version: 66.12
glider: 35
mission: 21
dive: 13
start: 2 7 114 8 51 6
data:
$ID,35
$MISSION,21
$DIVE,13
$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,-989804.44
$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,46
$R_STBD_OVSHOOT,47
$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
$GPS1,070214,084457,4743.558,-12224.797,8,2.4,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.9
$GPS2,070214,085006,4743.583,-12224.813,12,1.8,29,18.2
$SPEED_LIMITS,0.067,0.213
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.059,0.205
$KALMAN_X,-958.6,-24.0,-282.5,950.3,-59.6
$KALMAN_Y,-379.1,38.5,-475.7,-329.0,8.6
$MHEAD_RNG_PITCHd_Wd,357.8,1742,-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,14,begin dive
$GC,16,-0.57,-146.6,220,1732,2316,2387,0.0,0.0,0,116,0.00,0.00,-97.75,0.000,16386,0.000,0.000,220,1732,3505,3465,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.57,-146.6,220,1732,3465,3545,3.1,-2.2,18,155,10.65,2.33,-14.93,0.000,18692,0.251,0.067,2800,3137,3866,3833,3900,0,0,0,0,0,0,24.90,25.41,25.34
$GC,380,-0.57,-146.6,2800,3137,3833,3900,34.6,-10.6,55,388,0.00,2.15,0.00,0.000,1030,0.000,0.057,2800,1737,3866,3833,3899,0,0,0,0,0,0,28.83,25.66,28.83
$GC,508,-0.57,-146.6,2799,1738,3833,3900,48.9,-11.4,68,519,0.00,2.22,0.00,0.000,260,0.000,0.070,2799,3133,3866,3833,3900,0,0,0,0,0,0,28.83,25.64,28.83
$GC,602,-0.57,-146.6,2798,3133,3833,3900,59.2,-10.7,77,611,0.00,2.17,0.00,0.000,1030,0.000,0.057,2799,1727,3866,3833,3900,0,0,0,0,0,0,28.83,25.76,28.83
$GC,732,-0.57,-146.6,2798,1727,3833,3900,72.8,-10.4,90,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1727,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,852,-0.57,-146.6,2798,1727,3833,3900,85.3,-10.1,102,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1727,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,972,-0.57,-146.6,2798,1727,3834,3900,97.0,-9.5,114,980,0.00,2.22,0.00,0.000,260,0.000,0.070,2798,3134,3867,3834,3900,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1032,-0.57,-146.6,2798,3134,3833,3900,103.0,-9.6,120,1041,0.00,2.15,0.00,0.000,1030,0.000,0.057,2798,1736,3866,3833,3900,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1163,-0.57,-146.6,2798,1735,3833,3900,114.9,-8.9,133,1172,0.00,2.20,0.00,0.000,260,0.000,0.070,2798,3135,3866,3833,3899,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1217,-0.57,-146.6,2798,3135,3833,3900,119.5,-8.1,138,1227,0.00,2.17,0.00,0.000,1030,0.000,0.057,2798,1724,3866,3833,3900,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1345,-0.57,-146.6,2798,1723,3833,3900,130.0,-7.8,151,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1724,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1465,-0.57,-146.6,2797,1724,3833,3900,139.7,-8.6,163,1474,0.00,2.25,0.00,0.000,260,0.000,0.070,2798,3134,3866,3833,3900,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1571,-0.57,-146.6,2798,3135,3833,3900,146.5,-6.1,173,1577,0.00,2.15,0.00,0.000,1030,0.000,0.057,2798,1733,3866,3833,3900,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1699,-0.57,-146.6,2798,1733,3833,3900,155.4,-7.2,186,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1732,3866,3833,3900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1827,-0.57,-146.6,2798,1732,3833,3900,164.0,-6.6,199,1836,0.00,2.20,0.00,0.000,260,0.000,0.070,2798,3129,3866,3833,3900,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1969,-0.57,-146.6,2798,3129,3833,3900,173.8,-7.1,213,1977,0.00,2.12,0.00,0.000,1030,0.000,0.057,2798,1735,3867,3834,3900,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,2056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2056,begin apogee
$GC,2061,-0.21,0.0,2798,1735,3833,3900,180.1,-6.5,222,2168,0.38,0.00,102.62,1.053,10246,0.127,0.000,2926,1735,3368,3339,3397,0,0,0,0,0,0,25.67,28.83,23.69
$STATE,2169,end apogee,CONTROL_FINISHED_OK
$STATE,2169,begin climb
$GC,2172,0.57,146.6,2926,1735,3339,3397,183.6,0.0,233,2288,0.68,2.40,104.40,0.916,10756,0.097,0.072,3174,340,2871,2844,2898,0,0,0,0,0,0,24.60,24.11,23.26
$GC,2363,0.57,146.6,3174,340,2844,2898,174.7,7.2,252,2371,0.00,2.22,0.00,0.000,1030,0.000,0.055,3174,1746,2872,2845,2899,0,0,0,0,0,0,28.83,24.72,28.83
$GC,2491,0.57,146.6,3174,1746,2844,2899,164.7,7.4,265,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1746,2871,2844,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2611,0.57,146.6,3174,1746,2844,2898,156.6,6.7,277,2620,0.00,2.22,0.00,0.000,260,0.000,0.070,3174,3132,2871,2844,2898,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2684,0.57,146.6,3174,3133,2844,2898,151.3,7.1,284,2691,0.00,2.20,0.00,0.000,1030,0.000,0.060,3184,1725,2871,2844,2899,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2812,0.57,146.6,3184,1725,2844,2898,141.9,7.3,297,2820,0.00,2.25,0.00,0.000,260,0.000,0.067,3185,3131,2871,2844,2898,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2876,0.57,166.1,3184,3131,2844,2898,138.1,6.1,303,2895,0.00,2.17,14.70,0.911,9222,0.000,0.057,3194,1734,2805,2778,2833,0,0,0,0,0,0,28.83,25.61,24.32
$GC,3023,0.57,188.1,3194,1734,2778,2833,129.3,6.0,318,3045,0.00,2.30,16.92,0.921,8452,0.000,0.072,3194,3125,2730,2704,2756,0,0,0,0,0,0,28.83,25.27,24.22
$GC,3134,0.57,198.3,3194,3125,2704,2756,122.7,6.4,329,3147,0.00,2.15,8.48,0.812,9222,0.000,0.057,3203,1730,2696,2667,2726,0,0,0,0,0,0,28.83,25.46,24.17
$GC,3268,0.57,198.3,3203,1730,2667,2726,114.4,6.7,342,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1729,2696,2667,2726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,0.57,200.9,3202,1730,2667,2726,107.2,6.6,354,3398,0.00,2.25,3.72,0.569,8452,0.000,0.067,3203,3140,2688,2658,2718,0,0,0,0,0,0,28.83,25.56,24.25
$GC,3444,0.57,200.9,3202,3140,2658,2717,102.4,9.9,359,3451,0.15,2.17,0.00,0.000,5126,0.166,0.057,3172,1730,2688,2658,2718,0,0,0,0,0,0,25.41,25.64,28.83
$GC,3571,0.57,200.9,3172,1729,2658,2718,89.2,11.3,372,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1729,2688,2658,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,0.57,200.9,3172,1730,2658,2718,74.6,12.4,384,3699,0.00,2.17,0.00,0.000,516,0.000,0.072,3182,337,2688,2658,2718,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3741,0.57,200.9,3182,337,2658,2718,68.3,12.7,389,3750,0.00,2.12,0.00,0.000,1030,0.000,0.057,3182,1737,2688,2658,2718,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3872,0.57,200.9,3182,1737,2658,2718,53.1,10.2,402,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1737,2688,2658,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,0.57,200.9,3182,1737,2658,2718,41.9,8.2,414,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1737,2688,2658,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4111,0.57,200.9,3182,1737,2658,2718,32.0,7.6,426,4120,0.00,2.17,0.00,0.000,260,0.000,0.070,3182,3129,2688,2658,2718,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4172,0.57,200.9,3182,3129,2657,2718,27.4,7.8,432,4181,0.00,2.12,0.00,0.000,1030,0.000,0.057,3190,1732,2688,2658,2718,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4303,0.57,218.0,3190,1732,2658,2718,18.6,6.1,447,4321,0.00,2.30,13.32,0.857,8452,0.000,0.070,3190,3138,2629,2603,2655,0,0,0,0,0,0,28.83,25.72,24.65
$GC,4378,0.57,229.8,3190,3138,2604,2655,13.6,6.3,461,4397,0.00,2.15,9.85,0.802,9222,0.000,0.060,3200,1736,2588,2565,2612,0,0,0,0,0,0,28.83,25.77,24.49
$GC,4459,0.57,259.3,3200,1736,2564,2612,8.6,5.8,476,4482,0.00,0.00,21.38,0.891,8198,0.000,0.000,3200,1736,2489,2466,2513,0,0,0,0,0,0,28.83,28.83,24.31
$STATE,4522,end climb,SURFACE_DEPTH_REACHED
$STATE,4522,begin surface coast
$FINISH,-0.1,1.013142
$STATE,4584,end surface coast,CONTROL_FINISHED_OK
$STATE,4584,begin surface
$SM_CCo,4600,25.00,0.909,0,0,2350,300.22
$SM_GC,1.70,7.97,0.00,25.00,0.062,0.000,0.909,225,1736,2350,-8.60,0.03,300.22,0,0,0,0,0,0,25.48,28.83,24.14
$IRIDIUM_FIX,4726.11,-12220.67,070214,070745
$TT8_MAMPS,0.021721,0.021721
$HUMID,39.99
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,155.4,34.5
$24V_AH,23.3,38.738
$10V_AH,10.4,4.834
$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,19.825,61.750,295.400,25.000,0.000,26.648,39.611,132.177,6.500,0.000,32.325,1173.394,2019.521,459.887,1187.535,105.898,33.219,1036.410,0.000,934.258,0.000,38.930,0.000
$DEVICE_MAMPS,250.783,72.007,1052.792,908.778,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.044,657.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,30305,500
$CAP_FILE_SIZE,79639,0
$CFSIZE,260165632,242319360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,100935,4744.053,-12224.491,33,1.1,45,18.2