version: 66.14
glider: 37
mission: 24
dive: 12
start: 5 29 119 6 24 43
data:
$ID,37
$MISSION,24
$DIVE,12
$N_DIVES,0
$STOP_T,5301919
$D_SURF,3
$D_FLARE,3
$D_TGT,1440
$D_ABORT,6050
$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,480
$T_MISSION,495
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,-15
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,79116.297
$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,3140
$TGT_DEFAULT_LON,-6410
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,3312
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,18
$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,2381
$C_ROLL_CLIMB,2364
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2100
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2.5
$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,-23.550753
$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,800
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004395098
$SEABIRD_T_H,0.00063361513
$SEABIRD_T_I,2.5651329e-05
$SEABIRD_T_J,3.1717634e-06
$SEABIRD_C_G,-9.9017992
$SEABIRD_C_H,1.1589037
$SEABIRD_C_I,-0.0017859261
$SEABIRD_C_J,0.00021709637
$SEABIRD_C_Z,2927.29
$GPS1,290519,061723,3210.5933,-6432.1162,37,1.1,40,-14.9,0.4,24.3,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.4
$GPS2,290519,062342,3210.6833,-6432.0698,6,1.1,17,-14.9,0.7,51.5,8,4.9
$SPEED_LIMITS,0.173,0.247
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,9000.000
$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,185.4,66629,-19.3,-10.000,-22.04,2594
$D_GRID,3138
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,71,-1.12,-171.1,131,2350,251,39,0.9,0.3,6,261,0.00,0.00,-186.88,0.104,16386,0.000,0.000,130,2349,2355,2437,2274,0,0,0,0,0,0,26.79,28.83,26.80,8.48,25.03
$GC,264,-1.12,-171.1,131,2350,2437,2274,4.1,-5.5,25,291,11.75,0.00,-11.75,0.119,18438,0.283,0.000,2943,2347,2690,2763,2618,0,0,0,0,0,0,25.73,26.19,26.06,8.70,23.45
$GC,591,-1.07,-171.1,2943,2347,2763,2618,60.7,-14.3,58,595,0.00,2.40,0.00,0.000,260,0.000,0.072,2933,3911,2690,2763,2618,0,0,0,0,0,0,26.77,26.36,26.79,8.75,24.08
$GC,683,-1.00,-171.1,2932,3911,2763,2617,75.8,-16.7,67,693,0.17,2.28,0.00,0.000,3078,0.191,0.055,2986,2352,2689,2762,2617,0,0,0,0,0,0,26.07,26.55,26.28,8.76,24.44
$GC,994,-1.00,-171.1,2985,2352,2763,2617,117.1,-13.2,98,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2352,2690,2763,2617,0,0,0,0,0,0,26.92,26.94,26.94,8.75,23.69
$GC,1305,-1.00,-171.1,2985,2352,2763,2617,158.5,-13.3,126,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2352,2690,2763,2618,0,0,0,0,0,0,26.99,27.01,27.01,8.74,24.48
$GC,1603,-1.00,-171.1,2985,2352,2763,2617,198.1,-12.8,141,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2352,2690,2763,2617,0,0,0,0,0,0,27.04,27.05,27.05,8.74,24.40
$GC,1902,-1.00,-171.1,2985,2353,2763,2617,237.9,-13.4,156,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2352,2690,2763,2617,0,0,0,0,0,0,27.07,27.08,27.08,8.73,23.77
$GC,2202,-1.00,-171.1,2986,2352,2763,2617,278.1,-13.5,171,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2352,2690,2763,2617,0,0,0,0,0,0,27.10,27.11,27.10,8.73,25.03
$GC,2502,-1.00,-171.1,2985,2352,2763,2617,317.6,-13.0,184,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2352,2690,2763,2617,0,0,0,0,0,0,27.11,27.13,27.13,8.73,24.36
$GC,2804,-1.00,-171.1,2985,2352,2763,2617,356.3,-12.7,194,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2352,2689,2763,2616,0,0,0,0,0,0,27.13,27.14,27.14,8.73,24.64
$GC,3103,-1.00,-171.1,2985,2352,2763,2617,394.3,-12.3,204,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2352,2689,2763,2616,0,0,0,0,0,0,27.14,27.15,27.15,8.73,24.36
$GC,3403,-1.00,-171.1,2985,2352,2763,2616,430.4,-11.9,214,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2352,2689,2763,2616,0,0,0,0,0,0,27.15,27.16,27.16,8.72,25.23
$GC,3702,-1.00,-171.1,2985,2352,2762,2616,464.7,-11.5,224,3707,0.00,2.38,0.00,0.000,260,0.000,0.072,2976,3913,2689,2763,2616,0,0,0,0,0,0,27.15,26.67,27.16,8.72,25.46
$GC,3748,-1.00,-171.1,2975,3914,2763,2616,468.6,-11.5,225,3752,0.00,2.22,0.00,0.000,1030,0.000,0.055,2976,2373,2689,2763,2615,0,0,0,0,0,0,26.91,26.86,26.93,8.72,25.23
$GC,4060,-1.00,-171.1,2976,2373,2763,2616,506.7,-11.5,236,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2372,2689,2763,2615,0,0,0,0,0,0,27.15,27.17,27.17,8.72,25.11
$GC,4359,-1.00,-171.1,2975,2373,2763,2615,541.3,-11.4,246,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2373,2690,2764,2616,0,0,0,0,0,0,27.16,27.17,27.17,8.71,24.68
$GC,4660,-1.00,-171.1,2975,2373,2762,2615,576.8,-12.0,256,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2373,2689,2763,2615,0,0,0,0,0,0,27.16,27.18,27.17,8.71,25.42
$GC,4959,-1.00,-171.1,2976,2373,2762,2615,611.9,-11.7,266,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2373,2689,2763,2615,0,0,0,0,0,0,27.16,27.18,27.17,8.70,25.46
$GC,5262,-1.00,-171.1,2975,2372,2763,2614,647.6,-12.1,276,5267,0.00,2.35,0.00,0.000,260,0.000,0.072,2965,3918,2688,2762,2614,0,0,0,0,0,0,27.17,26.67,27.18,8.68,25.23
$GC,5320,-1.00,-171.1,2964,3918,2763,2613,655.2,-12.2,278,5326,0.00,2.25,0.00,0.000,1030,0.000,0.057,2965,2371,2688,2762,2614,0,0,0,0,0,0,26.91,26.86,26.94,8.68,24.75
$GC,5650,-1.00,-171.1,2964,2370,2763,2613,697.4,-12.8,289,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2370,2688,2763,2613,0,0,0,0,0,0,27.17,27.18,27.18,8.67,25.19
$GC,5950,-1.00,-171.1,2965,2370,2762,2612,736.0,-12.8,299,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2370,2687,2762,2612,0,0,0,0,0,0,27.17,27.19,27.18,8.65,25.90
$GC,6250,-1.00,-171.1,2964,2370,2762,2611,774.1,-12.8,309,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2370,2686,2762,2610,0,0,0,0,0,0,27.17,27.19,27.18,8.64,25.58
$GC,6550,-1.00,-171.1,2964,2370,2762,2610,813.2,-13.1,319,6557,0.00,2.38,0.00,0.000,260,0.000,0.074,2953,3908,2686,2762,2610,0,0,0,0,0,0,27.17,26.64,27.18,8.61,26.64
$GC,6625,-1.00,-171.1,2953,3909,2762,2609,821.6,-13.5,321,6630,0.12,2.25,0.00,0.000,3078,0.199,0.057,2992,2367,2685,2762,2608,0,0,0,0,0,0,26.37,26.84,26.53,8.61,26.61
$GC,6966,-1.08,-171.1,2991,2366,2759,2608,863.4,-11.7,332,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2366,2683,2759,2608,0,0,0,0,0,0,27.14,27.16,27.15,8.59,27.04
$GC,7254,-1.17,-171.1,2991,2366,2758,2608,898.9,-11.7,342,7256,0.12,0.00,0.00,0.000,4102,0.149,0.000,2941,2366,2683,2759,2608,0,0,0,0,0,0,26.72,26.82,26.78,8.57,28.46
$GC,7553,-1.17,-171.1,2940,2364,2757,2607,940.0,-13.8,352,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2363,2682,2757,2607,0,0,0,0,0,0,27.15,27.17,27.17,8.55,29.87
$GC,7866,-1.17,-171.1,2940,2364,2755,2606,983.2,-14.7,362,7872,0.00,2.40,0.00,0.000,260,0.000,0.077,2929,3909,2680,2755,2606,0,0,0,0,0,0,27.13,26.58,27.15,8.53,30.35
$GC,7942,-1.17,-171.1,2928,3909,2756,2605,993.7,-14.7,364,7946,0.00,2.25,0.00,0.000,1030,0.000,0.060,2929,2389,2680,2755,2605,0,0,0,0,0,0,26.86,26.79,26.88,8.53,30.78
$GC,8297,-1.17,-171.1,2928,2380,2753,2604,1046.4,-14.4,371,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2380,2678,2753,2603,0,0,0,0,0,0,27.13,27.15,27.15,8.51,31.80
$GC,8585,-1.17,-171.1,2928,2380,2752,2603,1089.8,-14.4,376,8591,0.00,2.38,0.00,0.000,260,0.000,0.077,2918,3905,2677,2752,2603,0,0,0,0,0,0,27.15,26.54,27.16,8.50,31.33
$GC,8652,-1.17,-171.1,2917,3905,2752,2602,1098.6,-14.3,377,8657,0.00,2.28,0.00,0.000,1030,0.000,0.060,2918,2372,2677,2752,2602,0,0,0,0,0,0,26.84,26.77,26.86,8.49,31.88
$GC,9004,-1.17,-171.1,2917,2365,2751,2601,1149.9,-14.1,383,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2365,2675,2751,2600,0,0,0,0,0,0,27.15,27.17,27.16,8.47,31.33
$GC,9305,-1.17,-171.1,2917,2365,2749,2600,1192.3,-14.1,388,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2365,2674,2749,2600,0,0,0,0,0,0,27.15,27.17,27.16,8.46,32.39
$GC,9606,-1.17,-171.1,2917,2365,2747,2600,1233.1,-13.6,393,9612,0.00,2.40,0.00,0.000,260,0.000,0.079,2906,3901,2673,2747,2600,0,0,0,0,0,0,27.15,26.51,27.16,8.45,32.24
$GC,9657,-1.17,-171.1,2905,3901,2747,2599,1233.1,-13.6,393,9679,0.00,2.30,0.00,0.000,1030,0.000,0.062,2906,2366,2673,2747,2599,0,0,0,0,0,0,26.81,26.74,26.83,8.45,32.20
$GC,9977,-1.17,-171.1,2906,2365,2745,2598,1285.5,-14.8,399,9983,0.00,2.40,0.00,0.000,260,0.000,0.079,2894,3900,2671,2745,2598,0,0,0,0,0,0,27.12,26.48,27.13,8.44,32.47
$GC,10023,-1.17,-171.1,2894,3901,2745,2597,1285.5,-14.8,399,10028,0.12,2.30,0.00,0.000,3078,0.236,0.062,2928,2378,2671,2745,2597,0,0,0,0,0,0,26.09,26.72,26.29,8.43,32.20
$GC,10336,-1.24,-171.1,2928,2372,2744,2596,1337.1,-13.5,405,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2373,2670,2743,2597,0,0,0,0,0,0,27.14,27.16,27.15,8.42,32.39
$GC,10637,-1.31,-171.1,2928,2372,2742,2595,1377.1,-13.3,410,10639,0.08,0.00,0.00,0.000,4102,0.214,0.000,2902,2372,2668,2742,2595,0,0,0,0,0,0,26.70,26.78,26.75,8.41,31.96
$GC,10949,-1.31,-171.1,2902,2372,2740,2593,1421.0,-14.7,415,10955,0.00,2.40,0.00,0.000,260,0.000,0.082,2890,3901,2667,2740,2594,0,0,0,0,0,0,27.12,26.42,27.13,8.40,33.22
$GC,11015,-1.31,-171.1,2889,3902,2740,2593,1431.8,-14.8,416,11020,0.00,2.30,0.00,0.000,1030,0.000,0.065,2890,2388,2666,2740,2592,0,0,0,0,0,0,26.77,26.69,26.79,8.40,32.39
$STATE,11134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11135,begin apogee
$GC,11139,-0.56,0.0,2890,2381,2739,2593,1449.0,-14.9,418,11275,0.82,0.00,132.20,1.778,10246,0.211,0.000,3126,2380,2100,2183,2018,0,0,0,0,0,0,25.56,24.55,23.61,8.40,32.55
$STATE,11276,end apogee,CONTROL_FINISHED_OK
$STATE,11276,begin climb
$GC,11278,1.12,171.1,3126,2380,2183,2018,1457.1,0.0,420,11427,1.67,2.65,141.52,1.731,10500,0.149,0.089,3670,3901,1511,1603,1419,0,0,0,0,0,0,24.77,23.99,23.07,8.35,32.63
$GC,11493,1.12,171.1,3670,3904,1603,1418,1479.0,-9.5,424,11497,0.00,2.50,0.00,0.000,1030,0.000,0.062,3680,2369,1510,1603,1418,0,0,0,0,0,0,25.26,25.20,25.27,8.29,31.80
$GC,11841,1.03,638.1,3680,2368,1603,1417,1508.8,-8.4,430,12204,0.12,2.75,351.58,1.751,12804,0.333,0.084,3665,786,140,250,30,0,0,0,0,0,0,25.66,23.91,23.04,8.28,32.31
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$STATE,20258,end climb,SURFACE_DEPTH_REACHED
$STATE,20258,begin surface coast
$FINISH,0.2,1.025354
$STATE,20269,end surface coast,CONTROL_FINISHED_OK
$STATE,20269,begin surface
$SM_CCo,20346,0.00,0.000,0,0,142,568.80
$SM_GC,0.36,9.10,0.00,0.00,0.092,0.000,0.000,151,2344,142,-9.84,-1.05,568.80,0,0,0,0,0,0,26.48,27.14,26.63
$IRIDIUM_FIX,3213.62,-6429.90,290519,001806
$TT8_MAMPS,0.02247,0.229943
$HUMID,25.34
$INTERNAL_PRESSURE,8.41707
$TCM_TEMP,22.60
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.4,18.8
$24V_AH,23.04,22.798
$10V_AH,10.44,12.236
$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,24.975,109.550,638.825,0.000,198.625,24.475,35.989,209.312,57.000,0.000,17.742,2399.665,15039.857,809.026,2321.487,187.301,0.000,1812.682,0.000,1640.873,0.000,558.649,0.000
$DEVICE_MAMPS,332.722,89.388,1777.828,0.000,119.184,12.420,160.000,223.000,420.000,0.000,28.460,13.970,2.190,13.970,40.180,61.900,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.805,962.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320272
$DATA_FILE_SIZE,52024,727
$CAP_FILE_SIZE,166741,0
$CFSIZE,2047311872,2040070144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.118,19.33,1
$GPS,290519,120513,3207.947,-6431.258,34,0.8,44,-14.9,0.2,74.0,10,5.0