GC,1130,-0.63,-146.6,2210,2336,2608,2587,94.1,-8.2,128,1134,0.00,2.15,0.00,0.000,260,0.000,0.065,2210,3746,2597,2608,2587,0,0,0,0,0,0,26.52,26.27,26.53
$GC,1200,-0.63,-146.6,2210,3746,2607,2587,100.1,-9.3,134,1207,0.00,2.12,0.00,0.000,1030,0.000,0.050,2210,2332,2597,2608,2587,0,0,0,0,0,0,26.34,26.31,26.35
$GC,1327,-0.63,-146.6,2210,2332,2608,2587,111.4,-8.3,147,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2332,2597,2607,2587,0,0,0,0,0,0,26.56,26.58,26.57
$GC,1450,-0.63,-146.6,2210,2332,2608,2587,120.0,-6.9,159,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2332,2597,2607,2587,0,0,0,0,0,0,26.56,26.58,26.58
$GC,1568,-0.63,-146.6,2210,2332,2608,2588,128.3,-6.8,171,1571,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,920,2597,2608,2587,0,0,0,0,0,0,26.60,26.36,26.62
$GC,1623,-0.63,-146.6,2210,920,2608,2586,131.8,-6.4,176,1627,0.00,2.10,0.00,0.000,1030,0.000,0.055,2210,2345,2597,2608,2586,0,0,0,0,0,0,26.41,26.35,26.43
$GC,1748,-0.63,-146.6,2210,2345,2608,2586,141.5,-7.6,188,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2345,2597,2608,2586,0,0,0,0,0,0,26.63,26.64,26.63
$GC,1868,-0.63,-146.6,2210,2345,2608,2586,150.8,-8.7,200,1872,0.00,2.12,0.00,0.000,260,0.000,0.065,2210,3746,2597,2608,2586,0,0,0,0,0,0,26.63,26.38,26.64
$GC,1934,-0.63,-146.6,2210,3746,2608,2587,155.8,-7.6,206,1938,0.00,2.12,0.00,0.000,1030,0.000,0.050,2210,2315,2597,2608,2586,0,0,0,0,0,0,26.46,26.41,26.48
$GC,2059,-0.63,-146.6,2210,2315,2608,2586,165.3,-7.1,218,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2315,2597,2608,2586,0,0,0,0,0,0,26.65,26.67,26.67
$GC,2179,-0.63,-146.6,2210,2315,2608,2586,173.3,-6.4,230,2183,0.00,2.20,0.00,0.000,260,0.000,0.065,2210,3748,2597,2608,2586,0,0,0,0,0,0,26.67,26.41,26.67
$GC,2215,-0.63,-146.6,2210,3748,2608,2586,175.5,-6.2,233,2219,0.00,2.08,0.00,0.000,1030,0.000,0.050,2210,2327,2596,2607,2586,0,0,0,0,0,0,26.49,26.44,26.50
$STATE,2278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2279,begin apogee
$GC,2282,-0.22,0.0,2210,2327,2608,2586,180.2,-7.1,239,2391,0.43,0.00,101.75,1.107,10246,0.122,0.000,2362,2322,2100,2153,2048,0,0,0,0,0,0,26.35,24.65,24.06
$STATE,2392,end apogee,CONTROL_FINISHED_OK
$STATE,2392,begin climb
$GC,2393,0.63,146.6,2363,2322,2153,2048,182.3,0.0,250,2510,0.68,0.00,108.45,1.088,10246,0.087,0.000,2617,2322,1595,1692,1499,0,0,0,0,0,0,24.84,24.44,23.84
$GC,2632,0.63,146.6,2616,2322,1692,1499,164.2,8.7,274,2640,0.00,2.25,0.00,0.000,260,0.000,0.065,2617,3739,1596,1692,1500,0,0,0,0,0,0,25.69,25.44,25.70
$GC,2712,0.63,146.6,2617,3739,1690,1500,155.1,11.3,282,2716,0.00,2.12,0.00,0.000,1030,0.000,0.050,2628,2326,1595,1690,1500,0,0,0,0,0,0,25.71,25.65,25.72
$GC,2837,0.63,146.6,2627,2326,1690,1500,142.7,9.1,294,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2326,1595,1690,1500,0,0,0,0,0,0,26.06,26.07,26.07
$GC,2957,0.63,146.6,2627,2326,1690,1500,132.1,9.1,306,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2326,1595,1690,1500,0,0,0,0,0,0,26.17,26.19,26.19
$GC,3077,0.63,146.6,2627,2326,1690,1500,119.9,9.9,318,3081,0.00,2.08,0.00,0.000,516,0.000,0.057,2638,922,1595,1690,1500,0,0,0,0,0,0,26.26,26.02,26.27
$GC,3126,0.63,146.6,2638,922,1691,1500,115.4,10.0,322,3133,0.00,2.15,0.00,0.000,1030,0.000,0.055,2638,2330,1595,1690,1500,0,0,0,0,0,0,26.08,26.06,26.10
$GC,3253,0.63,146.6,2638,2331,1690,1500,101.8,10.4,335,3257,0.00,2.17,0.00,0.000,260,0.000,0.067,2638,3742,1595,1690,1500,0,0,0,0,0,0,26.36,26.10,26.36
$GC,3382,0.63,146.6,2637,3742,1690,1500,87.5,11.4,347,3389,0.00,2.10,0.00,0.000,1030,0.000,0.050,2648,2319,1595,1690,1500,0,0,0,0,0,0,26.23,26.18,26.25
$GC,3509,0.63,146.6,2648,2319,1690,1500,74.1,10.3,360,3512,0.00,2.05,0.00,0.000,516,0.000,0.057,2659,941,1595,1690,1500,0,0,0,0,0,0,26.46,26.20,26.46
$GC,3542,0.63,146.6,2659,926,1690,1500,71.0,10.3,363,3549,0.00,2.15,0.00,0.000,1030,0.000,0.052,2659,2342,1595,1690,1500,0,0,0,0,0,0,26.25,26.23,26.26
$GC,3669,0.63,146.6,2659,2342,1690,1500,57.9,9.7,376,3673,0.00,2.15,0.00,0.000,260,0.000,0.067,2659,3745,1595,1690,1500,0,0,0,0,0,0,26.50,26.23,26.51
$GC,3695,0.63,146.6,2659,3746,1690,1500,55.2,10.2,378,3700,0.12,2.08,0.00,0.000,5126,0.174,0.050,2629,2327,1595,1690,1500,0,0,0,0,0,0,26.15,26.27,26.26
$GC,3820,0.63,146.6,2629,2327,1690,1500,43.6,8.4,390,3824,0.00,2.17,0.00,0.000,260,0.000,0.065,2629,3739,1595,1690,1500,0,0,0,0,0,0,26.53,26.27,26.54
$GC,3869,0.63,146.6,2629,3738,1690,1500,39.0,10.0,394,3876,0.00,2.10,0.00,0.000,1030,0.000,0.047,2638,2341,1595,1690,1500,0,0,0,0,0,0,26.34,26.32,26.36
$GC,3996,0.63,146.6,2638,2341,1690,1500,26.7,9.9,407,3999,0.00,2.08,0.00,0.000,516,0.000,0.057,2648,947,1595,1690,1500,0,0,0,0,0,0,26.57,26.32,26.58
$GC,4056,0.63,146.6,2648,922,1690,1500,21.0,9.0,413,4060,0.00,2.08,0.00,0.000,1030,0.000,0.055,2649,2333,1595,1690,1500,0,0,0,0,0,0,26.39,26.33,26.40
$GC,4182,0.63,146.6,2649,2333,1690,1500,10.1,8.0,436,4188,0.00,2.15,0.00,0.000,260,0.000,0.065,2649,3742,1595,1690,1500,0,0,0,0,0,0,26.60,26.34,26.60
$STATE,4273,end climb,SURFACE_DEPTH_REACHED
$STATE,4273,begin surface coast
$FINISH,0.3,0.999785
$STATE,4295,end surface coast,CONTROL_FINISHED_OK
$STATE,4295,begin surface
$SM_CCo,4310,147.30,0.993,0,0,894,350.05
$SM_GC,1.63,6.12,2.12,147.30,0.055,0.047,0.993,217,2321,894,-6.77,1.64,350.05,0,0,0,0,0,0,26.40,26.39,24.03
$IRIDIUM_FIX,4726.11,-12224.09,141114,071440
$TT8_MAMPS,0.020223,0.020223
$HUMID,65.47
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,125.5,69.2
$24V_AH,23.84,2.601
$10V_AH,10.46,0.600
$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,14.900,72.050,210.200,147.300,114.400,26.453,51.860,263.680,3.500,0.000,26.342,1145.495,1989.114,495.441,1220.913,68.342,33.286,989.856,0.000,831.630,0.000,13.435,0.000
$DEVICE_MAMPS,243.334,67.041,1107.418,993.200,109.252,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.297,604.149,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322904
$DATA_FILE_SIZE,26861,458
$CAP_FILE_SIZE,81667,0
$CFSIZE,1024409600,1015889920
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5013.33,0x2389de,7,5
$INTR,1,2279.79,0x2389de,2,5
$GPS,141114,100005,4744.547,-12224.332,13,1.1,29,18.2,0.0,0.0,8,4.9