version: 66.12
glider: 37
mission: 17
dive: 32
start: 4 13 117 21 55 24
data:
$ID,37
$MISSION,17
$DIVE,32
$N_DIVES,0
$STOP_T,4171719
$D_SURF,5
$D_FLARE,3
$D_TGT,1620
$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,540
$T_MISSION,570
$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,135
$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,20
$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,67
$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,0.00026999999
$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
$GPS1,130417,214936,2805.6746,-7709.9097,29,0.8,32,-8.5,1.0,167.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-42.0
$GPS2,130417,215452,2805.5962,-7709.9238,5,0.8,17,-8.5,0.5,126.8,10,4.6
$SPEED_LIMITS,0.100,0.370
$TGT_NAME,HEADING
$TGT_LATLONG,2719.779,-7618.351
$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,104.8,120000,-11.6,-10.000,-15.12,6583
$D_GRID,1620
$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,13,begin dive
$GC,15,-0.70,-438.0,110,1619,195,400,0.0,0.0,0,190,0.00,0.00,-171.82,0.102,16386,0.000,0.000,110,1620,2329,2252,2406,0,0,0,0,0,0,26.98,28.83,26.99,8.87,12.04
$GC,193,-0.70,-438.0,110,1619,2252,2406,3.0,-2.3,17,291,8.82,2.12,-80.75,0.104,18948,0.268,0.062,2415,191,3849,3789,3910,0,0,0,0,0,0,26.25,26.49,26.43,9.10,12.15
$GC,374,-0.70,-438.0,2414,191,3789,3909,18.4,-8.1,35,384,0.00,2.03,0.00,0.000,1030,0.000,0.050,2406,1649,3849,3789,3910,0,0,0,0,0,0,26.68,26.64,26.70,9.25,11.72
$GC,684,-0.70,-438.0,2405,1649,3789,3909,47.4,-9.4,66,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1649,3849,3789,3909,0,0,0,0,0,0,27.01,27.03,27.03,9.25,11.88
$GC,985,-0.70,-438.0,2405,1650,3789,3908,75.0,-9.0,96,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1649,3848,3788,3908,0,0,0,0,0,0,27.10,27.11,27.10,9.26,12.19
$GC,1285,-0.70,-438.0,2405,1649,3789,3907,101.4,-8.8,126,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1649,3848,3789,3907,0,0,0,0,0,0,27.15,27.16,27.16,9.26,12.35
$GC,1587,-0.70,-438.0,2405,1649,3789,3907,127.2,-9.2,156,1596,0.00,2.15,0.00,0.000,516,0.000,0.067,2405,196,3847,3788,3906,0,0,0,0,0,0,27.18,26.89,27.19,9.26,12.39
$GC,1621,-0.70,-438.0,2405,196,3789,3906,130.3,-9.4,159,1629,0.00,1.95,0.00,0.000,1030,0.000,0.052,2395,1621,3847,3789,3906,0,0,0,0,0,0,27.01,26.96,27.01,9.26,12.90
$GC,1929,-0.70,-438.0,2395,1621,3788,3906,159.1,-9.1,185,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1622,3847,3789,3906,0,0,0,0,0,0,27.20,27.22,27.21,9.26,12.31
$GC,2229,-0.70,-438.0,2395,1621,3789,3906,184.0,-7.9,200,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1622,3847,3789,3906,0,0,0,0,0,0,27.21,27.23,27.22,9.26,11.84
$GC,2528,-0.70,-438.0,2395,1621,3789,3906,210.1,-8.6,215,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1621,3847,3789,3906,0,0,0,0,0,0,27.22,27.24,27.23,9.26,12.31
$GC,2829,-0.75,-438.0,2395,1621,3790,3906,232.4,-6.9,230,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1622,3847,3789,3906,0,0,0,0,0,0,27.23,27.24,27.24,9.27,12.86
$GC,3129,-0.81,-438.0,2395,1622,3789,3906,256.1,-8.4,245,3135,0.00,2.12,0.00,0.000,516,0.000,0.067,2396,185,3847,3789,3906,0,0,0,0,0,0,27.23,26.95,27.24,9.27,12.98
$GC,3178,-0.87,-438.0,2395,185,3789,3906,259.5,-8.4,247,3182,0.00,1.98,0.00,0.000,1030,0.000,0.050,2387,1627,3847,3789,3906,0,0,0,0,0,0,27.05,27.01,27.07,9.26,12.86
$GC,3491,-0.93,-438.0,2386,1628,3789,3906,288.8,-8.6,263,3497,0.08,2.25,0.00,0.000,4356,0.161,0.060,2337,3162,3847,3789,3906,0,0,0,0,0,0,26.97,26.96,27.01,9.26,12.27
$GC,3518,-0.93,-438.0,2337,3162,3789,3906,290.5,-8.8,264,3522,0.00,2.20,0.00,0.000,1030,0.000,0.050,2338,1597,3847,3789,3906,0,0,0,0,0,0,27.05,27.00,27.06,9.26,12.15
$GC,3845,-0.93,-438.0,2337,1598,3789,3906,329.1,-11.8,276,3850,0.00,2.05,0.00,0.000,516,0.000,0.067,2338,192,3847,3789,3906,0,0,0,0,0,0,27.24,26.95,27.26,9.25,12.63
$GC,3895,-0.93,-438.0,2337,192,3789,3906,333.2,-12.1,277,3899,0.00,1.95,0.00,0.000,1030,0.000,0.050,2329,1611,3847,3789,3905,0,0,0,0,0,0,27.05,27.01,27.07,9.25,12.82
$GC,4207,-0.93,-438.0,2328,1611,3789,3905,374.6,-11.7,288,4213,0.00,2.30,0.00,0.000,260,0.000,0.062,2317,3178,3847,3789,3905,0,0,0,0,0,0,27.24,26.97,27.25,9.24,12.59
$GC,4245,-0.93,-438.0,2316,3178,3789,3906,378.3,-11.9,289,4249,0.00,2.22,0.00,0.000,1030,0.000,0.050,2317,1617,3847,3789,3906,0,0,0,0,0,0,27.05,27.00,27.07,9.24,12.94
$GC,4567,-0.93,-438.0,2317,1611,3789,3905,420.0,-13.2,300,4572,0.00,2.08,0.00,0.000,516,0.000,0.067,2317,186,3847,3789,3905,0,0,0,0,0,0,27.24,26.96,27.26,9.22,12.31
$GC,4617,-0.93,-438.0,2317,185,3789,3905,424.5,-13.5,301,4622,0.12,1.98,0.00,0.000,3078,0.176,0.050,2350,1616,3847,3789,3905,0,0,0,0,0,0,26.82,27.01,26.96,9.22,12.86
$GC,4925,-0.93,-438.0,2349,1616,3789,3905,458.5,-9.7,311,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1616,3847,3789,3905,0,0,0,0,0,0,27.24,27.26,27.26,9.21,12.70
$GC,5224,-0.93,-438.0,2349,1617,3789,3904,487.1,-9.6,321,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1616,3846,3789,3904,0,0,0,0,0,0,27.24,27.26,27.26,9.21,13.10
$GC,5525,-0.93,-438.0,2349,1616,3789,3904,516.4,-9.9,331,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1616,3846,3789,3904,0,0,0,0,0,0,27.24,27.26,27.26,9.20,12.70
$GC,5824,-0.93,-438.0,2349,1617,3788,3903,542.6,-8.4,341,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1616,3845,3789,3902,0,0,0,0,0,0,27.24,27.27,27.26,9.19,13.10
$GC,6125,-0.93,-438.0,2349,1616,3789,3901,566.4,-8.1,351,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1616,3845,3789,3901,0,0,0,0,0,0,27.24,27.27,27.26,9.18,12.51
$GC,6425,-0.98,-438.0,2349,1616,3788,3901,593.6,-9.3,361,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1617,3844,3788,3901,0,0,0,0,0,0,27.24,27.27,27.26,9.18,13.06
$GC,6725,-1.04,-438.0,2349,1617,3787,3901,621.3,-9.1,371,6727,0.08,0.00,0.00,0.000,4102,0.171,0.000,2311,1617,3844,3787,3901,0,0,0,0,0,0,26.96,27.05,27.02,9.17,12.47
$GC,7024,-1.04,-438.0,2310,1617,3787,3900,655.3,-11.4,381,7031,0.00,2.15,0.00,0.000,516,0.000,0.065,2312,185,3843,3787,3900,0,0,0,0,0,0,27.24,26.96,27.26,9.16,12.90
$GC,7062,-1.04,-438.0,2310,185,3787,3900,658.8,-11.5,382,7066,0.00,2.00,0.00,0.000,1030,0.000,0.050,2301,1620,3843,3787,3899,0,0,0,0,0,0,27.07,27.02,27.08,9.16,12.70
$GC,7385,-1.04,-438.0,2300,1621,3787,3899,699.6,-12.6,393,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,1620,3843,3787,3899,0,0,0,0,0,0,27.24,27.27,27.26,9.15,13.14
$GC,7684,-1.04,-438.0,2300,1620,3786,3899,733.7,-11.0,403,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,1620,3842,3786,3899,0,0,0,0,0,0,27.24,27.27,27.26,9.13,13.33
$GC,7985,-1.04,-438.0,2300,1620,3785,3898,767.3,-11.1,413,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,1620,3841,3785,3898,0,0,0,0,0,0,27.24,27.27,27.26,9.12,13.37
$GC,8287,-1.04,-438.0,2300,1620,3785,3897,802.5,-12.1,423,8294,0.00,2.15,0.00,0.000,516,0.000,0.067,2301,192,3840,3785,3896,0,0,0,0,0,0,27.23,26.95,27.24,9.10,12.47
$GC,8316,-1.04,-438.0,2300,192,3785,3896,806.4,-12.2,424,8320,0.00,2.00,0.00,0.000,1030,0.000,0.052,2291,1620,3840,3785,3896,0,0,0,0,0,0,27.06,27.01,27.08,9.10,13.06
$GC,8648,-1.04,-438.0,2291,1620,3783,3895,844.5,-11.1,435,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1619,3839,3783,3895,0,0,0,0,0,0,27.24,27.26,27.25,9.09,13.10
$GC,8952,-1.04,-438.0,2291,1620,3783,3894,880.1,-12.4,445,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1620,3838,3783,3894,0,0,0,0,0,0,27.23,27.24,27.24,9.07,12.78
$GC,9248,-1.04,-438.0,2291,1620,3781,3893,918.0,-12.8,455,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1620,3837,3782,3892,0,0,0,0,0,0,27.24,27.26,27.25,9.05,13.22
$GC,9549,-1.04,-438.0,2290,1620,3780,3892,956.3,-12.6,465,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1620,3835,3780,3891,0,0,0,0,0,0,27.24,27.26,27.26,9.03,12.86
$GC,9848,-1.04,-438.0,2291,1620,3779,3890,989.8,-11.3,475,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1620,3834,3779,3890,0,0,0,0,0,0,27.24,27.26,27.25,8.99,13.53
$GC,10178,-1.04,-438.0,2291,1620,3778,3888,1028.4,-11.6,482,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1619,3833,3778,3888,0,0,0,0,0,0,27.24,27.26,27.25,8.96,13.10
$GC,10480,-1.04,-438.0,2291,1620,3776,3887,1060.4,-10.2,487,10486,0.00,2.35,0.00,0.000,260,0.000,0.065,2281,3168,3831,3776,3887,0,0,0,0,0,0,27.22,26.96,27.24,8.94,12.86
$GC,10511,-1.04,-438.0,2279,3168,3774,3887,1060.4,-10.2,487,10516,0.00,2.28,0.00,0.000,1030,0.000,0.052,2281,1615,3831,3775,3887,0,0,0,0,0,0,27.05,26.98,27.06,8.93,13.49
$GC,10841,-1.10,-438.0,2280,1613,3775,3884,1093.0,-8.0,493,10842,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,1613,3829,3775,3883,0,0,0,0,0,0,27.24,27.26,27.25,8.91,12.98
$STATE,11137,end dive,NO_VERTICAL_VELOCITY
$STATE,11137,begin apogee
$GC,11141,-0.25,0.0,2280,1613,3773,3881,1092.9,0.0,498,11473,0.80,0.00,328.05,1.458,10246,0.139,0.000,2567,1613,2340,2265,2416,0,0,0,0,0,0,26.82,24.92,24.20,8.89,13.37
$STATE,11474,end apogee,CONTROL_FINISHED_OK
$STATE,11474,begin climb
$GC,11476,0.70,438.0,2567,1613,2265,2415,1092.9,0.0,503,11826,0.88,2.62,339.65,1.420,10500,0.144,0.072,2859,3174,831,731,931,0,0,0,0,0,0,25.04,24.65,23.94,8.72,12.98
$GC,12064,0.58,438.0,2858,3174,724,931,1055.3,12.4,513,12071,0.12,2.40,0.00,0.000,5126,0.226,0.055,2837,1620,827,724,931,0,0,0,0,0,0,25.95,26.13,26.11,8.57,12.82
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$STATE,21616,end climb,SURFACE_DEPTH_REACHED
$STATE,21616,begin surface coast
$FINISH,1.1,1.025279
$STATE,21657,end surface coast,CONTROL_FINISHED_OK
$STATE,21658,begin surface
$SM_CCo,21732,0.00,0.000,0,0,298,593.18
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$IRIDIUM_FIX,2759.18,-7716.08,130417,155306
$TT8_MAMPS,0.021721,0.190995
$HUMID,12.47
$INTERNAL_PRESSURE,8.80771
$TCM_TEMP,24.70
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.4,17.6
$24V_AH,23.94,15.681
$10V_AH,10.63,3.849
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.725,122.525,804.475,0.000,252.575,23.728,15.668,162.255,10.500,0.000,18.956,2791.013,15906.775,1043.320,2141.497,169.566,0.000,2129.767,0.000,1853.826,0.000,74.075,0.000
$DEVICE_MAMPS,268.164,81.939,1457.521,0.000,104.286,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.779,1210.599,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284248
$DATA_FILE_SIZE,62548,916
$CAP_FILE_SIZE,165586,0
$CFSIZE,2047311872,2038923264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,193.27,0x237eaa,0,24
$CURRENT,0.269,176.59,1
$GPS,140417,035854,2802.009,-7704.847,40,0.9,43,-8.6,0.6,172.6,9,4.7