version: 66.12
glider: 37
mission: 17
dive: 103
start: 7 11 117 15 11 22
data:
$ID,37
$MISSION,17
$DIVE,103
$N_DIVES,0
$STOP_T,7111716
$D_SURF,5
$D_FLARE,3
$D_TGT,2160
$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,720
$T_MISSION,1110
$T_ABORT,1140
$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,30
$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,-1
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,50
$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,0.00026999999
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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
$GPS1,110717,150707,2627.8284,-7642.1836,2,1.1,31,-8.5,0.6,308.1,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-52.6
$GPS2,110717,151052,2627.8010,-7642.2036,5,1.0,34,-8.5,0.5,184.5,9,5.0
$SPEED_LIMITS,0.173,0.230
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$TGT_RADIUS,10000.000
$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,311.9,5574,-27.8,-10.000,-30.00,1257
$D_GRID,2160
$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,-1.41,-82.1,135,1599,331,517,0.0,0.0,0,161,0.00,0.00,-143.32,0.102,16386,0.000,0.000,135,1600,2465,2394,2536,0,0,0,0,0,0,27.11,28.83,27.12,9.16,14.32
$GC,164,-1.43,-146.0,135,1600,2394,2536,3.4,-3.1,14,195,7.90,2.33,-16.23,0.112,18692,0.261,0.060,2166,3201,2844,2781,2908,0,0,0,0,0,0,25.95,26.61,26.34,9.37,14.44
$GC,444,-1.38,-146.0,2165,3200,2781,2908,64.9,-21.3,42,453,0.10,2.20,0.00,0.000,3078,0.199,0.052,2196,1582,2844,2781,2907,0,0,0,0,0,0,26.45,26.83,26.55,9.41,14.16
$GC,753,-1.38,-146.0,2195,1581,2781,2906,112.3,-15.0,73,763,0.00,2.30,0.00,0.000,260,0.000,0.060,2185,3212,2844,2781,2907,0,0,0,0,0,0,27.14,26.81,27.15,9.38,14.87
$GC,916,-1.38,-146.0,2185,3212,2781,2906,136.9,-14.7,89,925,0.00,2.20,0.00,0.000,1030,0.000,0.052,2186,1613,2843,2781,2906,0,0,0,0,0,0,26.92,26.86,26.94,9.36,14.83
$GC,1226,-1.38,-146.0,2185,1613,2781,2904,184.0,-15.2,109,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1613,2842,2781,2904,0,0,0,0,0,0,27.15,27.17,27.16,9.34,14.59
$GC,1527,-1.38,-146.0,2185,1614,2781,2902,229.9,-15.6,124,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1613,2841,2781,2902,0,0,0,0,0,0,27.15,27.16,27.16,9.30,14.75
$GC,1826,-1.38,-146.0,2185,1613,2781,2900,279.7,-16.7,139,1831,0.00,2.00,0.00,0.000,516,0.000,0.065,2185,209,2840,2781,2900,0,0,0,0,0,0,27.15,26.79,27.16,9.27,15.11
$GC,1916,-1.38,-146.0,2185,209,2781,2899,294.2,-17.5,143,1920,0.00,1.95,0.00,0.000,1030,0.000,0.050,2175,1661,2840,2781,2899,0,0,0,0,0,0,26.94,26.89,26.95,9.27,15.07
$GC,2248,-1.38,-146.0,2174,1661,2781,2897,354.8,-18.0,155,2255,0.00,2.10,0.00,0.000,516,0.000,0.065,2175,210,2839,2781,2897,0,0,0,0,0,0,27.15,26.78,27.16,9.24,15.15
$GC,2321,-1.38,-146.0,2174,210,2781,2896,366.3,-18.6,157,2326,0.12,1.90,0.00,0.000,3078,0.206,0.050,2202,1619,2838,2781,2896,0,0,0,0,0,0,26.48,26.89,26.66,9.23,15.58
$GC,2639,-1.44,-146.0,2201,1620,2781,2894,421.9,-16.4,168,2643,0.00,2.08,0.00,0.000,516,0.000,0.065,2202,241,2837,2781,2894,0,0,0,0,0,0,27.15,26.78,27.16,9.21,15.38
$GC,2723,-1.50,-146.0,2202,212,2781,2893,432.9,-17.5,170,2731,0.00,1.90,0.00,0.000,1030,0.000,0.050,2194,1625,2837,2781,2893,0,0,0,0,0,0,26.93,26.89,26.94,9.20,15.97
$GC,3031,-1.56,-146.0,2193,1625,2778,2892,489.7,-17.6,181,3038,0.10,2.10,0.00,0.000,4612,0.132,0.062,2143,214,2835,2778,2892,0,0,0,0,0,0,26.84,26.77,26.87,9.18,16.52
$GC,3099,-1.56,-146.0,2142,214,2778,2892,502.2,-18.8,183,3103,0.00,1.92,0.00,0.000,1030,0.000,0.050,2135,1610,2835,2778,2892,0,0,0,0,0,0,26.93,26.88,26.94,9.17,15.82
$GC,3421,-1.56,-146.0,2134,1617,2776,2890,569.8,-20.2,194,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,1617,2833,2777,2890,0,0,0,0,0,0,27.14,27.16,27.15,9.15,15.78
$GC,3722,-1.56,-146.0,2134,1617,2775,2887,631.9,-20.4,204,3727,0.00,2.12,0.00,0.000,516,0.000,0.065,2139,208,2831,2775,2887,0,0,0,0,0,0,27.14,26.76,27.15,9.11,16.09
$GC,3855,-1.56,-146.0,2139,209,2775,2886,658.7,-22.4,208,3859,0.00,1.98,0.00,0.000,1030,0.000,0.052,2131,1623,2830,2775,2886,0,0,0,0,0,0,26.91,26.87,26.94,9.11,16.37
$GC,4172,-1.56,-146.0,2131,1623,2773,2884,731.6,-22.2,219,4178,0.00,2.12,0.00,0.000,516,0.000,0.065,2135,214,2828,2773,2884,0,0,0,0,0,0,27.14,26.75,27.15,9.07,15.89
$GC,4279,-1.56,-146.0,2134,214,2773,2882,752.7,-23.2,222,4283,0.00,1.98,0.00,0.000,1030,0.000,0.050,2127,1622,2827,2773,2882,0,0,0,0,0,0,26.91,26.86,26.93,9.05,16.64
$GC,4591,-1.56,-146.0,2126,1622,2772,2881,827.6,-23.0,233,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,1622,2826,2772,2881,0,0,0,0,0,0,27.13,27.15,27.15,9.01,15.89
$GC,4892,-1.56,-146.0,2126,1622,2770,2879,895.3,-22.3,243,4898,0.00,2.15,0.00,0.000,516,0.000,0.065,2130,217,2824,2770,2879,0,0,0,0,0,0,27.13,26.74,27.15,8.98,17.00
$GC,4955,-1.56,-146.0,2129,217,2770,2878,909.1,-22.7,245,4959,0.00,2.00,0.00,0.000,1030,0.000,0.052,2122,1603,2824,2770,2878,0,0,0,0,0,0,26.90,26.84,26.91,8.97,16.52
$GC,5282,-1.56,-146.0,2121,1615,2765,2878,984.3,-22.5,256,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,1615,2821,2765,2878,0,0,0,0,0,0,27.13,27.15,27.15,8.93,16.52
$GC,5612,-1.56,-146.0,2122,1615,2763,2875,1058.6,-22.6,263,5616,0.00,2.17,0.00,0.000,516,0.000,0.067,2122,218,2819,2763,2875,0,0,0,0,0,0,27.13,26.71,27.15,8.91,16.52
$GC,5666,-1.56,-146.0,2122,218,2763,2873,1058.6,-22.6,263,5678,0.10,2.05,0.00,0.000,3078,0.246,0.052,2138,1626,2818,2763,2873,0,0,0,0,0,0,26.35,26.82,26.55,8.90,17.27
$GC,5977,-1.62,-146.0,2138,1626,2761,2871,1138.0,-21.4,269,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,1626,2816,2761,2871,0,0,0,0,0,0,27.13,27.15,27.15,8.88,17.55
$GC,6278,-1.69,-146.0,2138,1626,2759,2868,1203.5,-22.0,274,6280,0.08,0.00,0.00,0.000,4102,0.186,0.000,2108,1626,2813,2758,2868,0,0,0,0,0,0,26.76,26.84,26.81,8.86,17.43
$GC,6577,-1.69,-146.0,2108,1626,2757,2866,1273.9,-23.5,279,6583,0.00,2.22,0.00,0.000,516,0.000,0.067,2109,206,2811,2757,2866,0,0,0,0,0,0,27.10,26.67,27.12,8.84,17.27
$GC,6637,-1.69,-146.0,2108,206,2757,2865,1288.8,-23.6,280,6644,0.00,2.08,0.00,0.000,1030,0.000,0.055,2100,1612,2811,2757,2865,0,0,0,0,0,0,26.86,26.79,26.88,8.83,17.98
$GC,6996,-1.69,-146.0,2099,1613,2754,2863,1374.6,-23.8,286,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1613,2808,2754,2863,0,0,0,0,0,0,27.12,27.14,27.14,8.82,16.92
$GC,7298,-1.69,-146.0,2099,1612,2751,2860,1444.8,-23.3,291,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1613,2805,2751,2860,0,0,0,0,0,0,27.10,27.12,27.11,8.80,17.67
$GC,7598,-1.75,-146.0,2100,1613,2750,2858,1513.0,-22.7,296,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1612,2804,2750,2858,0,0,0,0,0,0,27.10,27.11,27.11,8.79,17.12
$GC,7897,-1.81,-146.0,2100,1613,2749,2856,1578.3,-21.6,301,7905,0.08,2.22,0.00,0.000,4612,0.196,0.067,2075,212,2802,2749,2856,0,0,0,0,0,0,26.73,26.60,26.76,8.78,17.00
$GC,7935,-1.88,-146.0,2074,212,2749,2856,1578.3,-21.6,301,7940,0.00,2.10,0.00,0.000,1030,0.000,0.055,2067,1620,2802,2749,2856,0,0,0,0,0,0,26.82,26.75,26.84,8.78,17.82
$GC,8254,-1.88,-146.0,2066,1620,2749,2854,1662.3,-23.7,307,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1620,2801,2749,2854,0,0,0,0,0,0,27.09,27.11,27.10,8.77,17.35
$GC,8554,-1.88,-146.0,2066,1620,2748,2852,1732.0,-23.1,312,8558,0.00,2.22,0.00,0.000,516,0.000,0.070,2069,219,2799,2747,2852,0,0,0,0,0,0,27.08,26.57,27.10,8.75,17.43
$GC,8599,-1.88,-146.0,2069,219,2748,2850,1732.0,-23.1,312,8603,0.00,2.10,0.00,0.000,1030,0.000,0.055,2061,1624,2799,2748,2850,0,0,0,0,0,0,26.79,26.72,26.82,8.75,17.71
$GC,8913,-1.88,-146.0,2060,1624,2747,2849,1812.3,-22.2,318,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1624,2798,2747,2849,0,0,0,0,0,0,27.10,27.11,27.10,8.75,17.08
$GC,9212,-1.93,-146.0,2060,1624,2747,2846,1878.5,-22.0,323,9218,0.05,2.20,0.00,0.000,4612,0.243,0.070,2052,223,2796,2746,2846,0,0,0,0,0,0,26.79,26.55,26.82,8.74,17.27
$GC,9274,-1.93,-146.0,2051,224,2747,2845,1892.4,-22.2,324,9280,0.00,2.08,0.00,0.000,1030,0.000,0.057,2044,1616,2796,2747,2845,0,0,0,0,0,0,26.78,26.70,26.80,8.74,16.80
$GC,9633,-1.93,-146.0,2043,1617,2745,2844,1974.8,-22.5,330,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,1617,2794,2745,2844,0,0,0,0,0,0,27.11,27.13,27.13,8.73,17.55
$GC,9933,-1.93,-146.0,2043,1616,2744,2843,2040.3,-21.8,335,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1617,2793,2744,2843,0,0,0,0,0,0,27.08,27.10,27.09,8.72,17.55
$GC,10234,-1.99,-146.0,2043,1616,2743,2842,2106.2,-21.9,340,10239,0.08,2.22,0.00,0.000,4612,0.221,0.070,2027,217,2792,2743,2842,0,0,0,0,0,0,26.63,26.49,26.67,8.72,16.76
$GC,10285,-2.04,-146.0,2026,217,2744,2842,2106.2,-21.9,340,10289,0.00,2.10,0.00,0.000,1030,0.000,0.057,2018,1620,2792,2743,2842,0,0,0,0,0,0,26.75,26.68,26.78,8.72,17.86
$STATE,10473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10473,begin apogee
$GC,10478,-0.25,0.0,2018,1621,2742,2841,2162.0,-23.1,343,10594,1.95,0.00,112.00,2.210,10246,0.223,0.000,2556,1621,2340,2287,2393,0,0,0,0,0,0,25.42,24.73,23.42,8.72,17.12
$STATE,10595,end apogee,CONTROL_FINISHED_OK
$STATE,10595,begin climb
$GC,10597,1.43,146.0,2556,1621,2287,2393,2170.6,0.0,345,10732,1.65,2.47,126.60,2.178,10756,0.144,0.082,3111,228,1837,1768,1906,0,0,0,0,0,0,24.97,23.72,22.76,8.68,16.80
$GC,10862,1.43,146.0,3111,228,1768,1905,2196.7,-10.9,349,10866,0.00,2.17,0.00,0.000,1030,0.000,0.060,3111,1639,1836,1768,1905,0,0,0,0,0,0,26.15,26.09,26.17,8.63,16.72
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$STATE,23226,end climb,SURFACE_DEPTH_REACHED
$STATE,23227,begin surface coast
$FINISH,2.5,1.023079
$STATE,23238,end surface coast,CONTROL_FINISHED_OK
$STATE,23238,begin surface
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$HUMID,16.41
$INTERNAL_PRESSURE,8.83701
$TCM_TEMP,31.30
$XPDR_PINGS,389
$ALTIM_TOP_PING,18.9,0.0
$24V_AH,22.76,54.445
$10V_AH,10.44,20.564
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,284744
$DATA_FILE_SIZE,52142,707
$CAP_FILE_SIZE,393982,0
$CFSIZE,2047311872,2020573184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.008,95.36,1
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