version: 66.12
glider: 35
mission: 22
dive: 52
start: 3 26 114 5 31 12
data:
$ID,35
$MISSION,22
$DIVE,52
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,140
$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,0
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,90
$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,-993519.44
$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,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,36
$R_STBD_OVSHOOT,47
$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,50
$ALTIM_PING_DELTA,5
$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
$GPS1,260314,051745,3227.748,-6431.607,13,2.5,33,-15.5
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-59.5
$GPS2,260314,053015,3227.957,-6431.449,10,2.4,30,-15.5
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HEADING
$TGT_LATLONG,3227.957,-6418.649
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.207,-0.131
$KALMAN_X,317.9,105.1,22.8,2845.9,481.6
$KALMAN_Y,4051.1,1191.4,129.3,-836.5,944.2
$MHEAD_RNG_PITCHd_Wd,105.5,20000,-19.7,-10.000,-22.22,2235
$D_GRID,360
$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,-146.6,226,2109,878,1086,0.0,0.0,0,119,0.00,0.00,-96.15,0.000,16390,0.000,0.000,225,2109,2496,2493,2500,0,0,0,0,0,0,28.83,28.83,25.89
$GC,123,-0.76,-146.6,225,2109,2492,2500,3.4,-4.7,10,140,11.52,2.15,0.00,0.000,2308,0.288,0.062,2793,3510,2493,2493,2494,0,0,0,0,0,0,25.44,25.99,28.83
$GC,366,-0.52,-146.6,2794,3510,2487,2491,40.3,-15.0,34,374,0.32,2.12,-0.20,0.000,19462,0.199,0.052,2880,2063,2502,2496,2508,0,0,0,0,0,0,25.49,26.21,23.50
$GC,674,-0.44,-146.6,2880,2063,2496,2508,71.1,-8.9,65,682,0.00,2.22,0.00,0.000,260,0.000,0.070,2871,3498,2502,2496,2508,0,0,0,0,0,0,28.83,26.14,28.83
$GC,909,-0.34,-146.6,2870,3498,2496,2508,94.6,-8.9,88,917,0.25,2.05,0.00,0.000,3078,0.176,0.052,2941,2088,2502,2496,2508,0,0,0,0,0,0,25.76,26.33,28.83
$GC,1217,-0.34,-146.6,2940,2088,2496,2508,109.8,-4.7,119,1226,0.00,2.17,0.00,0.000,260,0.000,0.070,2931,3504,2502,2496,2508,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1273,-0.34,-146.6,2930,3504,2496,2508,113.1,-5.1,124,1280,0.00,2.05,0.00,0.000,1030,0.000,0.052,2931,2101,2502,2496,2508,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1579,-0.34,-146.6,2931,2100,2496,2508,136.3,-8.9,155,1587,0.00,2.05,0.00,0.000,516,0.000,0.065,2931,703,2502,2496,2508,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1816,-0.34,-146.6,2930,703,2495,2508,159.9,-9.9,173,1823,0.00,2.05,0.00,0.000,1030,0.000,0.057,2931,2101,2502,2496,2508,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2123,-0.34,-146.6,2930,2101,2495,2508,182.8,-4.6,189,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2101,2501,2495,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,-0.34,-146.6,2930,2100,2496,2508,194.8,-5.0,204,2428,0.00,2.08,0.00,0.000,516,0.000,0.062,2931,703,2502,2496,2508,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2564,-0.34,-146.6,2930,703,2495,2507,205.1,-7.8,211,2568,0.00,2.03,0.00,0.000,1030,0.000,0.057,2931,2102,2501,2495,2508,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2887,-0.34,-146.6,2930,2102,2495,2508,227.7,-6.0,227,2891,0.00,2.08,0.00,0.000,516,0.000,0.065,2931,713,2501,2495,2508,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3119,-0.34,-146.6,2930,713,2495,2508,242.6,-7.0,238,3123,0.00,2.03,0.00,0.000,1030,0.000,0.057,2930,2111,2501,2495,2508,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3426,-0.34,-146.6,2930,2111,2495,2508,263.7,-6.9,253,3430,0.00,2.10,0.00,0.000,516,0.000,0.062,2930,710,2501,2495,2508,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3657,-0.34,-146.6,2930,709,2494,2508,282.9,-8.5,264,3661,0.00,2.05,0.00,0.000,1030,0.000,0.057,2931,2109,2501,2494,2508,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3977,-0.40,-146.6,2930,2108,2494,2508,307.1,-7.0,278,3982,0.00,2.08,0.00,0.000,516,0.000,0.062,2930,716,2500,2493,2508,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4210,-0.40,-146.6,2930,716,2493,2508,322.3,-7.3,285,4216,0.00,2.03,0.00,0.000,1030,0.000,0.057,2931,2100,2500,2493,2508,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,4245,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4245,begin apogee
$GC,4249,-0.19,0.0,2930,2100,2493,2508,326.1,-6.7,287,4355,0.17,0.00,102.15,1.045,10246,0.174,0.000,2986,2100,2000,1970,2031,0,0,0,0,0,0,26.03,28.83,24.15
$STATE,4356,end apogee,CONTROL_FINISHED_OK
$STATE,4356,begin climb
$GC,4359,0.76,146.6,2985,2100,1970,2030,329.5,0.0,290,4474,0.88,2.28,106.60,1.018,10500,0.134,0.072,3273,3485,1503,1457,1549,0,0,0,0,0,0,25.13,25.03,24.06
$GC,4515,0.95,207.7,3273,3485,1458,1549,319.7,7.2,296,4571,0.17,2.08,45.70,0.998,11270,0.089,0.052,3370,2099,1296,1222,1370,0,0,0,0,0,0,25.51,25.53,24.08
$GC,4881,0.95,207.7,3370,2099,1225,1370,264.6,14.9,312,4887,0.00,2.20,0.00,0.000,260,0.000,0.072,3370,3493,1297,1224,1370,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5109,0.95,207.7,3370,3493,1225,1370,225.9,17.9,323,5113,0.00,2.05,0.00,0.000,1030,0.000,0.055,3381,2105,1298,1226,1370,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5416,0.95,207.7,3380,2104,1225,1370,175.7,16.1,338,5422,0.00,2.17,0.00,0.000,260,0.000,0.072,3381,3491,1297,1225,1370,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5577,0.95,207.7,3380,3491,1225,1369,146.0,18.3,347,5584,0.15,2.03,0.00,0.000,5126,0.191,0.052,3352,2097,1297,1225,1369,0,0,0,0,0,0,25.91,26.29,28.83
$GC,5891,0.95,207.7,3352,2097,1225,1369,104.5,12.7,378,5899,0.00,2.20,0.00,0.000,260,0.000,0.072,3352,3498,1297,1225,1369,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6067,0.95,207.7,3352,3498,1225,1368,80.1,14.3,395,6073,0.00,2.08,0.00,0.000,1030,0.000,0.052,3362,2088,1296,1225,1368,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6373,0.95,207.7,3361,2087,1225,1368,39.8,12.0,426,6381,0.00,2.22,0.00,0.000,260,0.000,0.072,3362,3502,1296,1224,1368,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6564,0.95,207.7,3362,3502,1226,1368,12.3,12.8,445,6568,0.00,2.08,0.00,0.000,1030,0.000,0.052,3373,2083,1297,1226,1368,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,6607,end climb,SURFACE_DEPTH_REACHED
$STATE,6607,begin surface coast
$FINISH,0.3,1.025734
$STATE,6628,end surface coast,CONTROL_FINISHED_OK
$STATE,6629,begin surface
$SM_CCo,6645,69.97,0.874,0,0,983,300.22
$SM_GC,0.96,8.05,0.00,69.97,0.062,0.000,0.874,245,2081,983,-8.71,-0.54,300.22,0,0,0,0,0,0,25.98,28.83,24.54
$IRIDIUM_FIX,3216.07,-6434.61,260314,050507
$TT8_MAMPS,0.019474,0.019474
$HUMID,41.73
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.5,47.245
$10V_AH,10.4,8.144
$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,21.525,54.700,254.450,69.975,0.000,190.744,174.577,112.244,14.000,0.000,34.583,1232.635,3936.958,397.473,1781.280,131.746,33.220,1072.409,0.000,1210.194,0.000,86.013,0.000
$DEVICE_MAMPS,288.028,72.007,1045.343,874.016,0.000,52.140,160.000,223.000,420.000,0.000,26.960,9.970,2.190,9.970,31.690,39.930,52.670,11.000,0.000,20.220,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.248,595.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330272
$DATA_FILE_SIZE,26860,451
$CAP_FILE_SIZE,88052,0
$CFSIZE,260165632,237137920
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4368.20,0x235746,1,24
$INTR,1,5578.65,0x235744,1,24
$GPS,260314,072429,3228.695,-6430.318,37,1.9,43,-15.5