version: 66.14
glider: 37
mission: 24
dive: 209
start: 2 5 120 1 41 38
data:
$ID,37
$MISSION,24
$DIVE,209
$N_DIVES,210
$STOP_T,2062006
$D_SURF,3
$D_FLARE,3
$D_TGT,1920
$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,640
$T_MISSION,700
$T_ABORT,3360
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-10
$MAX_BUOY,300
$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,478.16296
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,1
$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,7
$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,3143
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.89
$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,2350
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,1786
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,4900
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$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
$GPS1,050220,013512,3209.1360,-6430.8916,41,1.1,81,-14.9,0.5,118.3,8,5.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.5
$GPS2,050220,014058,3209.1226,-6430.7979,9,1.1,50,-14.9,0.0,109.3,8,5.4
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$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,20.5,2051,-27.8,-10.000,-30.00,1253
$D_GRID,1920
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,70,-1.89,-82.2,125,2368,259,41,1.2,0.3,6,221,0.00,0.00,-147.25,0.127,16386,0.000,0.000,111,2374,1911,1997,1825,0,0,0,0,0,0,20.35,28.83,20.35,8.46,31.80
$GC,224,-1.91,-166.9,111,2373,1998,1825,3.2,-3.1,21,266,16.27,3.12,-18.52,0.132,18692,0.278,0.067,2508,3908,2362,2440,2284,3,0,0,0,0,0,19.70,20.01,19.90,8.63,31.33
$GC,698,-1.58,-166.9,2508,3909,2440,2284,147.1,-31.2,68,706,0.62,3.03,0.00,0.000,3078,0.226,0.052,2625,2327,2362,2440,2284,0,0,0,0,0,0,19.85,20.12,20.03,8.68,31.25
$GC,1016,-1.38,-166.9,2624,2327,2440,2284,228.1,-25.4,85,1024,0.32,3.03,0.00,0.000,2564,0.219,0.060,2688,789,2362,2440,2284,0,0,0,0,0,0,19.87,20.06,19.99,8.69,31.61
$GC,1118,-1.23,-166.9,2687,788,2440,2284,252.3,-23.7,90,1125,0.30,3.03,0.00,0.000,3078,0.223,0.055,2737,2349,2362,2440,2284,0,0,0,0,0,0,19.87,20.11,19.99,8.69,31.68
$GC,1448,-1.14,-166.9,2736,2348,2440,2284,320.9,-21.0,105,1450,0.17,0.00,0.00,0.000,2054,0.211,0.000,2769,2348,2362,2440,2284,0,0,0,0,0,0,19.91,20.11,20.07,8.69,31.37
$GC,1748,-1.08,-166.9,2769,2349,2440,2284,378.6,-19.0,115,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2349,2362,2440,2284,0,0,0,0,0,0,20.36,20.37,20.37,8.69,31.33
$GC,2048,-1.03,-166.9,2768,2349,2440,2284,437.2,-19.6,125,2050,0.17,0.00,0.00,0.000,2054,0.206,0.000,2803,2349,2362,2440,2284,0,0,0,0,0,0,19.92,20.12,20.07,8.69,31.80
$GC,2350,-1.03,-166.9,2802,2349,2440,2284,494.3,-18.9,135,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2349,2362,2440,2284,0,0,0,0,0,0,20.36,20.37,20.37,8.68,32.00
$GC,2648,-1.03,-166.9,2802,2349,2440,2284,550.3,-18.5,145,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2349,2362,2440,2284,0,0,0,0,0,0,20.37,20.37,20.37,8.67,32.04
$GC,2948,-1.03,-166.9,2802,2349,2440,2284,605.3,-18.2,155,2955,0.00,3.10,0.00,0.000,516,0.000,0.062,2803,789,2362,2440,2284,0,0,0,0,0,0,20.37,20.09,20.37,8.66,31.76
$GC,3011,-1.03,-166.9,2803,789,2440,2284,616.1,-18.1,157,3016,0.00,3.03,0.00,0.000,1030,0.000,0.055,2796,2350,2362,2440,2284,0,0,0,0,0,0,20.17,20.12,20.18,8.66,32.04
$GC,3333,-1.03,-166.9,2795,2350,2440,2284,679.6,-20.2,168,3340,0.00,3.12,0.00,0.000,260,0.000,0.067,2784,3909,2362,2440,2284,0,0,0,0,0,0,20.37,20.09,20.37,8.65,31.68
$GC,3376,-1.03,-166.9,2783,3909,2440,2284,685.8,-20.6,169,3381,0.00,2.97,0.00,0.000,1030,0.000,0.052,2783,2367,2362,2440,2284,0,0,0,0,0,0,20.18,20.14,20.19,8.64,31.84
$GC,3694,-1.03,-166.9,2783,2355,2440,2283,751.3,-18.9,180,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2355,2361,2439,2283,0,0,0,0,0,0,20.37,20.38,20.37,8.62,31.92
$GC,3993,-1.03,-166.9,2782,2355,2440,2282,811.2,-19.9,190,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2355,2361,2440,2282,0,0,0,0,0,0,20.37,20.38,20.37,8.59,32.79
$GC,4294,-1.03,-166.9,2783,2355,2440,2281,871.6,-20.0,200,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2355,2360,2440,2281,0,0,0,0,0,0,20.37,20.38,20.37,8.56,32.31
$GC,4595,-1.03,-166.9,2783,2355,2438,2280,929.4,-19.4,210,4601,0.00,3.20,0.00,0.000,260,0.000,0.070,2772,3904,2359,2438,2280,0,0,0,0,0,0,20.37,20.09,20.37,8.53,32.12
$GC,4642,-1.03,-166.9,2772,3904,2438,2278,935.6,-19.8,211,4648,0.17,3.05,0.00,0.000,3078,0.204,0.055,2803,2344,2359,2438,2280,0,0,0,0,0,0,19.92,20.13,20.08,8.53,32.31
$GC,4949,-1.03,-166.9,2802,2344,2437,2279,999.7,-19.4,221,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2344,2358,2437,2279,0,0,0,0,0,0,20.37,20.38,20.37,8.50,32.16
$GC,5279,-1.03,-166.9,2802,2344,2436,2278,1065.6,-20.3,227,5285,0.00,3.25,0.00,0.000,260,0.000,0.070,2793,3903,2356,2436,2277,0,0,0,0,0,0,20.37,20.09,20.37,8.49,33.22
$GC,5341,-1.03,-166.9,2793,3902,2436,2276,1078.2,-20.6,228,5346,0.00,3.05,0.00,0.000,1030,0.000,0.055,2794,2353,2356,2436,2277,0,0,0,0,0,0,20.18,20.13,20.19,8.48,32.51
$GC,5699,-1.03,-166.9,2793,2348,2434,2276,1154.4,-21.1,234,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2348,2354,2433,2276,0,0,0,0,0,0,20.37,20.38,20.38,8.45,33.22
$GC,5999,-1.03,-166.9,2793,2348,2432,2274,1216.3,-20.5,239,6004,0.00,3.28,0.00,0.000,260,0.000,0.070,2782,3903,2353,2432,2274,0,0,0,0,0,0,20.37,20.09,20.38,8.44,34.17
$GC,6069,-1.03,-166.9,2781,3903,2432,2273,1229.5,-20.5,240,6075,0.12,3.10,0.00,0.000,3078,0.216,0.055,2803,2350,2352,2432,2273,0,0,0,0,0,0,19.92,20.13,20.09,8.44,34.40
$GC,6418,-1.03,-166.9,2802,2350,2429,2272,1299.9,-19.7,246,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2350,2350,2429,2271,0,0,0,0,0,0,20.37,20.39,20.38,8.41,35.19
$GC,6719,-1.08,-166.9,2802,2350,2428,2271,1359.1,-19.8,251,6724,0.00,3.30,0.00,0.000,260,0.000,0.070,2794,3904,2349,2428,2271,0,0,0,0,0,0,20.37,20.09,20.39,8.41,35.66
$GC,6786,-1.08,-166.9,2793,3904,2428,2270,1371.6,-19.9,252,6791,0.00,3.15,0.00,0.000,1030,0.000,0.055,2794,2347,2348,2427,2270,0,0,0,0,0,0,20.18,20.13,20.20,8.40,35.90
$GC,7134,-1.13,-166.9,2793,2347,2426,2268,1442.7,-19.9,258,7140,0.00,3.30,0.00,0.000,260,0.000,0.070,2782,3901,2347,2426,2268,0,0,0,0,0,0,20.37,20.10,20.39,8.39,36.21
$GC,7178,-1.18,-166.9,2782,3901,2425,2268,1442.7,-19.9,258,7185,0.00,3.15,0.00,0.000,1030,0.000,0.055,2782,2347,2347,2426,2268,0,0,0,0,0,0,20.18,20.13,20.20,8.39,35.66
$GC,7493,-1.18,-166.9,2782,2347,2425,2266,1515.1,-20.0,264,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2347,2345,2425,2266,0,0,0,0,0,0,20.37,20.39,20.39,8.38,36.10
$GC,7794,-1.23,-166.9,2782,2347,2424,2265,1573.1,-19.3,269,7796,0.08,0.00,0.00,0.000,4102,0.174,0.000,2764,2347,2344,2423,2265,0,0,0,0,0,0,20.08,20.18,20.15,8.37,36.13
$GC,8093,-1.23,-166.9,2764,2347,2422,2264,1633.1,-20.0,274,8100,0.00,3.35,0.00,0.000,260,0.000,0.070,2752,3906,2343,2422,2264,0,0,0,0,0,0,20.38,20.09,20.39,8.37,37.12
$GC,8141,-1.23,-166.9,2752,3906,2422,2263,1633.1,-20.0,274,8146,0.00,3.17,0.00,0.000,1030,0.000,0.055,2753,2355,2342,2421,2264,0,0,0,0,0,0,20.19,20.13,20.20,8.36,37.55
$GC,8448,-1.23,-166.9,2752,2355,2420,2263,1705.0,-20.2,279,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2355,2341,2420,2263,0,0,0,0,0,0,20.38,20.39,20.39,8.35,37.43
$GC,8749,-1.23,-166.9,2752,2355,2419,2262,1765.4,-20.1,284,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2355,2340,2419,2262,0,0,0,0,0,0,20.38,20.39,20.39,8.35,37.67
$GC,9050,-1.23,-166.9,2752,2355,2418,2261,1825.0,-19.8,289,9056,0.00,3.38,0.00,0.000,260,0.000,0.070,2741,3908,2339,2418,2261,0,0,0,0,0,0,20.38,20.10,20.39,8.35,37.59
$GC,9102,-1.23,-166.9,2740,3908,2418,2260,1825.0,-19.8,289,9109,0.00,3.22,0.00,0.000,1030,0.000,0.057,2741,2350,2339,2418,2260,0,0,0,0,0,0,20.19,20.13,20.20,8.35,37.28
$GC,9409,-1.23,-166.9,2740,2350,2418,2259,1899.6,-20.7,295,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2350,2339,2418,2260,0,0,0,0,0,0,20.39,20.39,20.39,8.34,38.02
$STATE,9527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9527,begin apogee
$GC,9532,-0.67,0.0,2741,2227,2418,2259,1923.7,-20.5,297,9718,0.93,0.00,182.12,2.071,10246,0.211,0.000,2919,2218,1785,1873,1698,0,0,0,0,0,0,19.90,19.31,18.01,8.34,37.55
$STATE,9719,end apogee,CONTROL_FINISHED_OK
$STATE,9719,begin climb
$GC,9721,1.91,166.9,2919,2218,1874,1698,1944.7,0.0,300,9921,3.62,3.50,186.40,2.046,11012,0.184,0.079,3730,3797,1211,1319,1104,0,0,0,0,0,0,19.69,19.30,17.97,8.30,36.80
$GC,10102,1.79,400.0,3729,3799,1318,1103,1976.0,-9.0,306,10376,0.00,3.33,263.38,2.048,9222,0.000,0.055,3741,2224,411,523,299,0,0,0,0,0,0,20.00,19.93,17.94,8.24,35.35
$GC,10729,1.69,400.0,3741,2224,523,301,1892.6,19.9,317,10736,0.30,3.42,0.00,0.000,4356,0.268,0.067,3695,3805,412,523,301,0,0,0,0,0,0,19.68,19.90,19.82,8.16,35.03
$GC,10797,1.59,400.0,3695,3805,523,301,1880.9,19.8,318,10806,0.28,3.35,0.00,0.000,5126,0.263,0.057,3663,2227,412,523,301,0,0,0,0,0,0,19.68,19.96,19.90,8.16,34.83
$GC,11149,1.59,400.0,3662,2227,523,301,1821.4,16.3,324,11156,0.00,3.33,0.00,0.000,516,0.000,0.074,3673,649,412,524,301,0,0,0,0,0,0,20.25,19.94,20.26,8.15,35.46
$GC,11272,1.59,400.0,3673,649,523,301,1801.3,16.4,326,11278,0.00,3.30,0.00,0.000,1030,0.000,0.060,3674,2224,412,523,301,0,0,0,0,0,0,20.06,20.01,20.09,8.15,35.70
$GC,11625,1.59,400.0,3673,2225,523,301,1743.0,16.3,332,11632,0.00,3.53,0.00,0.000,516,0.000,0.074,3684,645,412,523,301,0,0,0,0,0,0,20.28,19.94,20.28,8.14,35.94
$GC,11698,1.59,400.0,3683,645,523,300,1732.9,16.4,333,11703,0.00,3.33,0.00,0.000,1030,0.000,0.060,3684,2237,412,523,301,0,0,0,0,0,0,20.09,20.02,20.10,8.15,36.33
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$STATE,22582,end climb,SURFACE_DEPTH_REACHED
$STATE,22582,begin surface coast
$FINISH,0.2,1.002260
$STATE,22593,end surface coast,CONTROL_FINISHED_OK
$STATE,22593,begin surface
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$TT8_MAMPS,0.02247,0.261401
$HUMID,31.84
$INTERNAL_PRESSURE,8.40731
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,17.94,134.787
$10V_AH,9.98,64.742
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320696
$DATA_FILE_SIZE,48611,675
$CAP_FILE_SIZE,172617,0
$CFSIZE,2047311872,1988132864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,2,0
$CURRENT,0.077,104.61,1
$GPS,050220,080208,3212.223,-6428.604,58,1.5,98,-14.9,0.4,58.2,6,10.2