version: 66.12
glider: 35
mission: 22
dive: 36
start: 3 24 114 22 27 24
data:
$ID,35
$MISSION,22
$DIVE,36
$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,12
$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,-992879.19
$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,60
$R_STBD_OVSHOOT,49
$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
$GPS1,240314,222248,3220.497,-6435.861,12,1.9,29,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.2
$GPS2,240314,222701,3220.504,-6435.834,10,1.7,10,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.026,0.243
$KALMAN_X,1980.3,0.0,0.0,-26659.6,-93239.2
$KALMAN_Y,-17797.9,0.0,0.0,22448.9,-991604.8
$MHEAD_RNG_PITCHd_Wd,170.3,21496,-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,16,-0.76,-146.6,242,2103,1067,1297,0.0,0.0,0,101,0.00,0.00,-82.10,0.000,16390,0.000,0.000,242,2103,2496,2469,2524,0,0,0,0,0,0,28.83,28.83,25.88
$GC,104,-0.76,-146.6,242,2103,2469,2524,2.8,-3.6,8,120,10.82,2.15,0.00,0.000,2564,0.271,0.060,2812,700,2496,2469,2524,0,0,0,0,0,0,25.35,25.98,28.83
$GC,345,-0.57,-146.6,2812,700,2466,2524,38.5,-16.0,32,353,0.22,2.05,0.00,0.000,3078,0.199,0.057,2861,2104,2495,2466,2524,0,0,0,0,0,0,25.67,26.18,28.83
$GC,654,-0.51,-146.6,2861,2104,2466,2523,71.6,-10.0,63,663,0.00,2.08,0.00,0.000,516,0.000,0.062,2862,708,2494,2466,2523,0,0,0,0,0,0,28.83,26.21,28.83
$GC,856,-0.43,-146.6,2861,708,2465,2524,91.6,-10.0,83,865,0.22,2.00,0.00,0.000,3078,0.189,0.055,2914,2099,2494,2465,2523,0,0,0,0,0,0,25.80,26.30,28.83
$GC,1166,-0.43,-146.6,2913,2099,2465,2523,114.4,-7.3,114,1169,0.00,2.12,0.00,0.000,260,0.000,0.070,2903,3489,2494,2465,2523,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1328,-0.43,-146.6,2902,3502,2465,2523,126.3,-7.7,130,1336,0.00,2.03,0.00,0.000,1030,0.000,0.055,2903,2093,2494,2465,2523,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1639,-0.43,-146.6,2902,2094,2465,2523,150.1,-8.8,161,1644,0.00,2.15,0.00,0.000,260,0.000,0.070,2901,3497,2494,2465,2523,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1741,-0.43,-146.6,2901,3497,2465,2523,158.3,-8.1,166,1745,0.00,2.03,0.00,0.000,1030,0.000,0.052,2902,2089,2494,2465,2523,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2054,-0.43,-146.6,2901,2089,2465,2523,181.8,-7.6,182,2059,0.00,2.00,0.00,0.000,516,0.000,0.065,2901,709,2494,2465,2523,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2288,-0.43,-146.6,2901,709,2464,2523,196.5,-5.7,193,2294,0.00,2.00,0.00,0.000,1030,0.000,0.057,2901,2096,2493,2464,2523,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2595,-0.43,-146.6,2901,2096,2464,2523,212.1,-3.8,209,2601,0.00,2.08,0.00,0.000,516,0.000,0.062,2902,704,2493,2463,2523,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2800,-0.43,-146.6,2902,704,2463,2523,224.1,-6.3,219,2804,0.00,2.03,0.00,0.000,1030,0.000,0.057,2902,2106,2493,2463,2523,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3115,-0.43,-146.6,2901,2106,2463,2523,242.3,-5.7,235,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2106,2493,2463,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3414,-0.43,-146.6,2901,2106,2463,2522,261.3,-6.4,250,3419,0.00,2.05,0.00,0.000,516,0.000,0.062,2902,708,2493,2463,2523,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3500,-0.43,-146.6,2901,708,2463,2523,266.8,-7.0,254,3504,0.00,2.03,0.00,0.000,1030,0.000,0.055,2902,2111,2493,2463,2523,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3809,-0.43,-146.6,2901,2111,2463,2522,286.5,-6.1,269,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2111,2493,2463,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4107,-0.43,-146.6,2901,2111,2463,2521,304.6,-6.2,283,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2111,2492,2463,2522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4408,-0.43,-146.6,2901,2111,2463,2521,323.0,-6.0,293,4413,0.00,2.10,0.00,0.000,516,0.000,0.062,2901,705,2492,2463,2521,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4547,-0.43,-146.6,2901,705,2462,2521,332.0,-7.5,297,4551,0.00,2.05,0.00,0.000,1030,0.000,0.057,2901,2107,2492,2463,2521,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4853,-0.48,-146.6,2901,2107,2463,2521,352.8,-6.2,307,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2107,2492,2463,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5153,-0.54,-146.6,2901,2107,2463,2521,372.7,-6.7,317,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2107,2491,2463,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5454,-0.60,-146.6,2901,2107,2463,2520,391.8,-6.0,327,5460,0.10,2.03,0.00,0.000,4612,0.124,0.060,2844,718,2491,2463,2520,0,0,0,0,0,0,26.48,26.21,28.83
$GC,5576,-0.60,-146.6,2843,717,2463,2520,402.3,-8.9,331,5580,0.00,2.03,0.00,0.000,1030,0.000,0.055,2836,2101,2491,2462,2520,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5904,-0.60,-146.6,2835,2101,2462,2520,434.5,-10.3,342,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2101,2490,2461,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6204,-0.60,-146.6,2836,2101,2462,2519,465.7,-10.8,352,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2101,2491,2462,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6504,-0.60,-146.6,2836,2101,2462,2519,495.8,-9.4,362,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2101,2490,2462,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6804,-0.60,-146.6,2836,2101,2462,2518,523.8,-9.6,372,6810,0.00,2.15,0.00,0.000,260,0.000,0.067,2825,3501,2490,2462,2518,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6864,-0.60,-146.6,2825,3501,2462,2518,529.9,-10.0,374,6869,0.12,2.03,0.00,0.000,3078,0.181,0.052,2857,2096,2489,2462,2517,0,0,0,0,0,0,26.00,26.34,28.83
$GC,7198,-0.60,-146.6,2856,2096,2462,2517,558.4,-8.8,385,7203,0.00,2.05,0.00,0.000,516,0.000,0.065,2857,713,2489,2462,2517,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7300,-0.60,-146.6,2856,713,2461,2517,567.1,-9.3,388,7304,0.00,2.03,0.00,0.000,1030,0.000,0.055,2851,2111,2489,2461,2517,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7612,-0.60,-146.6,2850,2112,2461,2517,596.5,-8.8,399,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2111,2489,2461,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7912,-0.60,-146.6,2851,2111,2461,2516,622.6,-9.1,409,7918,0.00,2.10,0.00,0.000,516,0.000,0.062,2851,711,2488,2461,2516,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8010,-0.60,-146.6,2850,711,2460,2516,631.7,-9.7,412,8014,0.00,2.03,0.00,0.000,1030,0.000,0.057,2850,2105,2488,2460,2516,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8327,-0.60,-146.6,2850,2105,2460,2516,664.0,-9.8,423,8333,0.00,2.15,0.00,0.000,260,0.000,0.070,2849,3496,2487,2460,2515,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8406,-0.60,-146.6,2848,3496,2460,2515,670.5,-10.2,425,8410,0.00,2.05,0.00,0.000,1030,0.000,0.052,2849,2098,2487,2460,2515,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8714,-0.60,-146.6,2849,2098,2460,2515,705.2,-11.3,435,8719,0.00,2.08,0.00,0.000,516,0.000,0.065,2849,710,2487,2460,2515,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8826,-0.60,-146.6,2849,710,2458,2515,715.8,-11.7,438,8833,0.00,2.03,0.00,0.000,1030,0.000,0.055,2849,2104,2486,2458,2514,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9134,-0.60,-146.6,2848,2105,2458,2514,747.8,-9.3,449,9138,0.00,2.08,0.00,0.000,516,0.000,0.062,2849,715,2486,2459,2514,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9213,-0.60,-146.6,2849,715,2457,2514,754.8,-10.1,451,9217,0.00,2.03,0.00,0.000,1030,0.000,0.055,2846,2108,2485,2457,2514,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9520,-0.60,-146.6,2846,2108,2457,2513,787.8,-10.5,461,9526,0.00,2.10,0.00,0.000,516,0.000,0.062,2847,712,2485,2457,2513,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9644,-0.60,-146.6,2846,712,2456,2512,800.9,-10.9,465,9648,0.00,2.05,0.00,0.000,1030,0.000,0.055,2838,2107,2484,2456,2513,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9966,-0.60,-146.6,2837,2107,2456,2512,837.0,-11.6,476,9970,0.00,2.10,0.00,0.000,516,0.000,0.062,2837,709,2484,2456,2512,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10045,-0.60,-146.6,2837,709,2455,2512,844.6,-12.0,478,10049,0.00,2.03,0.00,0.000,1030,0.000,0.057,2837,2096,2483,2455,2512,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10352,-0.60,-146.6,2836,2096,2455,2511,881.6,-10.9,488,10356,0.00,2.08,0.00,0.000,516,0.000,0.065,2837,712,2483,2455,2511,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10452,-0.60,-146.6,2837,712,2455,2511,892.8,-12.1,491,10456,0.00,2.05,0.00,0.000,1030,0.000,0.055,2837,2101,2483,2455,2511,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,10497,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10497,begin apogee
$GC,10501,-0.19,0.0,2836,2101,2455,2511,899.2,-11.9,493,10611,0.47,0.00,104.40,1.480,10246,0.159,0.000,2986,2102,1999,1968,2031,0,0,0,0,0,0,25.49,28.83,23.61
$STATE,10613,end apogee,CONTROL_FINISHED_OK
$STATE,10613,begin climb
$GC,10615,0.76,146.6,2986,2102,1968,2032,904.7,0.0,496,10740,0.85,2.33,113.82,1.440,10500,0.117,0.074,3273,3498,1502,1441,1564,0,0,0,0,0,0,24.90,24.56,23.37
$GC,10806,0.76,195.1,3273,3498,1442,1564,893.7,7.8,503,10852,0.00,2.12,39.97,1.435,9222,0.000,0.052,3284,2104,1338,1248,1429,0,0,0,0,0,0,28.83,25.41,23.58
$GC,11161,0.84,247.9,3284,2105,1250,1429,866.2,7.6,515,11211,0.05,2.25,42.53,1.455,10756,0.189,0.070,3327,712,1159,1037,1282,0,0,0,0,0,0,26.14,25.13,23.98
$GC,11317,0.84,247.9,3328,712,1034,1282,848.7,12.1,520,11321,0.00,2.10,0.00,0.000,1030,0.000,0.055,3328,2100,1158,1034,1282,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11634,0.84,247.9,3328,2100,1034,1281,805.8,13.0,531,11639,0.00,2.10,0.00,0.000,516,0.000,0.065,3338,706,1157,1034,1281,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11672,0.84,247.9,3338,706,1034,1281,801.8,13.2,532,11676,0.00,2.08,0.00,0.000,1030,0.000,0.057,3338,2113,1157,1034,1281,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,17273,end climb,SURFACE_DEPTH_REACHED
$STATE,17274,begin surface coast
$FINISH,-0.3,1.025663
$STATE,17294,end surface coast,CONTROL_FINISHED_OK
$STATE,17294,begin surface
$SM_CCo,17310,39.45,0.869,0,0,982,300.22
$SM_GC,0.83,8.12,0.00,39.45,0.062,0.000,0.869,225,2104,982,-8.78,0.11,300.22,0,0,0,0,0,0,25.91,28.83,24.70
$IRIDIUM_FIX,3208.42,-6437.90,240314,212138
$TT8_MAMPS,0.020223,0.020223
$HUMID,42.43
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,22.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,833.7,73.3
$24V_AH,23.4,45.570
$10V_AH,10.4,7.557
$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,21.475,129.100,300.725,39.450,0.000,31.213,41.042,94.065,19.000,0.000,13.264,2218.213,12469.333,423.374,2292.144,216.604,0.000,1561.272,0.000,2033.799,0.000,120.117,0.000
$DEVICE_MAMPS,270.647,74.490,1479.868,869.050,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,0.000,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.560,1051.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330108
$DATA_FILE_SIZE,50245,795
$CAP_FILE_SIZE,160664,0
$CFSIZE,260165632,237711360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,031754,3218.841,-6434.869,39,1.1,39,-15.5