version: 66.12
glider: 35
mission: 22
dive: 9
start: 3 21 114 1 58 45
data:
$ID,35
$MISSION,22
$DIVE,9
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,720
$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,240
$T_MISSION,270
$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,-992690.62
$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,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,0
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,20
$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
$GPS1,210314,015259,3219.693,-6438.171,35,1.6,36,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.2
$GPS2,210314,015748,3219.684,-6438.192,11,1.7,16,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.172,-0.174
$KALMAN_X,-7583.1,-381.6,6.7,5887.0,-6550.8
$KALMAN_Y,3203.1,-162.5,71.6,-4792.6,1643.6
$MHEAD_RNG_PITCHd_Wd,150.8,22059,-19.7,-10.000,-22.22,2235
$D_GRID,720
$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,15,-0.82,-146.6,244,1772,1218,1298,0.0,0.0,0,89,0.00,0.00,-71.35,0.000,16386,0.000,0.000,244,1772,2432,2384,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.82,-146.6,245,1772,2384,2481,3.0,-3.7,7,121,11.25,0.00,-14.20,0.000,18694,0.278,0.000,2830,1772,2772,2734,2811,0,0,0,0,0,0,25.25,28.83,25.70
$GC,429,-0.82,-146.6,2830,1771,2734,2811,43.9,-12.6,41,432,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1772,2772,2734,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,740,-0.82,-146.6,2830,1772,2734,2811,85.7,-12.7,72,743,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1771,2772,2734,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1050,-0.82,-146.6,2830,1771,2734,2811,122.1,-11.6,103,1053,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1772,2773,2734,2812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1370,-0.82,-146.6,2830,1771,2734,2811,156.2,-10.1,132,1373,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1772,2772,2734,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-0.82,-146.6,2830,1772,2735,2811,189.9,-11.1,148,1693,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1772,2773,2735,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2011,-0.82,-146.6,2830,1772,2735,2811,219.9,-8.2,164,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1772,2773,2735,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2311,-0.82,-146.6,2829,1772,2735,2811,250.8,-11.4,179,2315,0.00,0.03,0.00,0.000,262,0.000,0.238,2830,1834,2773,2735,2811,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2633,-0.82,-146.6,2829,1834,2735,2812,286.6,-11.3,195,2636,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1834,2773,2735,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,-0.82,-146.6,2829,1834,2735,2811,328.1,-12.8,207,2946,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1834,2773,2735,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-0.82,-146.6,2829,1834,2734,2811,368.8,-12.4,218,3276,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1834,2773,2735,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3604,-0.82,-146.6,2830,1834,2735,2811,408.9,-12.0,229,3606,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1834,2773,2735,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3934,-0.82,-146.6,2830,1834,2735,2811,446.9,-10.5,240,3937,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1834,2773,2735,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4264,-0.82,-146.6,2830,1835,2735,2811,478.6,-9.2,251,4267,0.00,0.00,0.00,0.000,262,0.000,0.000,2830,1834,2773,2735,2811,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4503,begin apogee
$GC,4508,-0.21,0.0,2830,1834,2735,2811,500.2,-8.5,259,4616,0.62,0.00,102.00,1.222,10246,0.151,0.000,3030,1834,2276,2233,2320,0,0,0,0,0,0,25.28,28.83,23.84
$STATE,4617,end apogee,CONTROL_FINISHED_OK
$STATE,4617,begin climb
$GC,4620,0.82,146.6,3029,1834,2233,2320,501.2,0.0,262,4728,0.90,0.00,103.28,1.194,10502,0.099,0.000,3351,1834,1779,1736,1822,0,0,0,0,0,0,24.96,28.83,23.69
$GC,5040,0.82,146.6,3351,1834,1736,1822,456.3,12.2,277,5043,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1779,1736,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5370,0.82,146.6,3351,1834,1736,1823,416.9,11.3,288,5373,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1779,1736,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5700,0.82,146.6,3351,1834,1736,1822,383.2,10.1,299,5703,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1779,1736,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6031,0.82,157.6,3351,1834,1736,1822,351.3,9.5,310,6042,0.00,0.00,9.18,0.971,8454,0.000,0.000,3351,1834,1742,1699,1785,0,0,0,0,0,0,28.83,28.83,24.79
$GC,6356,0.82,157.6,3351,1834,1699,1785,318.6,10.0,321,6358,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1742,1699,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6676,0.82,157.6,3350,1834,1699,1785,282.4,12.1,334,6679,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1742,1699,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6996,0.82,157.6,3350,1834,1699,1785,246.5,11.3,350,6998,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1742,1699,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7316,0.82,157.6,3351,1834,1699,1785,208.6,12.9,366,7319,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1742,1699,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7637,0.82,157.6,3351,1834,1699,1785,170.8,11.5,382,7639,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1742,1699,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7947,0.82,164.9,3351,1834,1699,1785,134.9,9.7,404,7956,0.00,0.00,6.80,0.792,8454,0.000,0.000,3351,1834,1717,1674,1760,0,0,0,0,0,0,28.83,28.83,24.76
$GC,8258,0.82,178.6,3351,1834,1675,1760,108.7,9.4,435,8275,0.00,0.00,10.75,0.879,8454,0.000,0.000,3351,1834,1670,1627,1713,0,0,0,0,0,0,28.83,28.83,24.96
$GC,8578,0.82,178.6,3351,1834,1627,1713,74.2,11.6,467,8581,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1670,1627,1713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8889,0.82,178.6,3351,1834,1628,1713,39.1,13.0,498,8892,0.00,0.00,0.00,0.000,262,0.000,0.000,3351,1834,1670,1628,1713,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9187,end climb,SURFACE_DEPTH_REACHED
$STATE,9187,begin surface coast
$FINISH,-0.1,1.005657
$STATE,9218,end surface coast,CONTROL_FINISHED_OK
$STATE,9218,begin surface
$SM_CCo,9234,79.78,0.914,0,0,1259,300.22
$SM_GC,1.44,7.93,0.00,79.78,0.055,0.000,0.914,212,1838,1259,-8.91,1.07,300.22,0,0,0,0,0,0,26.27,28.83,24.37
$IRIDIUM_FIX,3208.42,-6434.50,200314,232317
$TT8_MAMPS,0.020223,0.020223
$HUMID,41.10
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,23.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,440.8,67.9
$24V_AH,23.7,41.328
$10V_AH,10.5,6.296
$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,20.700,0.025,232.000,79.775,0.000,31.341,37.111,121.722,9.250,0.000,19.326,1336.512,6624.420,329.075,1218.938,105.846,33.223,882.168,0.000,970.947,0.000,61.963,0.000
$DEVICE_MAMPS,278.096,238.368,1221.636,913.744,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.470,702.041,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330076
$DATA_FILE_SIZE,30222,531
$CAP_FILE_SIZE,68297,0
$CFSIZE,260165632,239190016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210314,043505,3219.347,-6438.603,26,1.3,27,-15.5