version: 66.12
glider: 35
mission: 22
dive: 38
start: 3 25 114 8 0 31
data:
$ID,35
$MISSION,22
$DIVE,38
$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,13
$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,-992881.69
$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,68
$R_STBD_OVSHOOT,43
$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
$GPS1,250314,075206,3221.327,-6434.861,35,1.2,35,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.6
$GPS2,250314,080007,3221.357,-6434.841,11,1.2,11,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.018,0.244
$KALMAN_X,5909.8,0.0,0.0,-24108.6,3112.7
$KALMAN_Y,-30263.8,0.0,0.0,36906.3,-80522.4
$MHEAD_RNG_PITCHd_Wd,19.6,22361,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.6,207,2115,868,1098,0.0,0.0,0,118,0.00,0.00,-95.47,0.000,16390,0.000,0.000,208,2116,2497,2488,2506,0,0,0,0,0,0,28.83,28.83,25.66
$GC,122,-0.76,-146.6,207,2115,2488,2506,3.6,-5.4,10,139,10.95,2.12,0.00,0.000,2564,0.266,0.060,2809,705,2496,2488,2504,0,0,0,0,0,0,25.13,25.84,28.83
$GC,263,-0.57,-146.6,2809,705,2482,2501,24.7,-16.7,24,273,0.25,2.08,0.00,0.000,3078,0.201,0.057,2864,2110,2491,2482,2501,0,0,0,0,0,0,25.29,25.98,28.83
$GC,572,-0.50,-146.6,2863,2110,2482,2498,57.7,-8.5,55,581,0.00,2.12,0.00,0.000,516,0.000,0.062,2864,705,2489,2481,2498,0,0,0,0,0,0,28.83,26.01,28.83
$GC,653,-0.41,-146.6,2864,705,2481,2498,65.7,-10.3,63,664,0.22,2.05,-0.17,0.000,19462,0.186,0.055,2917,2099,2505,2491,2519,0,0,0,0,0,0,25.52,26.13,22.89
$GC,963,-0.41,-146.6,2917,2099,2490,2519,88.5,-8.1,94,967,0.00,2.08,0.00,0.000,516,0.000,0.062,2917,711,2504,2490,2519,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1109,-0.41,-146.6,2917,708,2490,2519,99.9,-7.8,108,1118,0.00,2.03,0.00,0.000,1030,0.000,0.057,2916,2098,2504,2490,2519,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1417,-0.41,-146.6,2915,2098,2490,2519,120.4,-5.9,139,1425,0.00,2.10,0.00,0.000,260,0.000,0.067,2905,3494,2504,2490,2519,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1511,-0.41,-146.6,2905,3494,2490,2519,126.6,-6.7,148,1517,0.00,2.03,0.00,0.000,1030,0.000,0.052,2905,2096,2504,2490,2519,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1818,-0.41,-146.6,2905,2095,2490,2519,150.2,-8.8,179,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2095,2504,2490,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.41,-146.6,2905,2095,2490,2519,172.7,-7.5,194,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2095,2504,2490,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2419,-0.41,-146.6,2905,2095,2490,2518,194.0,-7.1,209,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2095,2504,2490,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2718,-0.41,-146.6,2905,2095,2490,2519,212.7,-6.4,224,2723,0.00,2.03,0.00,0.000,516,0.000,0.065,2905,713,2504,2490,2518,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2859,-0.41,-146.6,2905,713,2490,2519,223.2,-7.9,231,2864,0.00,2.03,0.00,0.000,1030,0.000,0.055,2904,2107,2504,2490,2519,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3179,-0.41,-146.6,2904,2108,2490,2519,244.1,-5.8,247,3184,0.00,2.10,0.00,0.000,260,0.000,0.070,2902,3498,2504,2490,2519,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3308,-0.41,-146.6,2902,3498,2490,2519,250.9,-5.5,253,3312,0.00,2.03,0.00,0.000,1030,0.000,0.052,2902,2095,2504,2490,2519,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3615,-0.41,-146.6,2901,2095,2490,2519,266.1,-4.8,268,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2095,2504,2490,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3914,-0.41,-146.6,2902,2095,2490,2519,284.5,-6.6,283,3920,0.00,2.05,0.00,0.000,516,0.000,0.065,2902,713,2504,2490,2519,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4128,-0.41,-146.6,2901,713,2490,2519,299.2,-7.4,293,4135,0.00,2.03,0.00,0.000,1030,0.000,0.055,2897,2111,2504,2490,2519,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4438,-0.41,-146.6,2897,2111,2490,2519,320.7,-6.6,304,4443,0.00,2.05,0.00,0.000,516,0.000,0.062,2898,713,2504,2490,2519,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4589,-0.41,-146.6,2897,713,2490,2519,330.6,-6.7,309,4593,0.00,2.03,0.00,0.000,1030,0.000,0.055,2891,2112,2504,2490,2519,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4917,-0.41,-146.6,2891,2112,2490,2519,354.3,-7.6,320,4923,0.00,2.05,0.00,0.000,516,0.000,0.062,2891,715,2504,2490,2518,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4977,-0.41,-146.6,2891,715,2490,2519,359.4,-8.4,322,4980,0.00,2.03,0.00,0.000,1030,0.000,0.055,2891,2101,2504,2490,2519,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5308,-0.41,-146.6,2890,2102,2490,2519,382.0,-6.3,333,5314,0.00,2.05,0.00,0.000,516,0.000,0.062,2891,711,2505,2491,2519,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5368,-0.41,-146.6,2891,712,2490,2519,386.3,-6.8,335,5374,0.00,2.03,0.00,0.000,1030,0.000,0.055,2892,2110,2504,2490,2519,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5698,-0.41,-146.6,2890,2110,2490,2518,406.1,-5.8,346,5704,0.00,2.08,0.00,0.000,516,0.000,0.062,2891,705,2504,2490,2519,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5813,-0.41,-146.6,2890,705,2490,2519,411.9,-6.2,349,5819,0.00,2.03,0.00,0.000,1030,0.000,0.055,2891,2099,2504,2490,2518,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6119,-0.41,-146.6,2890,2099,2490,2519,431.4,-5.8,360,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2099,2504,2490,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6419,-0.41,-146.6,2890,2099,2490,2518,452.7,-7.2,370,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2099,2504,2490,2518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6718,-0.41,-146.6,2890,2099,2490,2518,473.8,-6.5,380,6724,0.00,2.05,0.00,0.000,516,0.000,0.062,2891,713,2504,2490,2518,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6848,-0.41,-146.6,2890,713,2490,2519,481.6,-6.5,384,6852,0.00,2.03,0.00,0.000,1030,0.000,0.055,2891,2108,2504,2490,2519,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7166,-0.46,-146.6,2891,2108,2490,2519,502.1,-6.3,395,7171,0.00,2.10,0.00,0.000,516,0.000,0.062,2891,712,2504,2490,2519,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7346,-0.46,-146.6,2890,712,2490,2519,511.7,-5.3,401,7352,0.00,2.03,0.00,0.000,1030,0.000,0.055,2890,2106,2504,2490,2519,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7677,-0.65,-146.6,2890,2107,2490,2518,515.2,-0.1,412,7683,0.12,2.12,0.00,0.000,4356,0.104,0.070,2811,3494,2504,2490,2519,0,0,0,0,0,0,26.50,25.96,28.83
$STATE,7824,end dive,NO_VERTICAL_VELOCITY
$STATE,7824,begin apogee
$GC,7831,-0.19,0.0,2811,2087,2490,2518,515.1,0.0,417,7945,0.55,0.00,105.53,1.204,10246,0.154,0.000,2985,2084,1999,1972,2027,0,0,0,0,0,0,25.34,28.83,23.76
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7948,begin climb
$GC,7949,0.76,146.6,2985,2084,1972,2027,514.1,0.0,421,8067,0.85,2.25,109.03,1.172,10756,0.122,0.067,3275,709,1502,1469,1535,0,0,0,0,0,0,24.98,24.72,23.62
$GC,8230,0.88,203.5,3274,708,1469,1536,494.2,7.4,430,8283,0.12,2.08,43.38,1.172,11270,0.112,0.055,3342,2105,1310,1246,1375,0,0,0,0,0,0,25.70,25.75,24.01
$GC,8584,0.88,203.5,3342,2105,1246,1375,443.7,15.8,442,8589,0.00,2.10,0.00,0.000,516,0.000,0.065,3352,719,1310,1246,1375,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8655,0.88,203.5,3352,719,1246,1375,434.7,15.5,444,8658,0.00,2.03,0.00,0.000,1030,0.000,0.057,3352,2099,1310,1246,1375,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8967,0.88,203.5,3352,2099,1246,1375,386.0,14.8,455,8972,0.00,2.12,0.00,0.000,516,0.000,0.065,3362,705,1310,1246,1375,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9015,0.88,203.5,3362,705,1246,1375,381.5,14.6,456,9019,0.00,2.05,0.00,0.000,1030,0.000,0.055,3362,2107,1310,1246,1375,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9322,0.88,203.5,3362,2108,1246,1375,331.0,15.7,466,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2108,1310,1246,1375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9632,0.88,203.5,3362,2108,1246,1375,284.4,15.3,478,9636,0.00,2.10,0.00,0.000,516,0.000,0.065,3373,720,1310,1246,1375,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9706,0.88,203.5,3372,714,1246,1375,275.5,14.7,481,9714,0.15,2.03,0.00,0.000,5126,0.181,0.055,3333,2101,1310,1246,1375,0,0,0,0,0,0,25.86,26.22,28.83
$GC,10013,0.88,203.5,3333,2101,1246,1374,232.7,13.6,497,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2101,1310,1246,1375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10313,0.88,203.5,3333,2101,1246,1375,191.4,14.0,512,10318,0.00,2.10,0.00,0.000,516,0.000,0.065,3343,713,1310,1246,1375,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10366,0.88,203.5,3343,713,1246,1374,186.0,13.8,514,10373,0.00,2.03,0.00,0.000,1030,0.000,0.055,3343,2105,1310,1246,1375,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10673,0.88,203.5,3343,2106,1245,1375,144.2,12.9,532,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2106,1310,1246,1375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10975,0.88,203.5,3343,2106,1246,1375,103.4,15.4,562,10984,0.00,2.12,0.00,0.000,260,0.000,0.070,3343,3502,1310,1246,1375,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11026,0.88,203.5,3343,3502,1247,1375,94.9,16.7,567,11035,0.00,2.08,0.00,0.000,1030,0.000,0.055,3353,2103,1311,1247,1375,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11338,0.88,203.5,3353,2103,1247,1375,49.2,11.9,598,11346,0.00,2.08,0.00,0.000,516,0.000,0.067,3364,710,1311,1247,1375,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11388,0.88,203.5,3364,710,1246,1375,41.5,15.1,603,11398,0.12,2.03,0.00,0.000,5126,0.184,0.055,3331,2103,1311,1247,1375,0,0,0,0,0,0,25.94,26.24,28.83
$STATE,11676,end climb,SURFACE_DEPTH_REACHED
$STATE,11676,begin surface coast
$FINISH,-0.2,1.020654
$STATE,11708,end surface coast,CONTROL_FINISHED_OK
$STATE,11708,begin surface
$SM_CCo,11723,73.03,0.874,0,0,983,300.22
$SM_GC,0.99,7.88,0.00,73.03,0.055,0.000,0.874,208,2103,983,-8.76,0.08,300.22,0,0,0,0,0,0,26.30,28.83,24.43
$IRIDIUM_FIX,3205.87,-6435.59,250314,030337
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.31
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,22.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,481.6,66.0
$24V_AH,22.9,45.858
$10V_AH,10.4,7.677
$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,21.225,86.750,257.925,73.025,0.000,29.007,47.646,299.106,10.500,0.000,15.282,1710.332,7981.079,436.055,1967.560,183.329,0.384,1309.639,0.000,1547.300,0.000,65.176,0.000
$DEVICE_MAMPS,265.681,69.524,1204.255,874.016,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.257,839.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330224
$DATA_FILE_SIZE,36874,635
$CAP_FILE_SIZE,119906,0
$CFSIZE,260165632,237625344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,111824,3223.278,-6434.402,36,1.9,36,-15.5