version: 66.12
glider: 35
mission: 22
dive: 57
start: 3 29 114 10 20 49
data:
$ID,35
$MISSION,22
$DIVE,57
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$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,300
$T_MISSION,330
$T_ABORT,1500
$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,2
$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,-997802.94
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$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,0
$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
$GPS1,290314,101405,3227.622,-6426.623,39,1.8,50,-15.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.2
$GPS2,290314,102026,3227.636,-6426.645,11,2.7,31,-15.6
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,NE_BDA
$TGT_LATLONG,3225.000,-6427.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.079,-0.232
$KALMAN_X,576.2,145.1,124.8,4333.4,2771.2
$KALMAN_Y,7085.1,850.9,-94.2,-1748.0,19617.9
$MHEAD_RNG_PITCHd_Wd,202.1,4913,-19.7,-10.000,-22.22,2235
$D_GRID,900
$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,-0.76,-146.6,221,2076,873,1090,0.0,0.0,0,119,0.00,0.00,-95.78,0.000,16390,0.000,0.000,222,2077,2496,2505,2488,0,0,0,0,0,0,28.83,28.83,25.68
$GC,123,-0.76,-146.6,221,2076,2505,2488,3.4,-4.9,10,140,10.82,2.08,0.00,0.000,2564,0.263,0.057,2810,689,2496,2506,2487,0,0,0,0,0,0,25.12,25.89,28.83
$GC,367,-0.52,-146.6,2810,689,2493,2483,36.8,-14.3,34,375,0.30,2.10,-0.22,0.000,19462,0.191,0.055,2881,2112,2501,2498,2505,0,0,0,0,0,0,25.31,26.05,24.13
$GC,674,-0.42,-146.6,2881,2112,2498,2505,70.5,-13.7,65,683,0.12,2.12,0.00,0.000,2564,0.201,0.060,2920,690,2501,2498,2504,0,0,0,0,0,0,25.98,26.04,28.83
$GC,909,-0.36,-146.6,2920,690,2497,2504,99.0,-11.4,88,917,0.00,2.08,0.00,0.000,1030,0.000,0.055,2912,2104,2501,2498,2505,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1216,-0.36,-146.6,2911,2104,2498,2505,128.8,-9.2,119,1225,0.00,2.10,0.00,0.000,516,0.000,0.062,2912,690,2501,2498,2505,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1452,-0.36,-146.6,2911,690,2498,2505,150.6,-9.4,141,1459,0.00,2.05,0.00,0.000,1030,0.000,0.055,2904,2105,2501,2498,2504,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1759,-0.36,-146.6,2904,2105,2498,2505,179.2,-8.7,157,1765,0.00,2.12,0.00,0.000,516,0.000,0.060,2904,690,2501,2497,2505,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1995,-0.31,-146.6,2904,690,2497,2505,199.1,-9.1,168,2004,0.17,2.08,0.00,0.000,3078,0.174,0.055,2947,2110,2501,2498,2505,0,0,0,0,0,0,25.79,26.23,28.83
$GC,2305,-0.37,-146.6,2947,2110,2497,2505,220.7,-6.7,184,2310,0.00,2.10,0.00,0.000,516,0.000,0.062,2948,698,2501,2498,2505,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2537,-0.37,-146.6,2948,698,2498,2505,235.9,-6.4,195,2544,0.00,2.03,0.00,0.000,1030,0.000,0.055,2947,2096,2501,2498,2505,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2847,-0.42,-146.6,2946,2096,2498,2505,257.3,-7.2,211,2852,0.00,2.10,0.00,0.000,516,0.000,0.062,2946,692,2500,2497,2504,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3079,-0.42,-146.6,2946,692,2498,2505,274.0,-7.5,222,3085,0.00,2.08,0.00,0.000,1030,0.000,0.055,2944,2108,2501,2498,2505,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3389,-0.47,-146.6,2944,2107,2498,2504,293.0,-5.8,238,3395,0.10,2.08,0.00,0.000,4612,0.124,0.060,2884,691,2501,2498,2505,0,0,0,0,0,0,26.48,26.10,28.83
$GC,3623,-0.41,-146.6,2884,691,2498,2505,313.1,-9.7,247,3630,0.17,2.08,0.00,0.000,3078,0.174,0.055,2924,2113,2501,2498,2505,0,0,0,0,0,0,25.77,26.22,28.83
$GC,3930,-0.41,-146.6,2924,2113,2497,2505,338.9,-7.5,258,3935,0.00,2.15,0.00,0.000,516,0.000,0.062,2924,683,2501,2497,2505,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4164,-0.41,-146.6,2924,683,2498,2505,357.4,-8.8,265,4172,0.00,2.08,0.00,0.000,1030,0.000,0.055,2919,2100,2501,2497,2505,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4471,-0.41,-146.6,2918,2100,2497,2505,386.1,-8.5,276,4476,0.00,2.10,0.00,0.000,516,0.000,0.062,2919,680,2501,2497,2505,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4644,-0.41,-146.6,2919,680,2497,2505,400.0,-9.4,281,4651,0.00,2.08,0.00,0.000,1030,0.000,0.055,2919,2097,2501,2498,2505,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4951,-0.41,-146.6,2918,2097,2498,2505,428.9,-8.8,292,4955,0.00,2.10,0.00,0.000,516,0.000,0.062,2919,697,2501,2497,2505,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5136,-0.41,-146.6,2919,689,2497,2505,445.6,-9.4,298,5140,0.00,2.08,0.00,0.000,1030,0.000,0.057,2919,2104,2501,2497,2505,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5460,-0.41,-146.6,2918,2104,2497,2505,470.6,-7.2,309,5465,0.00,2.08,0.00,0.000,516,0.000,0.060,2919,697,2501,2498,2505,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5642,-0.41,-146.6,2918,697,2498,2505,485.5,-8.2,315,5646,0.00,2.08,0.00,0.000,1030,0.000,0.055,2918,2111,2501,2498,2505,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5965,-0.41,-146.6,2918,2111,2497,2505,509.9,-7.5,326,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2111,2500,2497,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,-0.46,-146.6,2918,2111,2497,2504,533.3,-8.0,336,6268,0.00,2.12,0.00,0.000,516,0.000,0.062,2918,713,2501,2498,2505,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6496,-0.46,-146.6,2918,692,2497,2505,552.2,-9.0,343,6500,0.00,2.08,0.00,0.000,1030,0.000,0.055,2918,2110,2501,2498,2505,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6803,-0.46,-146.6,2918,2110,2498,2504,575.9,-6.9,353,6808,0.00,2.15,0.00,0.000,516,0.000,0.062,2919,682,2501,2498,2504,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7036,-0.46,-146.6,2918,682,2497,2505,593.4,-8.7,360,7042,0.00,2.08,0.00,0.000,1030,0.000,0.055,2918,2110,2501,2498,2505,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7344,-0.52,-146.6,2918,2110,2497,2504,623.6,-8.9,371,7349,0.08,2.10,0.00,0.000,4612,0.149,0.060,2863,695,2500,2497,2504,0,0,0,0,0,0,26.51,26.05,28.83
$GC,7578,-0.47,-146.6,2863,696,2497,2505,649.3,-12.2,378,7586,0.17,2.05,0.00,0.000,3078,0.176,0.055,2901,2109,2501,2498,2505,0,0,0,0,0,0,25.72,26.20,28.83
$GC,7884,-0.47,-146.6,2901,2109,2498,2504,678.8,-8.5,389,7890,0.00,2.12,0.00,0.000,516,0.000,0.062,2901,684,2500,2497,2504,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8018,-0.47,-146.6,2901,685,2497,2504,690.5,-9.8,393,8022,0.00,2.08,0.00,0.000,1030,0.000,0.055,2895,2098,2501,2497,2505,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8330,-0.47,-146.6,2894,2098,2497,2504,720.5,-9.4,404,8336,0.00,2.08,0.00,0.000,516,0.000,0.062,2895,699,2500,2497,2504,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8408,-0.47,-146.6,2894,698,2497,2504,726.6,-9.9,406,8412,0.00,2.05,0.00,0.000,1030,0.000,0.055,2891,2107,2501,2498,2504,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8715,-0.47,-146.6,2891,2106,2497,2501,760.1,-10.5,416,8721,0.00,2.12,0.00,0.000,516,0.000,0.062,2891,686,2499,2497,2502,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8767,-0.47,-146.6,2891,686,2496,2502,763.8,-10.6,417,8774,0.00,2.10,0.00,0.000,1030,0.000,0.055,2891,2110,2499,2496,2502,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9075,-0.47,-146.6,2891,2110,2496,2501,799.3,-10.7,428,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2110,2499,2497,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,-0.47,-146.6,2891,2110,2496,2500,828.4,-9.7,438,9380,0.00,2.15,0.00,0.000,516,0.000,0.062,2891,693,2497,2496,2499,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9509,-0.47,-146.6,2891,693,2494,2500,842.2,-11.3,442,9513,0.00,2.08,0.00,0.000,1030,0.000,0.055,2891,2099,2497,2494,2500,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9821,-0.47,-146.6,2891,2099,2494,2499,876.6,-10.5,453,9826,0.00,2.15,0.00,0.000,516,0.000,0.062,2891,683,2496,2494,2499,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,9909,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9909,begin apogee
$GC,9916,-0.19,0.0,2890,2100,2493,2499,886.9,-11.3,456,10031,0.30,0.00,108.75,1.505,10246,0.154,0.000,2988,2100,2000,1962,2038,0,0,0,0,0,0,25.67,28.83,23.33
$STATE,10033,end apogee,CONTROL_FINISHED_OK
$STATE,10033,begin climb
$GC,10035,0.76,146.6,2988,2100,1962,2038,894.3,0.0,460,10162,0.85,2.35,117.25,1.475,10500,0.122,0.072,3272,3504,1503,1435,1572,0,0,0,0,0,0,24.78,24.31,23.02
$GC,10309,0.86,204.6,3272,3504,1437,1572,880.9,7.3,469,10363,0.10,2.17,48.47,1.440,11270,0.119,0.052,3339,2079,1307,1219,1395,0,0,0,0,0,0,25.56,25.62,23.53
$GC,10686,0.86,204.6,3339,2079,1221,1395,842.6,10.0,482,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2079,1308,1221,1395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10986,0.86,204.6,3339,2079,1221,1395,812.0,10.4,492,10991,0.00,2.25,0.00,0.000,260,0.000,0.067,3339,3506,1307,1221,1394,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11219,0.86,204.6,3339,3505,1222,1392,787.9,11.5,499,11225,0.00,2.08,0.00,0.000,1030,0.000,0.052,3350,2105,1307,1222,1392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11526,0.86,224.7,3350,2104,1221,1392,755.6,9.1,510,11549,0.00,2.22,18.00,1.321,8452,0.000,0.072,3350,3505,1236,1140,1333,0,0,0,0,0,0,28.83,25.82,24.34
$GC,11735,0.86,224.7,3349,3504,1141,1329,732.3,11.7,516,11740,0.15,2.10,0.00,0.000,5126,0.171,0.052,3319,2095,1235,1141,1329,0,0,0,0,0,0,25.77,26.06,28.83
$GC,12059,0.94,251.0,3319,2095,1141,1329,703.3,8.8,527,12088,0.00,2.22,21.70,1.326,8452,0.000,0.072,3319,3503,1148,1039,1257,0,0,0,0,0,0,28.83,25.68,24.30
$GC,12196,1.00,251.0,3319,3504,1039,1255,690.3,10.3,531,12202,0.10,2.10,0.00,0.000,3078,0.122,0.052,3382,2108,1147,1039,1255,0,0,0,0,0,0,25.87,25.93,28.83
$GC,12510,1.00,251.0,3381,2108,1039,1255,647.4,13.4,542,12516,0.00,2.20,0.00,0.000,260,0.000,0.067,3382,3513,1147,1039,1255,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12640,0.94,251.0,3381,3513,1039,1255,628.5,15.7,546,12647,0.15,2.12,0.00,0.000,5126,0.179,0.052,3351,2100,1147,1039,1255,0,0,0,0,0,0,25.82,26.16,28.83
$GC,12960,0.94,251.0,3351,2100,1039,1255,585.6,12.9,557,12964,0.00,2.20,0.00,0.000,260,0.000,0.070,3352,3489,1147,1039,1255,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,16907,end climb,SURFACE_DEPTH_REACHED
$STATE,16907,begin surface coast
$FINISH,0.2,1.025772
$STATE,16929,end surface coast,CONTROL_FINISHED_OK
$STATE,16929,begin surface
$SM_CCo,16945,37.28,0.899,0,0,983,300.22
$SM_GC,1.30,8.02,0.00,37.28,0.055,0.000,0.899,237,2087,983,-8.72,-0.37,300.22,0,0,0,0,0,0,26.13,28.83,24.55
$IRIDIUM_FIX,3216.07,-6352.36,290314,050520
$TT8_MAMPS,0.019474,0.019474
$HUMID,40.98
$INTERNAL_PRESSURE,8.61361
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.0,48.658
$10V_AH,10.4,9.227
$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
$DEVICE_SECS,22.050,144.575,314.175,37.275,0.000,26.147,43.494,181.315,20.000,0.000,33.946,2230.497,11607.307,467.813,2833.975,218.912,0.000,1797.279,0.000,2452.169,0.000,124.844,0.000
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$SENSOR_SECS,524.213,1014.789,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329656
$DATA_FILE_SIZE,46855,768
$CAP_FILE_SIZE,176261,0
$CFSIZE,260165632,236064768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290314,150526,3226.728,-6425.279,34,2.1,54,-15.6