version: 66.12
glider: 35
mission: 21
dive: 12
start: 2 7 114 7 17 33
data:
$ID,35
$MISSION,21
$DIVE,12
$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,-989803.19
$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,27
$R_STBD_OVSHOOT,45
$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
$GPS1,070214,071125,4743.170,-12225.124,9,1.9,10,18.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.9
$GPS2,070214,071633,4743.157,-12225.147,9,2.8,29,18.2
$SPEED_LIMITS,0.067,0.213
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.111,0.182
$KALMAN_X,-944.8,167.4,-307.7,356.4,-405.3
$KALMAN_Y,-361.2,511.4,-772.9,-1309.1,-392.5
$MHEAD_RNG_PITCHd_Wd,13.1,2614,-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,16,-0.57,-146.6,244,1731,2124,2169,0.0,0.0,0,132,0.00,0.00,-113.53,0.000,16386,0.000,0.000,245,1731,3470,3429,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-0.57,-146.6,244,1731,3429,3511,3.1,-1.9,21,170,10.43,0.00,-17.00,0.000,18438,0.248,0.000,2805,1726,3866,3833,3900,0,0,0,0,0,0,25.02,28.83,25.51
$GC,232,-0.57,-146.6,2805,1726,3833,3900,14.3,-9.3,39,238,0.00,2.25,0.00,0.000,260,0.000,0.070,2800,3140,3866,3833,3900,0,0,0,0,0,0,28.83,25.60,28.83
$GC,338,-0.57,-146.6,2798,3140,3833,3899,23.8,-8.3,55,345,0.00,2.20,0.00,0.000,1030,0.000,0.057,2799,1713,3866,3833,3900,0,0,0,0,0,0,28.83,25.74,28.83
$GC,466,-0.57,-146.6,2799,1713,3833,3900,34.9,-8.7,68,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1713,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,586,-0.57,-146.6,2799,1713,3833,3900,45.8,-9.0,80,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1713,3866,3833,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,706,-0.57,-146.6,2800,1713,3833,3900,56.9,-9.2,92,714,0.00,2.25,0.00,0.000,260,0.000,0.070,2798,3130,3866,3833,3900,0,0,0,0,0,0,28.83,25.75,28.83
$GC,777,-0.57,-146.6,2798,3130,3833,3900,63.8,-9.1,99,785,0.00,2.12,0.00,0.000,1030,0.000,0.060,2798,1734,3866,3833,3900,0,0,0,0,0,0,28.83,25.86,28.83
$GC,907,-0.57,-146.6,2798,1733,3833,3900,74.1,-8.7,112,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1734,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1027,-0.57,-146.6,2798,1734,3833,3900,83.6,-7.4,124,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1734,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1147,-0.57,-146.6,2798,1734,3833,3900,92.6,-8.5,136,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1734,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1267,-0.57,-146.6,2798,1734,3833,3900,98.8,-4.1,148,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1734,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1387,-0.57,-146.6,2798,1734,3833,3900,107.4,-7.2,160,1395,0.00,2.22,0.00,0.000,260,0.000,0.070,2798,3141,3866,3833,3900,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1470,-0.57,-146.6,2798,3141,3833,3900,113.2,-7.4,168,1477,0.00,2.15,0.00,0.000,1030,0.000,0.057,2798,1730,3866,3833,3900,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1598,-0.57,-146.6,2798,1730,3833,3900,122.1,-6.1,181,1607,0.00,2.25,0.00,0.000,260,0.000,0.070,2798,3140,3866,3833,3900,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1640,-0.57,-146.6,2798,3140,3833,3899,125.0,-6.6,185,1649,0.00,2.15,0.00,0.000,1030,0.000,0.057,2798,1721,3866,3833,3900,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1770,-0.57,-146.6,2798,1722,3833,3900,133.0,-6.3,198,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1722,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1889,-0.57,-146.6,2798,1721,3833,3900,140.9,-5.9,210,1898,0.00,2.25,0.00,0.000,260,0.000,0.070,2798,3136,3866,3833,3900,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1954,-0.57,-146.6,2798,3136,3833,3900,144.6,-5.4,216,1963,0.00,2.15,0.00,0.000,1030,0.000,0.057,2798,1734,3866,3833,3900,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2081,-0.57,-146.6,2797,1734,3833,3900,153.5,-6.2,229,2089,0.00,2.20,0.00,0.000,260,0.000,0.070,2798,3132,3866,3833,3900,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2162,-0.57,-146.6,2798,3131,3833,3900,159.4,-7.3,237,2166,0.00,2.12,0.00,0.000,1030,0.000,0.057,2798,1727,3866,3833,3899,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2287,-0.57,-146.6,2797,1727,3833,3899,167.6,-6.0,249,2296,0.00,2.25,0.00,0.000,260,0.000,0.070,2798,3141,3866,3833,3900,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2331,-0.57,-146.6,2798,3141,3833,3899,170.7,-7.2,253,2338,0.00,2.15,0.00,0.000,1030,0.000,0.057,2798,1723,3866,3833,3900,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2458,-0.57,-146.6,2798,1723,3833,3900,180.0,-7.0,266,2467,0.00,2.22,0.00,0.000,260,0.000,0.070,2798,3133,3866,3833,3900,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,2470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2470,begin apogee
$GC,2476,-0.21,0.0,2798,1731,3833,3900,180.5,-7.3,267,2584,0.38,0.00,103.03,1.090,10246,0.127,0.000,2930,1731,3368,3338,3399,0,0,0,0,0,0,25.69,28.83,23.62
$STATE,2585,end apogee,CONTROL_FINISHED_OK
$STATE,2586,begin climb
$GC,2588,0.57,146.6,2930,1731,3338,3399,184.4,0.0,278,2704,0.65,2.40,104.68,0.924,10756,0.097,0.072,3172,307,2870,2844,2897,0,0,0,0,0,0,24.57,24.08,23.25
$GC,2752,0.57,153.2,3172,307,2844,2897,178.0,6.5,294,2767,0.00,2.28,6.12,0.723,9222,0.000,0.055,3172,1740,2849,2823,2876,0,0,0,0,0,0,28.83,24.58,23.44
$GC,2888,0.57,192.5,3172,1740,2823,2875,169.5,5.5,308,2927,0.00,2.28,29.08,0.939,8452,0.000,0.070,3172,3129,2715,2690,2741,0,0,0,0,0,0,28.83,24.63,23.65
$GC,3019,0.57,192.5,3172,3129,2690,2741,159.2,7.8,321,3028,0.00,2.25,0.00,0.000,1030,0.000,0.057,3182,1707,2715,2690,2741,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3150,0.57,192.5,3182,1707,2690,2741,148.6,7.5,334,3158,0.00,2.30,0.00,0.000,260,0.000,0.070,3182,3130,2715,2690,2741,0,0,0,0,0,0,28.83,25.28,28.83
$GC,3224,0.57,192.5,3181,3130,2690,2742,142.8,8.4,341,3230,0.00,2.17,0.00,0.000,1030,0.000,0.060,3191,1734,2715,2690,2741,0,0,0,0,0,0,28.83,25.45,28.83
$GC,3351,0.57,192.5,3191,1734,2690,2742,131.7,9.0,354,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1733,2715,2689,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3471,0.57,192.5,3191,1733,2690,2741,121.6,8.7,366,3479,0.00,2.22,0.00,0.000,260,0.000,0.070,3191,3131,2715,2690,2741,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3532,0.57,192.5,3191,3131,2690,2741,116.1,9.2,372,3536,0.00,2.15,0.00,0.000,1030,0.000,0.057,3201,1734,2715,2689,2741,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3657,0.57,192.5,3200,1734,2690,2741,105.8,8.0,384,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1734,2715,2690,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3777,0.57,192.5,3201,1734,2690,2741,96.4,7.8,396,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1734,2715,2690,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3897,0.57,192.5,3201,1733,2690,2741,86.8,8.2,408,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1734,2715,2690,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4017,0.57,192.5,3201,1733,2690,2741,77.1,8.1,420,4025,0.00,2.22,0.00,0.000,260,0.000,0.070,3201,3138,2715,2690,2741,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4050,0.57,192.5,3201,3138,2690,2741,74.6,7.4,423,4058,0.12,2.15,0.00,0.000,5126,0.171,0.057,3178,1731,2715,2690,2741,0,0,0,0,0,0,25.61,25.85,28.83
$GC,4178,0.57,192.5,3178,1731,2689,2741,64.8,7.6,436,4186,0.00,2.20,0.00,0.000,516,0.000,0.072,3188,330,2715,2689,2741,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4211,0.57,192.5,3188,330,2689,2741,62.2,8.5,439,4218,0.00,2.12,0.00,0.000,1030,0.000,0.055,3188,1746,2715,2689,2741,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4339,0.57,199.5,3188,1747,2689,2741,53.8,6.5,452,4349,0.00,0.00,6.50,0.755,8198,0.000,0.000,3188,1747,2692,2663,2721,0,0,0,0,0,0,28.83,28.83,24.60
$GC,4469,0.57,208.5,3188,1747,2663,2721,45.2,6.4,465,4479,0.00,0.00,7.97,0.792,8198,0.000,0.000,3188,1747,2661,2635,2688,0,0,0,0,0,0,28.83,28.83,24.60
$GC,4598,0.57,208.5,3188,1747,2635,2688,36.8,7.3,478,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1747,2661,2634,2688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4719,0.57,223.2,3188,1747,2634,2688,29.0,6.2,490,4739,0.00,2.22,11.68,0.852,8452,0.000,0.072,3188,3127,2611,2587,2635,0,0,0,0,0,0,28.83,25.69,24.60
$GC,4801,0.57,223.2,3188,3127,2586,2634,23.1,7.3,498,4809,0.00,2.15,0.00,0.000,1030,0.000,0.057,3199,1725,2610,2587,2634,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4932,0.57,223.2,3198,1725,2587,2634,13.2,7.8,519,4939,0.00,2.22,0.00,0.000,260,0.000,0.070,3198,3129,2610,2587,2634,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5016,0.57,223.2,3198,3129,2587,2634,6.4,7.7,535,5023,0.00,2.12,0.00,0.000,1030,0.000,0.060,3206,1733,2610,2587,2634,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,5048,end climb,SURFACE_DEPTH_REACHED
$STATE,5048,begin surface coast
$FINISH,-0.4,0.999970
$STATE,5109,end surface coast,CONTROL_FINISHED_OK
$STATE,5111,begin surface
$SM_CCo,5126,50.30,0.949,0,0,2351,300.22
$SM_GC,1.49,7.90,0.00,50.30,0.062,0.000,0.949,221,1733,2351,-8.60,-0.06,300.22,0,0,0,0,0,0,25.78,28.83,24.13
$IRIDIUM_FIX,4729.30,-12224.09,070214,050524
$TT8_MAMPS,0.020972,0.020972
$HUMID,39.40
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.4,19.5
$ALTIM_BOTTOM_PING,165.3,32.8
$24V_AH,23.2,38.640
$10V_AH,10.3,4.798
$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,19.475,70.600,269.050,50.300,0.000,28.511,18.746,151.688,8.000,0.000,31.663,1308.129,2336.678,484.813,1250.396,117.571,33.217,1102.981,0.000,992.911,0.000,41.998,0.000
$DEVICE_MAMPS,248.300,72.007,1090.037,948.506,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.096,727.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,30186,553
$CAP_FILE_SIZE,88277,0
$CFSIZE,260165632,242356224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,084457,4743.558,-12224.797,8,2.4,28,18.2