version: 66.12
glider: 37
mission: 17
dive: 39
start: 4 15 117 15 7 32
data:
$ID,37
$MISSION,17
$DIVE,39
$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,150
$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,48
$R_STBD_OVSHOOT,70
$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
$GPS1,150417,150205,2742.1177,-7640.9839,35,0.8,38,-8.8,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-50.1
$GPS2,150417,150701,2742.0808,-7641.0293,5,0.9,27,-8.8,0.0,0.0,9,5.0
$SPEED_LIMITS,0.100,0.230
$TGT_NAME,HEADING
$TGT_LATLONG,2656.264,-7549.636
$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,117.1,120000,-20.9,-10.000,-23.52,2227
$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,16,-1.09,-146.0,130,1643,686,885,0.0,0.0,0,150,0.00,0.00,-131.88,0.102,16386,0.000,0.000,129,1643,2422,2349,2496,0,0,0,0,0,0,26.66,28.83,26.67,8.90,12.35
$GC,153,-1.09,-146.0,129,1643,2349,2496,3.2,-2.0,13,190,8.52,0.00,-22.15,0.109,18694,0.273,0.000,2289,1643,2844,2780,2908,0,0,0,0,0,0,26.02,26.34,26.24,9.07,12.07
$GC,490,-1.03,-146.0,2288,1643,2780,2908,55.7,-15.9,47,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1643,2843,2780,2907,0,0,0,0,0,0,26.84,26.86,26.85,9.12,11.68
$GC,790,-1.03,-146.0,2288,1643,2780,2908,100.0,-14.2,77,794,0.00,2.17,0.00,0.000,516,0.000,0.067,2289,178,2843,2780,2907,0,0,0,0,0,0,26.96,26.67,26.97,9.13,11.25
$GC,895,-0.96,-146.0,2289,178,2780,2907,115.6,-15.2,87,903,0.17,2.03,0.00,0.000,3078,0.209,0.052,2333,1617,2843,2780,2907,0,0,0,0,0,0,26.50,26.76,26.69,9.13,12.04
$GC,1202,-0.96,-146.0,2332,1617,2780,2908,156.4,-13.0,116,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1617,2844,2780,2908,0,0,0,0,0,0,27.05,27.08,27.07,9.12,11.88
$GC,1501,-0.96,-146.0,2332,1617,2779,2908,194.6,-12.7,131,1506,0.00,2.33,0.00,0.000,260,0.000,0.065,2324,3194,2844,2780,2908,0,0,0,0,0,0,27.10,26.82,27.11,9.13,12.00
$GC,1543,-0.96,-146.0,2323,3194,2780,2908,200.1,-13.2,133,1548,0.00,2.30,0.00,0.000,1030,0.000,0.052,2326,1593,2843,2779,2908,0,0,0,0,0,0,26.91,26.86,26.93,9.13,11.41
$GC,1865,-0.96,-146.0,2325,1593,2780,2908,241.2,-12.6,149,1872,0.00,2.08,0.00,0.000,516,0.000,0.065,2331,187,2844,2780,2908,0,0,0,0,0,0,27.13,26.85,27.15,9.12,12.51
$GC,1965,-0.96,-146.0,2330,187,2781,2908,254.9,-13.7,154,1969,0.00,2.00,0.00,0.000,1030,0.000,0.050,2323,1610,2844,2781,2908,0,0,0,0,0,0,26.96,26.91,26.98,9.12,12.11
$GC,2286,-0.96,-146.0,2322,1624,2781,2908,294.7,-11.8,170,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1624,2844,2781,2908,0,0,0,0,0,0,27.17,27.18,27.17,9.10,12.07
$GC,2587,-0.96,-146.0,2322,1624,2781,2908,329.1,-11.7,181,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1624,2844,2781,2908,0,0,0,0,0,0,27.18,27.20,27.19,9.10,11.64
$GC,2886,-0.96,-146.0,2322,1624,2781,2908,365.2,-12.3,191,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1624,2844,2781,2908,0,0,0,0,0,0,27.19,27.20,27.20,9.09,12.67
$GC,3187,-0.96,-146.0,2322,1624,2780,2908,401.0,-11.8,201,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1624,2844,2781,2908,0,0,0,0,0,0,27.20,27.21,27.21,9.08,12.82
$GC,3486,-0.96,-146.0,2322,1624,2781,2908,437.2,-12.1,211,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1624,2844,2781,2908,0,0,0,0,0,0,27.20,27.22,27.22,9.07,12.23
$GC,3787,-1.01,-146.0,2322,1624,2781,2908,472.6,-11.5,221,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1624,2844,2780,2908,0,0,0,0,0,0,27.21,27.22,27.22,9.06,12.59
$GC,4087,-1.07,-146.0,2322,1624,2780,2908,507.2,-11.8,231,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1624,2844,2781,2908,0,0,0,0,0,0,27.22,27.23,27.22,9.06,12.74
$GC,4387,-1.13,-146.0,2322,1624,2781,2907,542.9,-12.0,241,4389,0.08,0.00,0.00,0.000,4102,0.171,0.000,2285,1624,2844,2781,2907,0,0,0,0,0,0,26.93,27.02,26.99,9.05,12.78
$GC,4686,-1.13,-146.0,2284,1626,2781,2907,581.8,-12.4,251,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1626,2843,2780,2907,0,0,0,0,0,0,27.22,27.24,27.23,9.05,11.96
$GC,4987,-1.13,-146.0,2284,1626,2781,2906,618.1,-11.9,261,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1626,2843,2781,2906,0,0,0,0,0,0,27.22,27.23,27.23,9.03,12.51
$GC,5286,-1.13,-146.0,2284,1626,2781,2905,656.5,-13.2,271,5293,0.00,2.17,0.00,0.000,516,0.000,0.067,2285,185,2843,2781,2905,0,0,0,0,0,0,27.22,26.93,27.23,9.01,12.82
$GC,5355,-1.13,-146.0,2284,185,2781,2904,665.2,-13.8,273,5359,0.00,2.05,0.00,0.000,1030,0.000,0.050,2277,1632,2842,2780,2904,0,0,0,0,0,0,27.04,26.99,27.05,9.01,12.31
$GC,5671,-1.13,-146.0,2276,1632,2781,2904,709.6,-13.7,284,5678,0.00,2.33,0.00,0.000,260,0.000,0.062,2265,3192,2842,2781,2904,0,0,0,0,0,0,27.22,26.94,27.23,8.98,12.86
$GC,5705,-1.13,-146.0,2264,3192,2781,2904,713.6,-13.5,285,5709,0.00,2.30,0.00,0.000,1030,0.000,0.050,2264,1607,2842,2780,2904,0,0,0,0,0,0,27.03,26.98,27.05,8.99,12.74
$GC,6026,-1.13,-146.0,2264,1606,2780,2901,758.6,-13.8,296,6033,0.00,2.10,0.00,0.000,516,0.000,0.067,2266,203,2841,2781,2901,0,0,0,0,0,0,27.22,26.92,27.23,8.97,12.35
$GC,6075,-1.13,-146.0,2265,203,2781,2901,763.0,-13.8,297,6079,0.00,2.00,0.00,0.000,1030,0.000,0.052,2258,1606,2841,2781,2901,0,0,0,0,0,0,27.04,26.98,27.05,8.97,13.22
$GC,6390,-1.13,-146.0,2257,1615,2781,2901,811.9,-14.7,308,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1615,2840,2780,2900,0,0,0,0,0,0,27.21,27.22,27.22,8.95,13.26
$GC,6687,-1.13,-146.0,2257,1615,2780,2899,854.5,-14.2,318,6694,0.00,2.38,0.00,0.000,260,0.000,0.062,2246,3202,2839,2780,2899,0,0,0,0,0,0,27.22,26.94,27.23,8.92,12.90
$GC,6756,-1.13,-146.0,2246,3202,2779,2899,863.2,-14.4,320,6760,0.00,2.35,0.00,0.000,1030,0.000,0.052,2251,1608,2839,2780,2899,0,0,0,0,0,0,27.03,26.97,27.04,8.92,13.06
$GC,7073,-1.13,-146.0,2250,1607,2780,2897,914.6,-15.5,331,7075,0.10,0.00,0.00,0.000,2054,0.223,0.000,2281,1607,2838,2779,2897,0,0,0,0,0,0,26.76,26.97,26.92,8.89,12.59
$GC,7373,-1.19,-146.0,2280,1608,2778,2894,953.9,-13.0,341,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,1607,2837,2779,2895,0,0,0,0,0,0,27.22,27.24,27.23,8.87,12.55
$GC,7674,-1.25,-146.0,2280,1608,2778,2894,994.2,-13.9,351,7676,0.08,0.00,0.00,0.000,4102,0.186,0.000,2253,1607,2835,2777,2894,0,0,0,0,0,0,26.90,27.01,26.98,8.85,13.45
$GC,7977,-1.25,-146.0,2252,1607,2775,2892,1040.4,-15.6,357,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1607,2834,2776,2892,0,0,0,0,0,0,27.21,27.22,27.22,8.81,13.14
$GC,8276,-1.25,-146.0,2252,1607,2774,2890,1085.3,-14.7,362,8282,0.00,2.38,0.00,0.000,260,0.000,0.067,2241,3189,2832,2774,2890,0,0,0,0,0,0,27.20,26.92,27.22,8.80,13.33
$GC,8318,-1.25,-146.0,2240,3189,2774,2891,1085.3,-14.7,362,8322,0.00,2.35,0.00,0.000,1030,0.000,0.052,2248,1616,2832,2774,2890,0,0,0,0,0,0,27.03,26.96,27.04,8.80,13.61
$GC,8633,-1.25,-146.0,2247,1616,2773,2887,1140.6,-15.6,368,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1616,2830,2773,2888,0,0,0,0,0,0,27.20,27.22,27.22,8.77,13.26
$GC,8932,-1.25,-146.0,2247,1616,2772,2886,1187.1,-15.5,373,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1616,2829,2772,2886,0,0,0,0,0,0,27.20,27.22,27.22,8.76,13.45
$GC,9232,-1.25,-146.0,2247,1616,2771,2883,1233.9,-15.6,378,9239,0.00,2.38,0.00,0.000,260,0.000,0.067,2238,3192,2827,2771,2883,0,0,0,0,0,0,27.20,26.91,27.22,8.74,12.90
$GC,9284,-1.25,-146.0,2237,3192,2770,2883,1233.9,-15.6,378,9295,0.00,2.38,0.00,0.000,1030,0.000,0.055,2242,1605,2827,2770,2884,0,0,0,0,0,0,27.01,26.95,27.03,8.74,13.41
$GC,9594,-1.30,-146.0,2241,1605,2770,2881,1290.2,-15.3,384,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1605,2825,2770,2881,0,0,0,0,0,0,27.20,27.22,27.20,8.73,13.96
$GC,9895,-1.35,-146.0,2241,1605,2768,2880,1334.5,-14.7,389,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1605,2824,2768,2880,0,0,0,0,0,0,27.20,27.22,27.21,8.72,14.08
$STATE,9952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9952,begin apogee
$GC,9957,-0.25,0.0,2241,1605,2768,2879,1343.3,-14.7,390,10072,1.02,0.00,109.78,1.688,10246,0.201,0.000,2561,1605,2340,2282,2399,0,0,0,0,0,0,26.65,25.01,24.22,8.71,13.49
$STATE,10073,end apogee,CONTROL_FINISHED_OK
$STATE,10073,begin climb
$GC,10075,1.09,146.0,2561,1605,2282,2399,1351.0,0.0,392,10199,1.25,2.35,115.80,1.644,10756,0.129,0.079,3004,192,1837,1763,1911,0,0,0,0,0,0,25.21,24.59,23.98,8.67,13.14
$GC,10319,1.09,146.0,3002,192,1762,1909,1373.9,-9.5,396,10324,0.00,2.22,0.00,0.000,1030,0.000,0.060,3003,1631,1836,1763,1909,0,0,0,0,0,0,25.91,25.85,25.93,8.62,12.39
$GC,10668,1.37,363.0,3002,1631,1760,1909,1379.4,-0.0,402,10849,0.17,2.42,170.02,1.671,10756,0.171,0.089,3081,186,1089,995,1183,0,0,0,0,0,0,26.29,24.75,23.94,8.61,13.45
$GC,11056,1.17,363.0,3081,186,995,1179,1345.3,14.1,408,11061,0.22,2.22,0.00,0.000,5126,0.286,0.060,3030,1633,1087,995,1179,0,0,0,0,0,0,25.82,26.06,26.03,8.53,12.82
$GC,11390,0.98,363.0,3029,1633,991,1179,1280.6,17.7,414,11396,0.25,2.22,0.00,0.000,4612,0.288,0.077,2978,196,1085,992,1179,0,0,0,0,0,0,26.19,26.40,26.34,8.52,12.94
$GC,11450,0.80,363.0,2977,196,991,1179,1270.5,17.6,415,11456,0.28,2.17,0.00,0.000,5126,0.273,0.062,2907,1646,1085,991,1179,0,0,0,0,0,0,26.24,26.48,26.38,8.52,13.37
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$STATE,21599,end climb,SURFACE_DEPTH_REACHED
$STATE,21599,begin surface coast
$FINISH,1.0,1.025475
$STATE,21629,end surface coast,CONTROL_FINISHED_OK
$STATE,21629,begin surface
$SM_CCo,21644,63.03,0.658,0,0,790,450.26
$SM_GC,1.70,6.97,0.00,63.03,0.079,0.000,0.658,123,1638,790,-7.79,0.68,450.26,0,0,0,0,0,0,26.89,27.22,25.60
$IRIDIUM_FIX,2732.37,-7643.90,150417,091926
$TT8_MAMPS,0.021721,0.181258
$HUMID,12.15
$INTERNAL_PRESSURE,8.82725
$TCM_TEMP,24.10
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.1,17.1
$ALTIM_BOTTOM_PING,1343.3,35.0
$24V_AH,23.94,17.580
$10V_AH,10.66,4.333
$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,19.600,106.000,395.600,63.025,154.025,17.573,12.713,146.789,17.000,0.000,29.100,2626.689,16388.422,644.613,2184.079,165.656,0.000,1702.227,0.000,1880.322,0.000,133.161,0.000
$DEVICE_MAMPS,288.028,89.388,1688.440,657.995,109.252,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.409,1066.926,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,58951,807
$CAP_FILE_SIZE,167506,0
$CFSIZE,2047311872,2038005760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.161,161.45,1
$GPS,150417,211108,2738.942,-7636.909,64,0.9,70,-8.8,0.7,130.0,10,5.0