version: 66.12
glider: 37
mission: 17
dive: 14
start: 4 10 117 7 23 30
data:
$ID,37
$MISSION,17
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,5
$D_FLARE,3
$D_TGT,1080
$D_ABORT,6000
$D_NO_BLEED,50
$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,390
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79136.703
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,30
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2624
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,21
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,72
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.159239
$PRESSURE_SLOPE,0
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,100417,071802,2743.3865,-7809.5117,37,0.9,43,-7.9,0.5,343.6,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-43.9
$GPS2,100417,072300,2743.4595,-7809.6104,6,0.9,18,-7.9,0.6,344.4,10,5.0
$SPEED_LIMITS,0.150,0.431
$TGT_NAME,HEADING
$TGT_LATLONG,2839.573,-7732.689
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,82.9,120000,-16.8,-15.000,-19.18,4444
$D_GRID,1080
$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,int_press,humidity
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.93,-438.0,126,1727,46,232,0.0,0.0,0,220,0.00,0.00,-201.32,0.102,16386,0.000,0.000,125,1728,2456,2379,2534,0,0,0,0,0,0,26.88,28.83,26.89,8.83,12.04
$GC,223,-0.93,-438.0,125,1728,2379,2534,3.3,-1.5,20,300,8.55,2.30,-60.17,0.104,18948,0.273,0.070,2318,177,3849,3789,3910,0,0,0,0,0,0,26.22,26.42,26.39,9.08,11.96
$GC,326,-0.88,-438.0,2317,177,3789,3910,19.8,-19.4,30,334,0.10,2.17,0.00,0.000,3078,0.216,0.055,2338,1709,3849,3789,3910,0,0,0,0,0,0,26.34,26.50,26.48,9.24,11.29
$GC,633,-0.88,-438.0,2337,1708,3789,3910,68.7,-15.0,61,642,0.00,2.30,0.00,0.000,260,0.000,0.065,2329,3269,3849,3789,3910,0,0,0,0,0,0,26.94,26.68,26.95,9.24,11.68
$GC,684,-0.88,-438.0,2328,3269,3789,3910,76.4,-15.2,66,689,0.00,2.28,0.00,0.000,1030,0.000,0.052,2328,1676,3849,3789,3910,0,0,0,0,0,0,26.78,26.72,26.79,9.24,12.43
$GC,996,-0.88,-438.0,2327,1676,3789,3909,123.9,-14.9,97,1001,0.00,2.17,0.00,0.000,516,0.000,0.070,2328,192,3849,3789,3909,0,0,0,0,0,0,27.05,26.78,27.07,9.25,12.43
$GC,1051,-0.88,-438.0,2328,192,3789,3908,131.9,-15.6,102,1058,0.00,2.10,0.00,0.000,1030,0.000,0.052,2320,1705,3848,3789,3908,0,0,0,0,0,0,26.89,26.84,26.91,9.24,12.04
$GC,1369,-0.88,-438.0,2320,1705,3790,3908,182.5,-15.7,124,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1705,3848,3789,3908,0,0,0,0,0,0,27.13,27.14,27.14,9.24,11.76
$GC,1668,-0.88,-438.0,2320,1705,3789,3908,229.0,-14.6,139,1673,0.00,2.22,0.00,0.000,516,0.000,0.067,2320,193,3848,3789,3908,0,0,0,0,0,0,27.16,26.89,27.17,9.24,11.60
$GC,1738,-0.88,-438.0,2319,192,3790,3908,238.1,-14.7,142,1743,0.10,2.10,0.00,0.000,3078,0.199,0.052,2341,1714,3848,3789,3907,0,0,0,0,0,0,26.78,26.94,26.91,9.24,12.07
$GC,2052,-0.95,-438.0,2340,1713,3789,3908,275.7,-11.1,158,2059,0.00,2.20,0.00,0.000,516,0.000,0.067,2341,194,3848,3789,3908,0,0,0,0,0,0,27.20,26.91,27.20,9.23,11.48
$GC,2095,-1.03,-438.0,2340,194,3789,3908,280.7,-11.6,160,2100,0.08,2.10,0.00,0.000,5126,0.159,0.052,2286,1714,3848,3789,3908,0,0,0,0,0,0,26.89,26.97,26.97,9.23,11.76
$GC,2413,-1.03,-438.0,2285,1714,3789,3908,333.7,-16.9,173,2419,0.00,2.28,0.00,0.000,260,0.000,0.065,2274,3276,3848,3789,3908,0,0,0,0,0,0,27.21,26.95,27.22,9.22,12.23
$GC,2461,-1.03,-438.0,2273,3276,3789,3908,338.6,-16.7,174,2465,0.00,2.25,0.00,0.000,1030,0.000,0.052,2274,1685,3848,3789,3908,0,0,0,0,0,0,27.03,26.98,27.05,9.22,12.04
$GC,2768,-1.03,-438.0,2273,1682,3789,3908,393.7,-16.7,184,2772,0.00,2.17,0.00,0.000,516,0.000,0.070,2274,192,3848,3789,3908,0,0,0,0,0,0,27.22,26.95,27.24,9.21,11.33
$GC,2842,-1.03,-438.0,2273,192,3790,3907,404.5,-17.4,186,2846,0.00,2.10,0.00,0.000,1030,0.000,0.052,2263,1702,3848,3789,3907,0,0,0,0,0,0,27.05,27.00,27.06,9.20,12.04
$GC,3160,-1.03,-438.0,2262,1705,3789,3907,463.1,-17.5,197,3161,0.10,0.00,0.00,0.000,2054,0.206,0.000,2293,1705,3848,3789,3907,0,0,0,0,0,0,26.86,27.03,26.98,9.19,12.04
$GC,3460,-1.03,-438.0,2292,1706,3789,3906,506.7,-14.0,207,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1705,3847,3789,3906,0,0,0,0,0,0,27.24,27.27,27.26,9.18,11.92
$GC,3760,-1.03,-438.0,2292,1705,3788,3905,549.4,-14.2,217,3764,0.00,2.22,0.00,0.000,516,0.000,0.067,2292,194,3847,3789,3905,0,0,0,0,0,0,27.24,26.97,27.26,9.17,11.76
$GC,3805,-1.03,-438.0,2292,194,3789,3905,554.3,-14.6,218,3809,0.00,2.12,0.00,0.000,1030,0.000,0.052,2284,1720,3847,3789,3905,0,0,0,0,0,0,27.07,27.02,27.08,9.18,11.88
$GC,4118,-1.03,-438.0,2284,1721,3789,3904,602.5,-14.9,229,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1720,3846,3789,3904,0,0,0,0,0,0,27.24,27.27,27.27,9.16,11.88
$GC,4417,-1.03,-438.0,2283,1721,3789,3904,645.7,-14.3,239,4423,0.00,2.25,0.00,0.000,516,0.000,0.067,2284,194,3846,3789,3903,0,0,0,0,0,0,27.25,26.97,27.27,9.14,12.31
$GC,4454,-1.03,-438.0,2284,194,3789,3904,650.0,-14.1,240,4458,0.00,2.12,0.00,0.000,1030,0.000,0.052,2274,1717,3846,3789,3904,0,0,0,0,0,0,27.08,27.03,27.09,9.15,12.55
$GC,4771,-1.03,-438.0,2272,1718,3789,3902,699.0,-15.3,251,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1717,3846,3789,3903,0,0,0,0,0,0,27.25,27.27,27.27,9.12,11.92
$GC,5071,-1.03,-438.0,2273,1718,3789,3901,743.3,-14.8,261,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1718,3845,3789,3901,0,0,0,0,0,0,27.26,27.27,27.27,9.10,12.39
$GC,5371,-1.03,-438.0,2273,1718,3787,3901,787.4,-14.6,271,5376,0.00,2.25,0.00,0.000,516,0.000,0.067,2273,192,3844,3788,3901,0,0,0,0,0,0,27.26,26.98,27.27,9.09,12.59
$GC,5403,-1.03,-438.0,2273,192,3788,3900,792.5,-15.0,272,5410,0.10,2.12,0.00,0.000,3078,0.204,0.052,2294,1706,3844,3788,3900,0,0,0,0,0,0,26.87,27.03,27.01,9.09,12.82
$GC,5735,-1.11,-438.0,2293,1706,3787,3900,834.7,-12.2,283,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1706,3842,3786,3899,0,0,0,0,0,0,27.26,27.28,27.27,9.07,11.92
$GC,6035,-1.18,-438.0,2293,1706,3785,3898,871.3,-12.6,293,6040,0.10,2.22,0.00,0.000,4612,0.149,0.067,2247,205,3842,3786,3898,0,0,0,0,0,0,26.96,26.98,27.01,9.05,12.82
$GC,6105,-1.18,-438.0,2246,205,3786,3897,881.7,-14.4,295,6109,0.00,2.12,0.00,0.000,1030,0.000,0.052,2238,1724,3841,3785,3897,0,0,0,0,0,0,27.08,27.03,27.10,9.04,12.86
$GC,6432,-1.18,-438.0,2237,1727,3784,3895,937.5,-16.8,306,6437,0.00,2.25,0.00,0.000,260,0.000,0.065,2226,3258,3840,3784,3896,0,0,0,0,0,0,27.27,27.00,27.27,9.02,12.23
$GC,6464,-1.18,-438.0,2226,3258,3784,3896,943.0,-16.9,307,6470,0.00,2.22,0.00,0.000,1030,0.000,0.052,2226,1701,3840,3784,3896,0,0,0,0,0,0,27.08,27.03,27.10,9.01,12.27
$GC,6794,-1.18,-438.0,2225,1702,3783,3894,1004.1,-18.6,318,6800,0.00,2.22,0.00,0.000,516,0.000,0.072,2226,204,3838,3783,3894,0,0,0,0,0,0,27.26,26.98,27.27,8.99,12.51
$GC,6877,-1.18,-438.0,2225,204,3783,3893,1015.2,-18.6,319,6881,0.00,2.10,0.00,0.000,1030,0.000,0.055,2216,1698,3838,3783,3893,0,0,0,0,0,0,27.08,27.02,27.10,8.99,12.59
$STATE,7034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7034,begin apogee
$GC,7039,-0.24,0.0,2215,1700,3781,3893,1047.9,-18.2,322,7371,1.00,0.00,329.05,1.420,10246,0.179,0.000,2545,1699,2340,2264,2417,0,0,0,0,0,0,26.85,24.92,24.19,8.97,12.55
$STATE,7372,end apogee,CONTROL_FINISHED_OK
$STATE,7372,begin climb
$GC,7374,0.93,438.0,2544,1700,2264,2417,1081.2,0.0,327,7722,1.10,2.42,338.60,1.410,11012,0.122,0.079,2938,212,833,733,933,0,0,0,0,0,0,25.07,24.73,23.99,8.82,11.21
$GC,8019,0.84,438.0,2937,212,732,930,1033.7,16.3,338,8024,0.15,2.20,0.00,0.000,5126,0.221,0.060,2897,1695,831,732,930,0,0,0,0,0,0,26.08,26.25,26.24,8.64,11.92
$GC,8351,0.84,438.0,2896,1694,729,930,984.4,13.5,345,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1695,829,729,930,0,0,0,0,0,0,26.79,26.82,26.82,8.63,12.23
$GC,8652,0.87,531.7,2896,1694,728,930,945.2,12.8,355,8742,0.00,2.42,80.45,1.333,8708,0.000,0.084,2906,216,509,400,618,0,0,0,0,0,0,26.94,25.23,24.47,8.63,12.43
$GC,8804,0.87,531.7,2906,216,400,617,922.6,14.8,360,8810,0.00,2.25,0.00,0.000,1030,0.000,0.062,2906,1709,508,400,616,0,0,0,0,0,0,26.00,25.94,26.01,8.60,12.86
$GC,9134,0.87,531.7,2906,1708,397,616,868.7,16.2,371,9141,0.00,2.38,0.00,0.000,260,0.000,0.067,2906,3271,506,396,617,0,0,0,0,0,0,26.74,26.48,26.76,8.60,12.90
$GC,9182,0.87,531.7,2906,3271,395,616,863.6,16.1,372,9187,0.00,2.33,0.00,0.000,1030,0.000,0.060,2918,1715,505,395,616,0,0,0,0,0,0,26.60,26.52,26.61,8.60,13.41
$GC,9495,0.87,531.7,2917,1716,395,616,805.9,17.4,383,9499,0.00,2.33,0.00,0.000,516,0.000,0.077,2929,182,505,395,616,0,0,0,0,0,0,26.93,26.65,26.95,8.61,12.55
$GC,9575,0.87,531.7,2929,182,395,617,794.6,17.8,385,9579,0.00,2.20,0.00,0.000,1030,0.000,0.062,2929,1701,505,395,616,0,0,0,0,0,0,26.78,26.72,26.79,8.61,13.14
$GC,9887,0.80,531.7,2929,1701,395,617,734.1,18.5,396,9889,0.15,0.00,0.00,0.000,4102,0.228,0.000,2888,1702,505,395,616,0,0,0,0,0,0,26.61,26.82,26.78,8.62,13.41
$GC,10187,0.80,531.7,2887,1702,395,616,685.8,15.7,406,10193,0.00,2.35,0.00,0.000,260,0.000,0.067,2887,3275,505,395,616,0,0,0,0,0,0,27.08,26.82,27.10,8.63,13.02
$GC,10219,0.80,531.7,2887,3275,393,616,680.9,15.9,407,10223,0.00,2.33,0.00,0.000,1030,0.000,0.060,2898,1699,505,393,617,0,0,0,0,0,0,26.90,26.82,26.91,8.64,13.81
$GC,10548,0.80,531.7,2898,1699,393,617,625.3,17.1,418,10552,0.00,2.28,0.00,0.000,516,0.000,0.074,2910,179,504,392,617,0,0,0,0,0,0,27.12,26.84,27.13,8.66,14.00
$GC,10618,0.80,531.7,2909,179,394,616,614.7,17.0,420,10622,0.00,2.20,0.00,0.000,1030,0.000,0.060,2910,1714,505,394,616,0,0,0,0,0,0,26.95,26.89,26.96,8.66,13.22
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$STATE,14535,end climb,SURFACE_DEPTH_REACHED
$STATE,14535,begin surface coast
$FINISH,1.6,1.025061
$STATE,14553,end surface coast,CONTROL_FINISHED_OK
$STATE,14553,begin surface
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$IRIDIUM_FIX,2729.93,-7808.94,100417,031322
$TT8_MAMPS,0.021721,0.190246
$HUMID,12.39
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,24.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.4,18.4
$ALTIM_BOTTOM_PING,881.7,213.5
$24V_AH,23.99,10.103
$10V_AH,10.70,2.774
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.100,102.525,805.575,0.000,261.500,41.041,34.951,124.235,4.250,0.000,19.274,1948.747,10133.875,1016.627,1715.151,124.611,0.000,1900.536,0.000,1463.739,0.000,26.746,0.000
$DEVICE_MAMPS,273.130,84.422,1420.276,0.000,104.286,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
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$SENSOR_SECS,430.417,840.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284236
$DATA_FILE_SIZE,45129,637
$CAP_FILE_SIZE,120748,0
$CFSIZE,2047311872,2041085952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.403,298.59,1
$GPS,100417,112835,2745.832,-7809.473,38,0.8,41,-7.9,0.6,304.3,11,4.5