version: 66.12
glider: 37
mission: 17
dive: 27
start: 4 12 117 18 0 16
data:
$ID,37
$MISSION,17
$DIVE,27
$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,360
$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,90
$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,2645
$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,1614
$C_ROLL_CLIMB,1625
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,60
$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
$GPS1,120417,175436,2816.9526,-7736.1406,41,0.8,45,-8.3,0.8,161.4,11,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-41.3
$GPS2,120417,175945,2816.9275,-7736.1143,5,0.8,18,-8.3,0.0,0.0,10,4.8
$SPEED_LIMITS,0.100,0.370
$TGT_NAME,HEADING
$TGT_LATLONG,2816.927,-7622.536
$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,76.2,120000,-11.6,-10.000,-15.12,6583
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-438.0,127,1618,49,236,0.0,0.0,0,210,0.00,0.00,-191.50,0.102,16386,0.000,0.000,127,1619,2365,2288,2442,0,0,0,0,0,0,26.98,28.83,27.01,8.86,12.39
$GC,213,-0.69,-438.0,127,1619,2289,2442,3.0,-1.4,19,303,8.88,0.00,-78.07,0.102,18438,0.268,0.000,2419,1619,3849,3789,3909,0,0,0,0,0,0,26.28,26.54,26.45,9.09,12.07
$GC,601,-0.74,-438.0,2419,1619,3790,3909,36.0,-8.3,58,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1618,3849,3789,3909,0,0,0,0,0,0,26.99,27.01,27.00,9.26,12.31
$GC,902,-0.80,-438.0,2419,1619,3790,3908,60.3,-7.8,88,905,0.00,2.30,0.00,0.000,260,0.000,0.062,2410,3169,3848,3789,3908,0,0,0,0,0,0,27.09,26.82,27.10,9.26,11.64
$GC,936,-0.86,-438.0,2409,3197,3789,3908,62.9,-7.9,91,944,0.08,2.28,0.00,0.000,5126,0.154,0.050,2366,1599,3848,3789,3908,0,0,0,0,0,0,26.77,26.86,26.86,9.26,12.35
$GC,1243,-0.86,-438.0,2365,1599,3790,3907,97.8,-11.1,122,1247,0.00,2.05,0.00,0.000,516,0.000,0.067,2366,225,3848,3790,3907,0,0,0,0,0,0,27.15,26.87,27.16,9.26,12.43
$GC,1277,-0.86,-438.0,2365,200,3789,3906,101.8,-12.7,125,1285,0.00,1.98,0.00,0.000,1030,0.000,0.050,2356,1636,3847,3789,3906,0,0,0,0,0,0,26.98,26.94,26.98,9.27,12.74
$GC,1584,-0.86,-438.0,2356,1636,3789,3906,141.2,-12.9,156,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1636,3847,3789,3906,0,0,0,0,0,0,27.18,27.20,27.20,9.26,12.11
$GC,1894,-0.86,-438.0,2356,1636,3789,3906,181.9,-13.5,175,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1636,3847,3789,3906,0,0,0,0,0,0,27.21,27.22,27.22,9.26,12.27
$GC,2195,-0.86,-438.0,2356,1636,3789,3906,217.3,-10.3,190,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1636,3847,3789,3906,0,0,0,0,0,0,27.22,27.24,27.23,9.27,12.27
$GC,2494,-0.86,-438.0,2356,1636,3789,3906,248.2,-10.3,205,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1636,3847,3789,3906,0,0,0,0,0,0,27.23,27.24,27.24,9.26,12.59
$GC,2794,-0.86,-438.0,2356,1636,3789,3906,280.3,-11.5,220,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1636,3847,3789,3906,0,0,0,0,0,0,27.24,27.25,27.25,9.24,12.27
$GC,3094,-0.86,-438.0,2356,1636,3789,3906,315.2,-12.2,233,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1636,3847,3789,3906,0,0,0,0,0,0,27.24,27.26,27.25,9.24,12.15
$GC,3394,-0.86,-438.0,2356,1636,3789,3906,351.4,-11.5,243,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1636,3847,3789,3906,0,0,0,0,0,0,27.24,27.26,27.26,9.23,12.19
$GC,3694,-0.86,-438.0,2355,1636,3789,3905,379.9,-8.5,253,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1636,3847,3789,3905,0,0,0,0,0,0,27.24,27.27,27.26,9.22,12.86
$GC,3994,-0.86,-438.0,2356,1636,3789,3905,403.8,-8.1,263,3998,0.00,2.12,0.00,0.000,516,0.000,0.067,2356,199,3847,3789,3905,0,0,0,0,0,0,27.24,26.97,27.27,9.21,13.06
$GC,4034,-0.86,-438.0,2356,199,3789,3904,406.5,-8.2,264,4038,0.00,1.98,0.00,0.000,1030,0.000,0.050,2347,1633,3846,3789,3904,0,0,0,0,0,0,27.07,27.03,27.08,9.22,12.55
$GC,4356,-0.86,-438.0,2348,1634,3789,3904,439.3,-10.6,275,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1634,3846,3789,3904,0,0,0,0,0,0,27.24,27.27,27.26,9.22,12.70
$GC,4656,-0.86,-438.0,2348,1633,3789,3902,473.3,-11.2,285,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1634,3846,3789,3904,0,0,0,0,0,0,27.25,27.27,27.27,9.21,13.18
$GC,4956,-0.86,-438.0,2348,1634,3789,3903,503.5,-9.5,295,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1633,3846,3789,3903,0,0,0,0,0,0,27.25,27.27,27.27,9.20,12.78
$GC,5256,-0.86,-438.0,2348,1633,3789,3902,531.4,-9.8,305,5262,0.00,2.12,0.00,0.000,516,0.000,0.065,2348,202,3845,3789,3902,0,0,0,0,0,0,27.25,26.97,27.27,9.19,12.63
$GC,5294,-0.86,-438.0,2348,202,3789,3901,534.1,-9.7,306,5298,0.00,1.95,0.00,0.000,1030,0.000,0.052,2341,1615,3845,3790,3901,0,0,0,0,0,0,27.08,27.03,27.09,9.20,12.23
$GC,5616,-0.86,-438.0,2341,1618,3789,3901,566.7,-9.3,317,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1618,3845,3789,3901,0,0,0,0,0,0,27.25,27.27,27.26,9.19,12.55
$GC,5916,-0.86,-438.0,2340,1618,3788,3901,594.3,-9.4,327,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1618,3844,3788,3901,0,0,0,0,0,0,27.25,27.27,27.27,9.19,13.10
$GC,6216,-0.86,-438.0,2341,1618,3788,3901,622.1,-9.2,337,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1618,3844,3788,3901,0,0,0,0,0,0,27.25,27.27,27.27,9.18,12.98
$GC,6516,-0.86,-438.0,2341,1618,3788,3900,648.5,-8.7,347,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1618,3844,3788,3900,0,0,0,0,0,0,27.25,27.27,27.27,9.18,12.47
$GC,6816,-0.86,-438.0,2341,1618,3787,3900,677.5,-9.9,357,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1618,3844,3788,3900,0,0,0,0,0,0,27.25,27.27,27.27,9.17,12.82
$GC,7116,-0.86,-438.0,2340,1618,3787,3899,705.2,-9.1,367,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1618,3843,3787,3899,0,0,0,0,0,0,27.26,27.27,27.27,9.17,13.30
$GC,7416,-0.86,-438.0,2341,1618,3787,3899,730.1,-8.4,377,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1618,3842,3786,3898,0,0,0,0,0,0,27.25,27.27,27.27,9.15,12.63
$GC,7716,-0.92,-438.0,2341,1618,3786,3898,757.8,-10.1,387,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1618,3842,3786,3898,0,0,0,0,0,0,27.25,27.27,27.27,9.14,13.14
$GC,8016,-0.98,-438.0,2341,1618,3785,3897,788.0,-10.1,397,8021,0.00,2.12,0.00,0.000,516,0.000,0.067,2341,197,3841,3785,3897,0,0,0,0,0,0,27.25,26.96,27.27,9.13,13.45
$GC,8062,-1.03,-438.0,2341,198,3785,3896,791.2,-9.9,398,8065,0.00,1.98,0.00,0.000,1030,0.000,0.050,2336,1603,3841,3785,3897,0,0,0,0,0,0,27.08,27.03,27.09,9.13,13.37
$GC,8379,-1.09,-438.0,2335,1615,3785,3896,819.7,-7.7,409,8381,0.08,0.00,0.00,0.000,4102,0.179,0.000,2295,1617,3840,3784,3896,0,0,0,0,0,0,26.96,27.05,27.03,9.12,12.90
$GC,8678,-1.09,-438.0,2294,1617,3784,3896,849.7,-10.7,419,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1617,3840,3784,3896,0,0,0,0,0,0,27.25,27.27,27.27,9.10,12.70
$GC,8979,-1.09,-438.0,2294,1617,3783,3894,890.8,-14.3,429,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1617,3839,3784,3894,0,0,0,0,0,0,27.23,27.24,27.24,9.08,13.26
$GC,9279,-1.09,-438.0,2294,1617,3783,3894,930.1,-12.5,439,9283,0.00,2.12,0.00,0.000,516,0.000,0.067,2295,198,3838,3783,3894,0,0,0,0,0,0,27.23,26.96,27.24,9.06,13.30
$GC,9344,-1.09,-438.0,2294,198,3783,3892,938.4,-12.7,441,9348,0.00,2.03,0.00,0.000,1030,0.000,0.052,2285,1618,3837,3783,3892,0,0,0,0,0,0,27.05,27.02,27.06,9.06,12.51
$GC,9672,-1.09,-438.0,2284,1618,3781,3892,977.9,-11.8,452,9676,0.00,2.35,0.00,0.000,260,0.000,0.065,2274,3191,3836,3781,3892,0,0,0,0,0,0,27.24,26.97,27.27,9.03,13.10
$GC,9704,-1.09,-438.0,2273,3190,3780,3892,981.6,-11.7,453,9710,0.00,2.28,0.00,0.000,1030,0.000,0.052,2274,1609,3836,3780,3892,0,0,0,0,0,0,27.06,27.00,27.08,9.03,13.53
$STATE,9883,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9883,begin apogee
$GC,9887,-0.24,0.0,2273,1608,3780,3891,1003.3,-12.1,459,10218,0.85,0.00,326.80,1.373,10246,0.156,0.000,2567,1609,2340,2264,2416,0,0,0,0,0,0,26.83,25.03,24.31,9.02,13.02
$STATE,10219,end apogee,CONTROL_FINISHED_OK
$STATE,10219,begin climb
$GC,10221,0.69,438.0,2567,1609,2264,2416,1034.9,0.0,464,10567,0.80,2.35,333.98,1.361,11012,0.109,0.074,2884,195,832,734,931,0,0,0,0,0,0,25.19,24.87,24.16,8.87,12.11
$GC,10733,0.55,438.0,2882,194,734,930,1007.1,14.3,473,10739,0.20,2.12,0.00,0.000,5126,0.201,0.055,2825,1628,831,734,929,0,0,0,0,0,0,25.93,26.10,26.08,8.69,11.72
$GC,11052,0.55,438.0,2824,1628,731,929,968.4,11.4,483,11058,0.00,2.20,0.00,0.000,516,0.000,0.072,2834,186,830,732,929,0,0,0,0,0,0,26.77,26.51,26.79,8.67,12.39
$GC,11104,0.55,438.0,2833,186,731,929,964.8,11.4,484,11112,0.00,2.12,0.00,0.000,1030,0.000,0.055,2834,1634,830,732,929,0,0,0,0,0,0,26.64,26.59,26.65,8.67,12.39
$GC,11411,0.49,438.0,2833,1635,730,929,928.5,10.7,495,11413,0.10,0.00,0.00,0.000,4102,0.221,0.000,2805,1637,829,730,929,0,0,0,0,0,0,26.57,26.74,26.71,8.67,12.59
$GC,11712,0.53,578.3,2805,1636,729,929,904.4,7.8,505,11839,0.00,2.38,120.90,1.304,8708,0.000,0.079,2814,194,348,238,459,0,0,0,0,0,0,27.03,25.21,24.49,8.67,12.82
$GC,11910,0.53,578.3,2813,193,239,458,889.3,8.7,511,11917,0.00,2.17,0.00,0.000,1030,0.000,0.055,2814,1634,348,239,458,0,0,0,0,0,0,26.03,25.98,26.05,8.63,13.53
$GC,12217,0.53,578.3,2813,1634,237,458,855.7,10.6,522,12218,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1634,347,237,458,0,0,0,0,0,0,26.75,26.77,26.77,8.62,13.02
$GC,12517,0.53,578.3,2813,1634,237,458,821.5,11.7,532,12523,0.00,2.40,0.00,0.000,260,0.000,0.065,2814,3197,346,235,458,0,0,0,0,0,0,26.93,26.67,26.94,8.64,12.70
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$STATE,19357,end climb,SURFACE_DEPTH_REACHED
$STATE,19357,begin surface coast
$FINISH,1.0,1.025379
$STATE,19389,end surface coast,CONTROL_FINISHED_OK
$STATE,19389,begin surface
$SM_CCo,19464,0.00,0.000,0,0,351,577.78
$SM_GC,1.62,6.95,0.00,0.00,0.082,0.000,0.000,137,1628,351,-7.77,0.40,577.78,0,0,0,0,0,0,26.92,27.26,26.99
$IRIDIUM_FIX,2808.95,-7742.35,120417,122912
$TT8_MAMPS,0.021721,0.2247
$HUMID,12.19
$INTERNAL_PRESSURE,8.82725
$TCM_TEMP,24.60
$XPDR_PINGS,12
$ALTIM_TOP_PING,18.9,17.6
$ALTIM_BOTTOM_PING,960.1,91.8
$24V_AH,24.16,14.123
$10V_AH,10.61,3.513
$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,18.325,95.950,781.675,0.000,269.575,20.989,18.546,159.456,8.250,0.000,19.560,2520.280,14166.386,976.676,1965.013,150.508,0.000,1990.990,0.000,1702.438,0.000,43.554,0.000
$DEVICE_MAMPS,268.164,79.456,1373.099,0.000,101.803,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.877,1125.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284244
$DATA_FILE_SIZE,58982,852
$CAP_FILE_SIZE,141228,0
$CFSIZE,2047311872,2039611392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.422,141.76,1
$GPS,120417,232559,2815.075,-7728.820,41,0.8,45,-8.4,0.7,117.9,11,4.5