version: 66.12
glider: 35
mission: 22
dive: 11
start: 3 21 114 8 21 52
data:
$ID,35
$MISSION,22
$DIVE,11
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,3600
$D_ABORT,5000
$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,1200
$T_MISSION,1260
$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,77621
$MASS_COMP,9331
$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,32.308331
$TGT_DEFAULT_LON,-64.599998
$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,-992693.12
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$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,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2276
$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,-1038.2812
$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,100
$ALTIM_PING_DELTA,10
$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
$GPS1,210314,080853,3219.495,-6436.804,38,1.1,38,-15.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.8
$GPS2,210314,082055,3219.508,-6436.812,11,1.1,11,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.241,-0.041
$KALMAN_X,-23854.3,-956.2,319.6,24571.1,-93699.1
$KALMAN_Y,1934.4,37.3,-486.7,-3487.1,136.5
$MHEAD_RNG_PITCHd_Wd,115.2,20594,-19.7,-10.000,-22.22,2235
$D_GRID,3600
$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,17,-0.82,-146.6,233,1844,1224,1299,0.0,0.0,0,90,0.00,0.00,-71.10,0.000,16386,0.000,0.000,233,1845,2436,2387,2485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.82,-146.6,233,1844,2388,2485,3.1,-4.5,7,124,11.12,2.20,-13.50,0.000,18692,0.271,0.070,2818,3245,2774,2736,2812,0,0,0,0,0,0,25.22,25.74,25.65
$GC,349,-0.82,-146.6,2818,3245,2736,2811,37.7,-13.4,32,356,0.00,2.12,0.00,0.000,1030,0.000,0.055,2818,1843,2773,2736,2811,0,0,0,0,0,0,28.83,25.96,28.83
$GC,657,-0.82,-146.6,2818,1843,2736,2811,80.3,-14.3,63,665,0.00,2.17,0.00,0.000,260,0.000,0.067,2809,3246,2773,2736,2811,0,0,0,0,0,0,28.83,25.88,28.83
$GC,788,-0.82,-146.6,2809,3246,2736,2812,98.4,-13.9,76,796,0.00,2.08,0.00,0.000,1030,0.000,0.055,2809,1845,2773,2736,2811,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1098,-0.82,-146.6,2809,1845,2736,2811,139.6,-13.2,107,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1845,2773,2736,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1409,-0.82,-146.6,2809,1845,2736,2811,178.6,-13.0,127,1414,0.00,2.17,0.00,0.000,260,0.000,0.070,2807,3247,2774,2737,2811,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1632,-0.82,-146.6,2806,3247,2738,2811,207.0,-12.3,138,1636,0.00,2.08,0.00,0.000,1030,0.000,0.055,2807,1840,2774,2738,2811,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1946,-0.82,-146.6,2807,1840,2738,2811,246.8,-12.7,154,1951,0.00,2.15,0.00,0.000,260,0.000,0.070,2807,3235,2774,2738,2811,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2004,-0.82,-146.6,2806,3235,2738,2811,254.1,-12.3,157,2008,0.00,2.05,0.00,0.000,1030,0.000,0.055,2807,1841,2775,2739,2811,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2322,-0.82,-146.6,2807,1841,2738,2811,293.3,-13.2,173,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1841,2774,2738,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2623,-0.82,-146.6,2807,1841,2738,2811,331.5,-12.7,184,2629,0.00,2.15,0.00,0.000,260,0.000,0.070,2807,3236,2774,2738,2811,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2760,-0.82,-146.6,2807,3236,2738,2811,346.5,-12.5,188,2764,0.00,2.03,0.00,0.000,1030,0.000,0.055,2807,1846,2774,2738,2811,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3067,-0.82,-146.6,2806,1846,2738,2811,386.0,-11.9,198,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1846,2774,2738,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3368,-0.82,-146.6,2806,1846,2738,2811,423.0,-12.4,208,3374,0.00,2.15,0.00,0.000,260,0.000,0.067,2805,3237,2774,2738,2811,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3450,-0.82,-146.6,2804,3237,2738,2811,430.8,-12.7,210,3457,0.00,2.05,0.00,0.000,1030,0.000,0.055,2805,1845,2774,2738,2811,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3757,-0.82,-146.6,2805,1845,2738,2811,473.1,-12.3,221,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1845,2774,2738,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4057,-0.82,-146.6,2805,1845,2738,2811,509.2,-12.0,231,4060,0.00,2.17,0.00,0.000,260,0.000,0.070,2800,3227,2774,2738,2811,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4216,-0.82,-146.6,2800,3243,2738,2811,527.4,-11.8,236,4221,0.15,2.05,0.00,0.000,3078,0.166,0.055,2841,1848,2774,2738,2811,0,0,0,0,0,0,25.79,26.18,28.83
$GC,4536,-0.82,-146.6,2841,1848,2738,2811,560.7,-9.8,247,4540,0.00,2.17,0.00,0.000,260,0.000,0.067,2835,3227,2774,2738,2811,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4615,-0.82,-146.6,2836,3242,2738,2811,567.0,-10.0,249,4619,0.00,2.05,0.00,0.000,1030,0.000,0.055,2836,1851,2774,2738,2811,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4923,-0.82,-146.6,2835,1851,2738,2811,598.7,-9.5,259,4928,0.00,2.15,0.00,0.000,260,0.000,0.067,2832,3243,2774,2738,2811,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4970,-0.82,-146.6,2832,3242,2738,2811,601.8,-9.6,260,4974,0.00,2.05,0.00,0.000,1030,0.000,0.055,2832,1850,2774,2738,2811,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5277,-0.82,-146.6,2831,1850,2739,2811,636.7,-10.9,270,5282,0.00,2.17,0.00,0.000,260,0.000,0.067,2827,3251,2774,2738,2811,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5320,-0.82,-146.6,2826,3251,2738,2811,640.0,-10.9,271,5324,0.00,2.08,0.00,0.000,1030,0.000,0.055,2827,1845,2774,2738,2811,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5632,-0.82,-146.6,2827,1845,2738,2811,673.9,-10.8,282,5638,0.00,2.17,0.00,0.000,260,0.000,0.067,2823,3249,2774,2738,2811,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5724,-0.82,-146.6,2822,3249,2738,2810,684.6,-11.4,285,5730,0.00,2.05,0.00,0.000,1030,0.000,0.055,2823,1846,2774,2738,2811,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6055,-0.82,-146.6,2823,1846,2737,2811,724.2,-12.0,296,6060,0.00,2.15,0.00,0.000,260,0.000,0.070,2821,3242,2773,2736,2810,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6175,-0.82,-146.6,2821,3242,2737,2810,738.5,-12.0,300,6179,0.00,2.05,0.00,0.000,1030,0.000,0.055,2821,1842,2773,2737,2810,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6506,-0.82,-146.6,2820,1842,2736,2810,778.2,-11.6,311,6512,0.00,2.20,0.00,0.000,260,0.000,0.067,2816,3246,2773,2736,2810,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6670,-0.82,-146.6,2816,3246,2736,2810,795.8,-11.7,316,6673,0.00,2.08,0.00,0.000,1030,0.000,0.055,2816,1846,2773,2736,2810,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6982,-0.82,-146.6,2816,1846,2734,2809,834.9,-11.7,327,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1846,2772,2734,2810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7282,-0.82,-146.6,2816,1846,2732,2809,869.8,-11.6,337,7288,0.00,2.20,0.00,0.000,260,0.000,0.067,2810,3246,2770,2731,2810,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7464,-0.82,-146.6,2810,3247,2732,2808,890.2,-10.7,343,7470,0.00,2.05,0.00,0.000,1030,0.000,0.055,2810,1853,2770,2732,2808,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7794,-0.82,-146.6,2810,1853,2729,2808,928.8,-11.2,354,7799,0.00,2.17,0.00,0.000,260,0.000,0.067,2810,3249,2768,2729,2808,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7915,-0.82,-146.6,2810,3249,2729,2806,942.5,-11.4,358,7920,0.00,2.08,0.00,0.000,1030,0.000,0.055,2810,1844,2767,2729,2806,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8244,-0.82,-146.6,2810,1844,2726,2806,984.5,-14.4,369,8249,0.00,2.20,0.00,0.000,260,0.000,0.067,2810,3250,2766,2726,2806,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8351,-0.82,-146.6,2809,3251,2726,2805,995.6,-12.3,372,8355,0.00,2.10,0.00,0.000,1030,0.000,0.055,2809,1847,2765,2726,2805,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8689,-0.82,-146.6,2809,1847,2725,2805,1039.3,-12.7,378,8694,0.00,2.17,0.00,0.000,260,0.000,0.070,2809,3240,2764,2724,2805,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8761,-0.82,-146.6,2809,3240,2725,2804,1046.9,-12.9,379,8765,0.00,2.05,0.00,0.000,1030,0.000,0.055,2809,1851,2764,2725,2804,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9106,-0.82,-146.6,2809,1851,2723,2804,1091.3,-12.7,385,9111,0.00,2.15,0.00,0.000,260,0.000,0.067,2809,3236,2763,2723,2803,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9196,-0.82,-146.6,2809,3236,2723,2802,1098.7,-12.6,386,9200,0.00,2.08,0.00,0.000,1030,0.000,0.055,2809,1850,2762,2723,2802,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9519,-0.82,-146.6,2809,1849,2721,2802,1137.7,-10.8,392,9525,0.00,2.20,0.00,0.000,260,0.000,0.070,2809,3240,2761,2721,2802,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9624,-0.82,-146.6,2808,3240,2721,2800,1143.8,-10.7,393,9628,0.00,2.10,0.00,0.000,1030,0.000,0.055,2809,1842,2760,2721,2799,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9936,-0.82,-146.6,2809,1842,2719,2799,1182.3,-11.3,399,9942,0.00,2.20,0.00,0.000,260,0.000,0.067,2809,3244,2759,2719,2800,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10033,-0.82,-146.6,2809,3244,2719,2798,1188.6,-11.2,400,10037,0.00,2.10,0.00,0.000,1030,0.000,0.055,2809,1848,2758,2719,2798,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,10229,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10229,begin apogee
$GC,10234,-0.21,0.0,2808,1847,2717,2797,1215.6,-11.5,404,10344,0.68,0.00,106.32,1.783,10246,0.137,0.000,3031,1847,2276,2233,2320,0,0,0,0,0,0,25.06,28.83,23.01
$STATE,10347,end apogee,CONTROL_FINISHED_OK
$STATE,10347,begin climb
$GC,10349,0.82,146.6,3030,1847,2233,2320,1218.2,0.0,405,10471,0.93,2.35,112.55,1.733,10756,0.072,0.077,3394,464,1779,1737,1822,0,0,0,0,0,0,24.57,23.85,22.53
$GC,10697,0.82,390.3,3394,464,1736,1821,1228.9,-1.2,410,10894,0.00,2.12,189.32,1.748,9222,0.000,0.055,3394,1856,953,949,957,0,0,0,0,0,0,28.83,25.50,22.48
$GC,11241,0.82,390.3,3394,1856,950,958,1143.2,21.2,420,11247,0.00,2.22,0.00,0.000,516,0.000,0.067,3405,451,954,950,959,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11399,0.82,390.3,3405,451,949,959,1117.9,21.1,422,11404,0.17,2.12,0.00,0.000,5126,0.199,0.057,3361,1848,954,950,959,0,0,0,0,0,0,25.46,25.83,28.83
$GC,11716,0.82,390.3,3361,1848,949,959,1049.3,18.7,428,11722,0.00,2.17,0.00,0.000,260,0.000,0.070,3361,3249,954,950,959,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11790,0.82,390.3,3361,3249,950,959,1038.7,18.4,429,11794,0.00,2.12,0.00,0.000,1030,0.000,0.057,3372,1852,954,950,959,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,17086,end climb,SURFACE_DEPTH_REACHED
$STATE,17086,begin surface coast
$FINISH,-0.5,0.998047
$STATE,17106,end surface coast,CONTROL_FINISHED_OK
$STATE,17107,begin surface
$SM_CCo,17183,0.00,0.000,0,0,960,388.48
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$IRIDIUM_FIX,3208.42,-6443.59,210314,080816
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.12
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.4,17.7
$ALTIM_BOTTOM_PING,1155.4,63.9
$24V_AH,22.5,41.687
$10V_AH,10.4,6.423
$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
$DEVICE_SECS,21.575,145.175,408.200,0.000,0.000,74.831,123.865,289.718,27.250,0.000,14.020,1985.541,12446.913,451.670,2786.640,235.898,33.248,1658.598,0.000,2110.242,0.000,174.768,0.000
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$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330044
$DATA_FILE_SIZE,43630,664
$CAP_FILE_SIZE,168922,0
$CFSIZE,260165632,238964736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210314,130935,3219.268,-6433.717,37,1.7,42,-15.5