version: 66.12
glider: 35
mission: 25
dive: 14
start: 11 14 114 11 30 34
data:
$ID,35
$MISSION,25
$DIVE,14
$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,72
$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
$GPS1,141114,112204,4744.2246,-12224.2598,6,1.6,33,18.2,0.4,13.3,7,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.1
$GPS2,141114,112934,4744.2378,-12224.2168,13,1.3,40,18.2,0.2,67.0,7,5.6
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.045,-0.213
$KALMAN_X,-49.0,-206.2,-23.7,603.9,155.3
$KALMAN_Y,2777.2,41.0,183.0,-683.0,582.2
$MHEAD_RNG_PITCHd_Wd,173.9,2319,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.63,-146.6,222,2317,996,799,0.0,0.0,0,113,0.00,0.00,-94.25,0.094,16386,0.000,0.000,222,2317,2239,2228,2251,0,0,0,0,0,0,26.06,28.83,26.08
$GC,116,-0.63,-146.6,222,2317,2228,2251,3.4,-2.5,17,146,7.47,2.30,-16.15,0.102,18692,0.241,0.062,2210,3740,2605,2594,2616,0,0,0,0,0,0,25.59,25.77,25.73
$GC,303,-0.63,-146.6,2210,3740,2594,2605,26.3,-10.7,48,307,0.00,2.08,0.00,0.000,1030,0.000,0.050,2210,2356,2599,2594,2605,0,0,0,0,0,0,26.01,25.96,26.03
$GC,428,-0.63,-146.6,2210,2356,2600,2597,38.0,-8.6,60,432,0.00,2.12,0.00,0.000,516,0.000,0.057,2210,916,2599,2601,2597,0,0,0,0,0,0,26.28,26.03,26.29
$GC,567,-0.63,-146.6,2210,916,2608,2590,50.7,-9.5,73,574,0.00,2.12,0.00,0.000,1030,0.000,0.052,2210,2340,2599,2608,2590,0,0,0,0,0,0,26.16,26.10,26.17
$GC,694,-0.63,-146.6,2210,2340,2608,2590,62.5,-9.3,86,698,0.00,2.12,0.00,0.000,516,0.000,0.055,2210,910,2599,2608,2590,0,0,0,0,0,0,26.41,26.16,26.41
$GC,742,-0.63,-146.6,2210,909,2609,2588,66.4,-8.6,90,749,0.00,2.17,0.00,0.000,1030,0.000,0.052,2210,2335,2598,2609,2588,0,0,0,0,0,0,26.22,26.17,26.22
$GC,869,-0.63,-146.6,2210,2335,2609,2587,77.4,-8.0,103,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2335,2598,2609,2587,0,0,0,0,0,0,26.46,26.48,26.47
$GC,989,-0.63,-146.6,2210,2335,2609,2587,87.2,-8.1,115,993,0.00,2.15,0.00,0.000,260,0.000,0.065,2210,3745,2598,2609,2587,0,0,0,0,0,0,26.50,26.24,26.51
$GC,1035,-0.63,-146.6,2210,3745,2609,2588,90.8,-7.9,119,1039,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2320,2598,2609,2588,0,0,0,0,0,0,26.32,26.27,26.34
$GC,1162,-0.63,-146.6,2210,2319,2609,2587,100.1,-7.0,131,1171,0.00,2.03,0.00,0.000,516,0.000,0.057,2210,919,2597,2608,2587,0,0,0,0,0,0,26.51,26.29,26.53
$GC,1185,-0.63,-146.6,2210,919,2609,2586,101.6,-7.1,133,1193,0.00,2.15,0.00,0.000,1030,0.000,0.052,2210,2340,2597,2609,2586,0,0,0,0,0,0,26.32,26.29,26.34
$GC,1312,-0.63,-146.6,2210,2339,2609,2586,109.9,-6.2,146,1316,0.00,2.15,0.00,0.000,260,0.000,0.065,2210,3754,2597,2609,2586,0,0,0,0,0,0,26.56,26.30,26.58
$GC,1350,-0.63,-146.6,2210,3754,2609,2587,112.3,-6.3,149,1354,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2325,2598,2609,2587,0,0,0,0,0,0,26.39,26.34,26.40
$GC,1475,-0.63,-146.6,2210,2325,2609,2586,120.4,-6.4,161,1479,0.00,2.05,0.00,0.000,516,0.000,0.057,2210,915,2597,2609,2586,0,0,0,0,0,0,26.59,26.34,26.60
$GC,1541,-0.63,-146.6,2210,915,2609,2586,124.7,-6.8,167,1544,0.00,2.10,0.00,0.000,1030,0.000,0.055,2210,2339,2597,2609,2586,0,0,0,0,0,0,26.41,26.34,26.42
$GC,1666,-0.63,-146.6,2210,2339,2609,2586,133.3,-6.9,179,1670,0.00,2.15,0.00,0.000,260,0.000,0.065,2210,3753,2597,2609,2586,0,0,0,0,0,0,26.62,26.36,26.63
$GC,1701,-0.63,-146.6,2210,3753,2609,2586,135.6,-6.3,182,1705,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2323,2597,2609,2586,0,0,0,0,0,0,26.44,26.39,26.45
$GC,1826,-0.63,-146.6,2210,2323,2609,2586,144.2,-7.0,194,1830,0.00,2.17,0.00,0.000,260,0.000,0.065,2210,3744,2597,2609,2586,0,0,0,0,0,0,26.64,26.38,26.65
$GC,1902,-0.63,-146.6,2210,3743,2609,2586,149.8,-7.5,201,1906,0.00,2.08,0.00,0.000,1030,0.000,0.050,2210,2330,2597,2609,2586,0,0,0,0,0,0,26.46,26.41,26.48
$GC,2027,-0.63,-146.6,2210,2330,2609,2586,158.8,-7.4,213,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2330,2597,2609,2586,0,0,0,0,0,0,26.65,26.67,26.67
$GC,2147,-0.63,-146.6,2210,2330,2609,2586,166.8,-6.4,225,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2330,2597,2609,2586,0,0,0,0,0,0,26.67,26.68,26.68
$STATE,2256,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2256,begin apogee
$GC,2260,-0.22,0.0,2210,2330,2609,2586,173.9,-6.4,236,2368,0.43,0.00,101.80,1.115,10246,0.122,0.000,2363,2326,2100,2154,2047,0,0,0,0,0,0,26.35,24.65,24.05
$STATE,2369,end apogee,CONTROL_FINISHED_OK
$STATE,2369,begin climb
$GC,2370,0.63,146.6,2362,2325,2154,2047,176.3,0.0,247,2489,0.68,2.35,107.93,1.090,10500,0.089,0.067,2620,3739,1594,1691,1498,0,0,0,0,0,0,24.84,24.46,23.83
$GC,2541,0.63,146.6,2620,3739,1690,1500,162.8,11.1,264,2545,0.00,2.17,0.00,0.000,1030,0.000,0.050,2631,2326,1594,1690,1499,0,0,0,0,0,0,25.25,25.20,25.27
$GC,2666,0.63,146.6,2630,2326,1690,1499,150.6,9.2,276,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2326,1595,1690,1500,0,0,0,0,0,0,25.82,25.84,25.83
$GC,2786,0.63,146.6,2631,2326,1690,1499,139.3,9.3,288,2790,0.00,2.25,0.00,0.000,260,0.000,0.065,2631,3751,1595,1690,1500,0,0,0,0,0,0,26.02,25.77,26.03
$GC,2852,0.63,146.6,2631,3751,1690,1500,132.1,11.6,294,2856,0.00,2.12,0.00,0.000,1030,0.000,0.050,2641,2327,1594,1689,1500,0,0,0,0,0,0,25.92,25.87,25.94
$GC,2977,0.63,146.6,2641,2327,1690,1500,118.5,11.0,306,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2327,1594,1689,1500,0,0,0,0,0,0,26.20,26.22,26.22
$GC,3097,0.63,146.6,2641,2327,1689,1500,104.7,12.2,318,3101,0.00,2.08,0.00,0.000,516,0.000,0.057,2652,920,1594,1689,1499,0,0,0,0,0,0,26.28,26.04,26.29
$GC,3153,0.63,146.6,2652,920,1690,1499,98.1,11.6,323,3157,0.00,2.10,0.00,0.000,1030,0.000,0.055,2652,2334,1595,1690,1500,0,0,0,0,0,0,26.13,26.07,26.14
$GC,3278,0.63,146.6,2652,2334,1690,1499,84.4,11.2,335,3282,0.00,2.17,0.00,0.000,260,0.000,0.065,2652,3747,1595,1690,1500,0,0,0,0,0,0,26.36,26.11,26.37
$GC,3327,0.63,146.6,2652,3747,1690,1500,78.5,12.8,339,3335,0.10,2.15,0.00,0.000,5126,0.156,0.047,2629,2321,1594,1689,1500,0,0,0,0,0,0,26.04,26.17,26.12
$GC,3454,0.63,146.6,2629,2321,1689,1500,65.7,9.9,352,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2321,1595,1690,1500,0,0,0,0,0,0,26.43,26.44,26.44
$GC,3574,0.63,146.6,2629,2321,1690,1500,55.5,8.4,364,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2320,1595,1690,1500,0,0,0,0,0,0,26.47,26.48,26.48
$GC,3694,0.63,146.6,2629,2320,1689,1500,45.0,8.9,376,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2321,1594,1689,1500,0,0,0,0,0,0,26.50,26.52,26.51
$GC,3814,0.63,146.6,2628,2321,1690,1500,34.4,9.2,388,3818,0.00,2.05,0.00,0.000,516,0.000,0.057,2639,929,1594,1689,1500,0,0,0,0,0,0,26.53,26.29,26.54
$GC,3855,0.63,146.6,2639,920,1690,1500,30.6,9.9,392,3859,0.00,2.10,0.00,0.000,1030,0.000,0.052,2639,2345,1594,1689,1500,0,0,0,0,0,0,26.36,26.29,26.36
$GC,3980,0.63,146.6,2638,2345,1690,1500,19.6,8.9,404,3986,0.00,2.12,0.00,0.000,260,0.000,0.065,2640,3742,1595,1690,1500,0,0,0,0,0,0,26.56,26.31,26.58
$GC,4032,0.63,146.6,2639,3742,1689,1500,14.9,9.0,414,4039,0.00,2.08,0.00,0.000,1030,0.000,0.050,2650,2317,1594,1689,1500,0,0,0,0,0,0,26.40,26.35,26.41
$GC,4101,0.63,146.6,2649,2317,1689,1500,9.9,8.2,427,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2317,1595,1690,1500,0,0,0,0,0,0,26.58,26.60,26.60
$GC,4168,0.63,146.6,2650,2317,1690,1500,4.9,7.2,440,4175,0.00,2.22,0.00,0.000,260,0.000,0.062,2650,3747,1594,1689,1500,0,0,0,0,0,0,26.59,26.34,26.60
$STATE,4215,end climb,SURFACE_DEPTH_REACHED
$STATE,4216,begin surface coast
$FINISH,0.6,1.021157
$STATE,4247,end surface coast,CONTROL_FINISHED_OK
$STATE,4247,begin surface
$SM_CCo,4262,148.65,0.988,0,0,895,350.05
$SM_GC,1.23,6.45,2.12,148.65,0.082,0.047,0.988,241,2326,895,-6.77,1.89,350.05,0,0,0,0,0,0,26.34,26.39,24.03
$IRIDIUM_FIX,4722.92,-12225.08,141114,100121
$TT8_MAMPS,0.020223,0.020223
$HUMID,64.96
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.30
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,115.4,72.9
$24V_AH,23.83,2.857
$10V_AH,10.46,0.668
$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,15.125,68.350,209.725,148.650,110.400,30.105,42.325,264.091,3.500,0.000,42.559,1135.364,1976.098,480.871,1216.829,69.333,33.298,978.729,0.000,824.693,0.000,10.313,0.000
$DEVICE_MAMPS,240.851,67.041,1114.867,988.234,101.803,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.197,600.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322808
$DATA_FILE_SIZE,26966,455
$CAP_FILE_SIZE,81426,0
$CFSIZE,1024409600,1015758848
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4981.99,0x2389de,7,5
$INTR,1,2257.75,0x2389de,2,5
$GPS,141114,124535,4743.704,-12224.288,13,1.7,53,18.2,0.2,151.1,6,8.3