version: 66.12
glider: 35
mission: 25
dive: 15
start: 11 14 114 12 53 28
data:
$ID,35
$MISSION,25
$DIVE,15
$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,69
$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
$GPS1,141114,124535,4743.7041,-12224.2881,13,1.7,53,18.2,0.2,151.1,6,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.2
$GPS2,141114,125228,4743.6641,-12224.2754,10,1.6,42,18.2,0.2,168.5,7,6.3
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.076,-0.204
$KALMAN_X,10.3,-218.8,90.9,371.9,172.5
$KALMAN_Y,2547.3,112.8,365.2,-1764.7,94.5
$MHEAD_RNG_PITCHd_Wd,182.2,1261,-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,-146.6,241,2320,997,799,0.0,0.0,0,102,0.00,0.00,-83.30,0.094,16386,0.000,0.000,241,2321,2111,2098,2124,0,0,0,0,0,0,26.06,28.83,26.07
$GC,105,-0.63,-146.6,241,2321,2098,2124,3.2,-3.0,15,140,7.45,2.30,-22.70,0.099,19204,0.241,0.065,2216,3738,2604,2592,2617,0,0,0,0,0,0,25.58,25.77,25.73
$GC,435,-0.63,-146.6,2215,3742,2595,2602,35.5,-8.4,63,442,0.00,2.12,0.00,0.000,1030,0.000,0.050,2216,2351,2598,2597,2599,0,0,0,0,0,0,26.08,26.06,26.10
$GC,562,-0.63,-146.6,2215,2351,2601,2595,46.6,-9.0,76,566,0.00,2.12,0.00,0.000,516,0.000,0.057,2216,909,2598,2601,2595,0,0,0,0,0,0,26.35,26.11,26.36
$GC,641,-0.63,-146.6,2215,909,2607,2589,53.1,-8.8,83,648,0.00,2.15,0.00,0.000,1030,0.000,0.052,2211,2323,2598,2607,2589,0,0,0,0,0,0,26.17,26.13,26.19
$GC,768,-0.63,-146.6,2210,2322,2607,2589,64.6,-9.1,96,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2322,2598,2607,2589,0,0,0,0,0,0,26.44,26.44,26.44
$GC,888,-0.63,-146.6,2210,2323,2607,2589,75.1,-8.1,108,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2323,2598,2607,2589,0,0,0,0,0,0,26.47,26.48,26.48
$GC,1008,-0.63,-146.6,2210,2323,2607,2589,85.8,-9.1,120,1012,0.00,2.17,0.00,0.000,260,0.000,0.065,2210,3746,2598,2607,2589,0,0,0,0,0,0,26.51,26.25,26.51
$GC,1047,-0.63,-146.6,2209,3746,2607,2589,88.5,-7.9,123,1054,0.00,2.10,0.00,0.000,1030,0.000,0.050,2210,2327,2598,2607,2589,0,0,0,0,0,0,26.33,26.28,26.34
$GC,1174,-0.63,-146.6,2209,2327,2607,2589,99.8,-8.8,136,1178,0.00,2.05,0.00,0.000,516,0.000,0.057,2209,922,2598,2607,2589,0,0,0,0,0,0,26.54,26.29,26.55
$GC,1201,-0.63,-146.6,2209,922,2608,2586,102.1,-8.8,138,1205,0.00,2.10,0.00,0.000,1030,0.000,0.055,2209,2343,2597,2608,2586,0,0,0,0,0,0,26.35,26.29,26.36
$GC,1326,-0.63,-146.6,2209,2343,2608,2586,112.2,-7.8,150,1330,0.00,2.10,0.00,0.000,516,0.000,0.057,2209,954,2597,2608,2586,0,0,0,0,0,0,26.56,26.32,26.58
$GC,1380,-0.63,-146.6,2209,922,2608,2586,116.2,-8.1,155,1387,0.00,2.12,0.00,0.000,1030,0.000,0.052,2209,2326,2597,2608,2586,0,0,0,0,0,0,26.35,26.32,26.37
$GC,1507,-0.63,-146.6,2208,2326,2608,2586,125.6,-6.4,168,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2326,2597,2608,2586,0,0,0,0,0,0,26.60,26.60,26.60
$GC,1627,-0.63,-146.6,2208,2326,2608,2586,134.8,-7.3,180,1631,0.00,2.15,0.00,0.000,260,0.000,0.065,2209,3743,2597,2608,2586,0,0,0,0,0,0,26.61,26.36,26.63
$GC,1692,-0.63,-146.6,2208,3743,2607,2586,139.7,-7.3,186,1696,0.00,2.08,0.00,0.000,1030,0.000,0.050,2209,2330,2597,2608,2586,0,0,0,0,0,0,26.44,26.39,26.46
$GC,1818,-0.63,-146.6,2208,2330,2608,2586,148.6,-6.6,198,1821,0.00,2.05,0.00,0.000,516,0.000,0.057,2209,920,2597,2608,2587,0,0,0,0,0,0,26.63,26.39,26.65
$GC,1873,-0.63,-146.6,2208,920,2608,2586,152.6,-7.6,203,1877,0.00,2.10,0.00,0.000,1030,0.000,0.055,2208,2344,2597,2608,2586,0,0,0,0,0,0,26.45,26.39,26.46
$GC,1998,-0.63,-146.6,2208,2344,2608,2586,160.6,-5.6,215,2002,0.00,2.15,0.00,0.000,260,0.000,0.065,2208,3747,2597,2608,2586,0,0,0,0,0,0,26.65,26.40,26.67
$GC,2064,-0.63,-146.6,2208,3748,2609,2586,165.1,-6.5,221,2068,0.00,2.08,0.00,0.000,1030,0.000,0.050,2208,2331,2597,2608,2586,0,0,0,0,0,0,26.48,26.43,26.49
$STATE,2158,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2158,begin apogee
$GC,2162,-0.22,0.0,2208,2331,2608,2586,171.3,-6.2,230,2270,0.43,0.00,101.93,1.110,10246,0.127,0.000,2360,2327,2100,2153,2047,0,0,0,0,0,0,26.34,24.65,24.06
$STATE,2271,end apogee,CONTROL_FINISHED_OK
$STATE,2271,begin climb
$GC,2272,0.63,146.6,2360,2327,2154,2047,173.4,0.0,241,2389,0.68,0.00,107.95,1.058,10758,0.089,0.000,2616,2326,1594,1691,1498,0,0,0,0,0,0,24.83,24.45,23.87
$GC,2509,0.63,146.6,2616,2327,1691,1499,154.7,9.9,265,2513,0.00,2.25,0.00,0.000,260,0.000,0.065,2616,3739,1595,1692,1499,0,0,0,0,0,0,25.67,25.44,25.68
$GC,2558,0.63,146.6,2616,3739,1689,1500,149.6,11.1,269,2565,0.00,2.17,0.00,0.000,1030,0.000,0.050,2627,2319,1594,1689,1500,0,0,0,0,0,0,25.64,25.59,25.65
$GC,2685,0.63,146.6,2626,2319,1690,1499,136.2,10.3,282,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2319,1594,1689,1500,0,0,0,0,0,0,26.01,26.03,26.03
$GC,2805,0.63,146.6,2626,2319,1690,1500,124.8,9.6,294,2809,0.00,2.22,0.00,0.000,260,0.000,0.062,2627,3740,1594,1689,1500,0,0,0,0,0,0,26.15,25.89,26.15
$GC,2844,0.63,146.6,2626,3740,1689,1500,121.0,10.5,297,2851,0.00,2.15,0.00,0.000,1030,0.000,0.047,2637,2335,1594,1689,1500,0,0,0,0,0,0,25.98,25.96,25.99
$GC,2971,0.63,146.6,2637,2334,1689,1500,107.5,10.9,310,2974,0.00,2.10,0.00,0.000,516,0.000,0.057,2646,941,1594,1689,1499,0,0,0,0,0,0,26.27,26.03,26.27
$GC,3084,0.63,146.6,2646,916,1689,1499,96.4,9.6,321,3091,0.00,2.15,0.00,0.000,1030,0.000,0.052,2646,2327,1594,1689,1500,0,0,0,0,0,0,26.14,26.08,26.13
$GC,3211,0.63,146.6,2646,2327,1689,1500,83.4,9.3,334,3215,0.00,2.17,0.00,0.000,260,0.000,0.065,2646,3742,1594,1689,1499,0,0,0,0,0,0,26.38,26.13,26.39
$GC,3287,0.63,146.6,2646,3742,1689,1500,74.7,12.4,341,3291,0.00,2.12,0.00,0.000,1030,0.000,0.050,2657,2315,1594,1689,1500,0,0,0,0,0,0,26.23,26.18,26.25
$GC,3412,0.63,146.6,2657,2315,1689,1500,62.1,9.9,353,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2315,1594,1689,1500,0,0,0,0,0,0,26.45,26.46,26.46
$GC,3532,0.63,146.6,2657,2315,1689,1500,49.9,10.4,365,3536,0.00,2.20,0.00,0.000,260,0.000,0.065,2656,3740,1594,1689,1500,0,0,0,0,0,0,26.48,26.22,26.49
$GC,3622,0.63,146.6,2657,3740,1689,1500,40.2,11.2,373,3630,0.12,2.08,0.00,0.000,5126,0.169,0.047,2626,2325,1594,1689,1500,0,0,0,0,0,0,26.16,26.28,26.27
$GC,3748,0.63,146.6,2625,2325,1689,1500,29.5,7.7,386,3752,0.00,2.05,0.00,0.000,516,0.000,0.057,2636,924,1594,1689,1500,0,0,0,0,0,0,26.53,26.29,26.55
$GC,3834,0.63,146.6,2636,924,1689,1500,22.6,8.1,394,3838,0.00,2.08,0.00,0.000,1030,0.000,0.052,2636,2333,1594,1689,1500,0,0,0,0,0,0,26.36,26.31,26.38
$GC,3958,0.63,146.6,2635,2334,1689,1500,11.7,8.5,415,3965,0.00,2.15,0.00,0.000,260,0.000,0.065,2636,3747,1594,1689,1500,0,0,0,0,0,0,26.58,26.32,26.58
$GC,3992,0.63,146.6,2636,3747,1689,1500,9.3,7.5,421,3998,0.00,2.08,0.00,0.000,1030,0.000,0.050,2645,2327,1594,1689,1500,0,0,0,0,0,0,26.40,26.35,26.41
$GC,4060,0.63,146.6,2644,2327,1689,1500,3.7,7.1,434,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2327,1594,1689,1500,0,0,0,0,0,0,26.59,26.60,26.60
$STATE,4090,end climb,SURFACE_DEPTH_REACHED
$STATE,4090,begin surface coast
$FINISH,0.5,1.021587
$STATE,4122,end surface coast,CONTROL_FINISHED_OK
$STATE,4122,begin surface
$SM_CCo,4135,149.38,0.976,0,0,895,350.05
$SM_GC,1.53,6.38,0.00,149.38,0.079,0.000,0.976,245,2327,895,-6.75,-0.14,350.05,0,0,0,0,0,0,26.34,26.62,24.05
$IRIDIUM_FIX,4726.11,-12229.50,141114,112327
$TT8_MAMPS,0.020223,0.020223
$HUMID,64.84
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,19.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,120.2,66.1
$24V_AH,23.87,2.982
$10V_AH,10.46,0.702
$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,15.050,63.925,209.875,149.375,106.000,27.737,13.636,256.014,3.250,0.000,44.849,1109.974,1861.022,486.200,1191.499,66.535,33.280,977.712,0.000,834.048,0.000,11.861,0.000
$DEVICE_MAMPS,240.851,64.558,1109.901,975.819,99.320,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.810,588.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322948
$DATA_FILE_SIZE,26912,446
$CAP_FILE_SIZE,78630,0
$CFSIZE,1024409600,1015693312
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4972.96,0x2389de,7,5
$INTR,1,2159.58,0x2389de,2,5
$INTR,2,4125.65,0x2389de,7,5
$GPS,141114,140606,4743.011,-12224.611,12,1.6,36,18.2,0.3,0.0,7,6.7