version: 66.12
glider: 35
mission: 22
dive: 54
start: 3 28 114 19 54 43
data:
$ID,35
$MISSION,22
$DIVE,54
$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,-997799.19
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,280314,195009,3229.442,-6430.698,8,2.5,28,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-57.0
$GPS2,280314,195419,3229.470,-6430.718,9,1.6,9,-15.5
$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,160.4,10116,-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,-146.6,232,2109,270,282,0.0,0.0,0,169,0.00,0.00,-146.07,0.000,16390,0.000,0.000,232,2109,2496,2520,2472,0,0,0,0,0,0,28.83,28.83,25.74
$GC,174,-0.76,-146.6,232,2109,2520,2472,2.8,-2.7,15,191,11.20,2.15,0.00,0.000,2564,0.273,0.057,2810,665,2495,2520,2470,0,0,0,0,0,0,25.09,26.01,28.83
$GC,398,-0.49,-146.6,2810,665,2488,2464,27.9,-12.6,37,406,0.35,2.12,-0.43,0.000,19462,0.199,0.055,2893,2131,2500,2516,2484,0,0,0,0,0,0,25.17,26.13,25.59
$GC,705,-0.40,-146.6,2893,2131,2489,2483,59.9,-9.2,68,714,0.00,2.10,-0.15,0.000,16644,0.000,0.065,2884,3501,2502,2507,2497,0,0,0,0,0,0,28.83,26.08,22.98
$GC,780,-0.31,-146.6,2883,3500,2506,2497,67.3,-10.3,75,787,0.25,2.08,0.00,0.000,3078,0.176,0.052,2953,2054,2501,2505,2497,0,0,0,0,0,0,25.58,26.26,28.83
$GC,1087,-0.31,-146.6,2953,2054,2501,2498,90.3,-7.1,106,1091,0.00,1.98,0.00,0.000,516,0.000,0.065,2954,719,2499,2500,2498,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1202,-0.31,-146.6,2953,719,2494,2503,99.2,-8.2,117,1209,0.00,2.03,0.00,0.000,1030,0.000,0.055,2945,2104,2498,2495,2502,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1509,-0.31,-146.6,2945,2103,2493,2502,122.4,-6.9,148,1517,0.00,2.05,0.00,0.000,516,0.000,0.062,2945,716,2497,2492,2503,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1634,-0.31,-146.6,2945,716,2491,2504,132.0,-8.5,160,1641,0.00,2.00,0.00,0.000,1030,0.000,0.055,2944,2100,2497,2491,2504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1940,-0.31,-146.6,2944,2100,2491,2504,154.3,-7.1,188,1945,0.00,2.05,0.00,0.000,516,0.000,0.062,2944,719,2497,2491,2504,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2163,-0.31,-146.6,2944,719,2490,2504,170.7,-7.0,199,2167,0.00,2.00,0.00,0.000,1030,0.000,0.055,2944,2101,2497,2490,2504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2483,-0.31,-146.6,2944,2101,2490,2504,191.8,-6.4,215,2488,0.00,2.12,0.00,0.000,260,0.000,0.067,2934,3497,2497,2490,2504,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2676,-0.31,-146.6,2934,3497,2490,2504,204.9,-7.1,224,2682,0.00,2.03,0.00,0.000,1030,0.000,0.052,2934,2105,2497,2490,2504,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2985,-0.31,-146.6,2933,2104,2490,2504,227.3,-7.3,240,2990,0.00,2.05,0.00,0.000,516,0.000,0.062,2934,714,2496,2489,2504,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3213,-0.31,-146.6,2934,714,2488,2504,245.5,-8.2,251,3217,0.00,2.00,0.00,0.000,1030,0.000,0.055,2931,2101,2496,2489,2504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3520,-0.31,-146.6,2931,2102,2489,2504,269.7,-7.2,266,3526,0.00,2.05,0.00,0.000,516,0.000,0.060,2931,714,2496,2489,2504,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3608,-0.31,-146.6,2931,714,2488,2503,275.9,-7.8,270,3612,0.00,2.03,0.00,0.000,1030,0.000,0.057,2931,2111,2496,2488,2504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3920,-0.31,-146.6,2931,2111,2488,2504,297.7,-6.0,286,3925,0.00,2.10,0.00,0.000,516,0.000,0.060,2931,707,2496,2488,2504,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4154,-0.31,-146.6,2931,707,2487,2504,315.6,-8.7,294,4161,0.00,2.03,0.00,0.000,1030,0.000,0.055,2931,2106,2495,2486,2504,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4462,-0.31,-146.6,2931,2106,2487,2504,342.2,-7.7,305,4468,0.00,2.05,0.00,0.000,516,0.000,0.060,2930,711,2495,2487,2504,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4515,-0.31,-146.6,2931,711,2486,2504,344.1,-7.5,306,4521,0.00,2.00,0.00,0.000,1030,0.000,0.055,2931,2100,2495,2486,2504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4821,-0.31,-146.6,2931,2100,2486,2504,367.8,-7.1,317,4827,0.00,2.08,0.00,0.000,516,0.000,0.060,2931,704,2495,2486,2504,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4925,-0.31,-146.6,2931,704,2485,2504,374.9,-7.9,320,4929,0.00,2.05,0.00,0.000,1030,0.000,0.055,2931,2104,2494,2485,2504,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5237,-0.31,-146.6,2931,2104,2485,2504,400.2,-7.6,331,5243,0.00,2.08,0.00,0.000,516,0.000,0.060,2931,707,2494,2485,2504,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5345,-0.31,-146.6,2930,707,2484,2504,407.7,-8.2,334,5349,0.00,2.03,0.00,0.000,1030,0.000,0.055,2931,2098,2494,2484,2504,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5657,-0.31,-146.6,2930,2098,2484,2504,432.2,-7.3,345,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2098,2494,2484,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5957,-0.31,-146.6,2930,2098,2484,2503,454.1,-7.1,355,5962,0.00,2.08,0.00,0.000,516,0.000,0.060,2931,712,2493,2483,2504,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6171,-0.31,-146.6,2930,712,2482,2504,471.2,-8.0,362,6174,0.00,2.03,0.00,0.000,1030,0.000,0.055,2931,2111,2493,2483,2504,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6500,-0.36,-146.6,2931,2111,2482,2504,495.8,-7.4,373,6506,0.00,2.05,0.00,0.000,516,0.000,0.060,2931,713,2493,2483,2504,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6732,-0.36,-146.6,2931,713,2482,2504,513.2,-8.2,380,6739,0.00,2.03,0.00,0.000,1030,0.000,0.055,2931,2112,2493,2482,2504,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7039,-0.41,-146.6,2930,2112,2481,2504,537.2,-7.6,391,7045,0.00,2.08,0.00,0.000,516,0.000,0.062,2930,712,2492,2481,2504,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7272,-0.41,-146.6,2930,712,2480,2504,555.4,-8.8,398,7278,0.00,2.03,0.00,0.000,1030,0.000,0.055,2931,2112,2491,2480,2503,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7580,-0.47,-146.6,2930,2112,2480,2504,580.9,-7.4,409,7585,0.00,2.08,0.00,0.000,516,0.000,0.062,2931,717,2492,2480,2504,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7807,-0.47,-146.6,2931,718,2479,2504,598.2,-8.5,416,7812,0.05,2.03,0.00,0.000,5126,0.189,0.055,2891,2101,2491,2479,2504,0,0,0,0,0,0,26.15,26.22,28.83
$GC,8115,-0.47,-146.6,2891,2101,2479,2503,629.3,-9.2,426,8120,0.00,2.03,0.00,0.000,516,0.000,0.060,2891,718,2491,2479,2504,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8287,-0.47,-146.6,2891,717,2477,2504,644.9,-10.4,431,8294,0.00,2.03,0.00,0.000,1030,0.000,0.055,2891,2110,2490,2477,2504,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8595,-0.47,-146.6,2890,2110,2477,2503,677.6,-9.2,442,8601,0.00,2.08,0.00,0.000,516,0.000,0.060,2891,714,2490,2477,2503,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8788,-0.47,-146.6,2891,714,2476,2503,695.8,-10.0,448,8791,0.00,2.03,0.00,0.000,1030,0.000,0.055,2890,2111,2489,2475,2503,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9099,-0.47,-146.6,2890,2111,2476,2502,728.8,-10.5,459,9105,0.00,2.10,0.00,0.000,516,0.000,0.062,2890,715,2489,2476,2502,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9332,-0.47,-146.6,2890,715,2475,2502,751.5,-10.8,466,9339,0.00,2.03,0.00,0.000,1030,0.000,0.055,2890,2109,2488,2475,2502,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9640,-0.47,-146.6,2890,2109,2475,2501,785.4,-10.2,477,9643,0.00,2.10,0.00,0.000,516,0.000,0.062,2890,714,2488,2475,2501,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9814,-0.47,-146.6,2890,714,2474,2501,802.9,-11.7,482,9821,0.00,2.03,0.00,0.000,1030,0.000,0.055,2885,2103,2488,2475,2501,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,9909,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9909,begin apogee
$GC,9914,-0.19,0.0,2884,2103,2475,2501,816.1,-10.8,486,10024,0.32,0.00,106.25,1.450,10246,0.154,0.000,2990,2103,2000,1979,2021,0,0,0,0,0,0,25.68,28.83,23.52
$STATE,10027,end apogee,CONTROL_FINISHED_OK
$STATE,10027,begin climb
$GC,10029,0.76,146.6,2990,2103,1979,2021,822.1,0.0,489,10155,0.85,2.35,115.22,1.420,10500,0.127,0.072,3273,3497,1502,1467,1538,0,0,0,0,0,0,24.89,24.60,23.34
$GC,10276,0.87,211.6,3272,3496,1468,1538,811.7,7.0,497,10336,0.10,2.08,53.85,1.408,11270,0.119,0.052,3342,2107,1283,1214,1352,0,0,0,0,0,0,25.64,25.70,23.73
$GC,10654,0.87,211.6,3342,2108,1216,1352,770.3,10.7,510,10660,0.00,2.20,0.00,0.000,260,0.000,0.070,3342,3499,1284,1216,1352,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10812,0.87,211.6,3342,3500,1216,1351,752.2,12.1,515,10816,0.00,2.08,0.00,0.000,1030,0.000,0.052,3353,2100,1284,1216,1352,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11129,0.87,211.6,3353,2099,1215,1352,716.3,11.0,526,11135,0.00,2.17,0.00,0.000,260,0.000,0.070,3353,3490,1283,1215,1352,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11237,0.87,211.6,3353,3490,1216,1351,704.7,12.6,529,11242,0.12,2.05,0.00,0.000,5126,0.189,0.055,3331,2095,1283,1216,1350,0,0,0,0,0,0,25.95,26.25,28.83
$GC,11544,0.93,211.6,3331,2094,1216,1351,667.7,11.2,539,11548,0.00,2.20,0.00,0.000,260,0.000,0.070,3331,3487,1283,1216,1351,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11636,0.93,211.6,3331,3502,1216,1350,656.7,12.0,542,11640,0.00,2.08,0.00,0.000,1030,0.000,0.055,3341,2097,1282,1215,1350,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11967,0.93,211.6,3341,2097,1215,1349,617.5,12.1,553,11973,0.00,2.20,0.00,0.000,260,0.000,0.070,3341,3497,1282,1215,1350,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12135,0.93,211.6,3341,3497,1216,1348,597.5,13.5,558,12139,0.00,2.08,0.00,0.000,1030,0.000,0.055,3352,2090,1282,1216,1348,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,16370,end climb,SURFACE_DEPTH_REACHED
$STATE,16370,begin surface coast
$FINISH,0.1,1.025767
$STATE,16391,end surface coast,CONTROL_FINISHED_OK
$STATE,16391,begin surface
$SM_CCo,16410,66.18,0.921,0,0,984,300.22
$SM_GC,1.51,8.25,2.08,66.18,0.072,0.050,0.921,228,2099,984,-8.77,1.72,300.22,0,0,0,0,0,0,25.79,26.29,24.35
$IRIDIUM_FIX,3216.07,-6432.31,280314,191902
$TT8_MAMPS,0.020223,0.020223
$HUMID,41.49
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.0,48.193
$10V_AH,10.4,8.995
$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
$DEVICE_SECS,21.800,141.625,275.325,66.175,0.000,0.000,0.000,0.000,18.500,0.000,12.809,2235.778,11042.020,502.247,2550.297,216.466,0.000,1828.201,0.000,2454.707,0.000,115.128,0.000
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$SENSOR_SECS,535.607,1039.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330212
$DATA_FILE_SIZE,50150,787
$CAP_FILE_SIZE,385977,0
$CFSIZE,260165632,236122112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290314,003036,3228.780,-6429.255,36,1.1,36,-15.5