version: 66.14
glider: 37
mission: 24
dive: 212
start: 2 5 120 22 41 58
data:
$ID,37
$MISSION,24
$DIVE,212
$N_DIVES,212
$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,48
$R_STBD_OVSHOOT,52
$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
$GPS1,050220,223753,3208.9033,-6430.9204,2,0.8,34,-14.9,0.9,108.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.9
$GPS2,050220,224119,3208.8931,-6430.8389,8,0.8,49,-14.9,0.6,93.7,9,5.2
$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,13.3,2436,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,72,-1.89,-82.2,119,2369,252,28,1.2,0.3,6,222,0.00,0.00,-147.15,0.127,16386,0.000,0.000,111,2371,1958,2044,1873,0,0,0,0,0,0,20.35,28.83,20.35,8.47,31.45
$GC,225,-1.92,-167.3,111,2372,2044,1873,3.3,-3.1,21,264,15.88,3.15,-15.95,0.134,18948,0.271,0.060,2525,772,2364,2443,2286,1,0,0,0,0,0,19.67,20.01,19.89,8.65,31.29
$GC,470,-1.61,-167.3,2525,772,2442,2286,72.6,-30.8,45,481,0.55,2.97,0.00,0.000,3078,0.236,0.052,2612,2344,2364,2442,2286,0,0,0,0,0,0,19.78,20.09,19.93,8.70,30.78
$GC,790,-1.40,-167.3,2612,2344,2442,2286,156.6,-25.8,76,792,0.40,0.00,0.00,0.000,2054,0.221,0.000,2686,2344,2364,2442,2286,0,0,0,0,0,0,19.83,20.06,20.01,8.71,31.45
$GC,1090,-1.25,-167.3,2685,2344,2442,2286,224.3,-21.8,91,1096,0.22,3.08,0.00,0.000,2564,0.221,0.060,2738,778,2363,2441,2286,0,0,0,0,0,0,19.87,20.04,19.98,8.70,31.68
$GC,1272,-1.15,-167.3,2738,777,2441,2285,261.7,-20.5,100,1278,0.20,3.03,0.00,0.000,3078,0.209,0.052,2766,2355,2363,2441,2286,0,0,0,0,0,0,19.87,20.11,20.04,8.71,31.65
$GC,1607,-1.08,-167.3,2765,2355,2441,2286,325.1,-18.5,115,1613,0.00,3.08,0.00,0.000,260,0.000,0.067,2758,3905,2363,2441,2286,0,0,0,0,0,0,20.35,20.07,20.37,8.70,31.05
$GC,1689,-1.01,-167.3,2757,3905,2441,2286,337.3,-19.1,117,1698,0.28,2.97,0.00,0.000,3078,0.201,0.052,2811,2341,2363,2441,2286,0,0,0,0,0,0,19.87,20.13,20.04,8.70,30.94
$GC,1998,-1.01,-167.3,2810,2341,2441,2286,396.7,-17.7,128,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2341,2363,2441,2286,0,0,0,0,0,0,20.35,20.37,20.37,8.70,31.45
$GC,2296,-1.01,-167.3,2810,2341,2441,2286,449.8,-17.7,138,2302,0.00,3.00,0.00,0.000,516,0.000,0.062,2811,789,2363,2441,2286,0,0,0,0,0,0,20.36,20.07,20.37,8.70,32.16
$GC,2349,-1.01,-167.3,2811,789,2441,2286,455.4,-18.1,139,2357,0.00,3.00,0.00,0.000,1030,0.000,0.052,2803,2349,2363,2441,2286,0,0,0,0,0,0,20.16,20.11,20.18,8.69,32.20
$GC,2657,-1.01,-167.3,2803,2350,2441,2286,515.0,-17.8,150,2664,0.00,3.08,0.00,0.000,516,0.000,0.062,2803,783,2363,2441,2286,0,0,0,0,0,0,20.36,20.08,20.37,8.69,32.43
$GC,2729,-1.01,-167.3,2803,783,2440,2286,526.2,-18.3,152,2734,0.00,3.03,0.00,0.000,1030,0.000,0.055,2793,2357,2363,2440,2286,0,0,0,0,0,0,20.17,20.12,20.18,8.68,31.96
$GC,3042,-1.01,-167.3,2792,2357,2440,2286,588.4,-19.7,163,3048,0.00,3.10,0.00,0.000,516,0.000,0.060,2793,787,2363,2440,2286,0,0,0,0,0,0,20.36,20.09,20.37,8.67,31.96
$GC,3064,-1.01,-167.3,2792,787,2440,2286,588.4,-19.7,163,3073,0.15,3.00,0.00,0.000,3078,0.206,0.052,2809,2348,2363,2440,2286,0,0,0,0,0,0,19.90,20.11,20.06,8.67,32.16
$GC,3372,-1.01,-167.3,2808,2348,2440,2286,650.5,-18.5,174,3378,0.00,3.10,0.00,0.000,260,0.000,0.065,2800,3908,2362,2440,2285,0,0,0,0,0,0,20.36,20.08,20.37,8.65,31.57
$GC,3402,-1.01,-167.3,2799,3908,2440,2285,656.2,-18.5,175,3406,0.00,2.97,0.00,0.000,1030,0.000,0.052,2800,2359,2362,2440,2284,0,0,0,0,0,0,20.18,20.13,20.18,8.66,32.67
$GC,3734,-1.01,-167.3,2800,2348,2440,2284,720.0,-19.0,186,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2348,2362,2440,2284,0,0,0,0,0,0,20.36,20.37,20.37,8.64,31.61
$GC,4034,-1.01,-167.3,2800,2348,2440,2283,774.2,-17.4,196,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2348,2361,2440,2282,0,0,0,0,0,0,20.36,20.37,20.37,8.61,31.57
$GC,4334,-1.01,-167.3,2800,2349,2440,2282,831.5,-19.6,206,4341,0.00,3.15,0.00,0.000,260,0.000,0.065,2789,3905,2360,2440,2281,0,0,0,0,0,0,20.37,20.08,20.37,8.59,31.88
$GC,4382,-1.01,-167.3,2788,3905,2440,2281,837.6,-19.8,207,4388,0.12,3.00,0.00,0.000,3078,0.209,0.052,2810,2338,2360,2440,2281,0,0,0,0,0,0,19.91,20.13,20.07,8.59,32.83
$GC,4689,-1.01,-167.3,2809,2338,2439,2281,900.6,-19.1,217,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2338,2360,2439,2281,0,0,0,0,0,0,20.37,20.38,20.37,8.56,32.71
$GC,4989,-1.01,-167.3,2809,2338,2438,2280,956.6,-18.2,227,4996,0.00,3.17,0.00,0.000,260,0.000,0.067,2801,3899,2358,2438,2279,0,0,0,0,0,0,20.37,20.08,20.37,8.53,32.71
$GC,5051,-1.01,-167.3,2800,3899,2438,2278,968.4,-19.2,229,5057,0.00,2.97,0.00,0.000,1030,0.000,0.052,2800,2357,2358,2438,2278,0,0,0,0,0,0,20.17,20.13,20.18,8.52,32.87
$GC,5410,-1.01,-167.3,2800,2357,2437,2278,1039.2,-19.8,238,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2356,2357,2437,2277,0,0,0,0,0,0,20.37,20.38,20.37,8.50,33.26
$GC,5709,-1.01,-167.3,2800,2357,2435,2276,1097.7,-19.3,243,5716,0.00,3.17,0.00,0.000,260,0.000,0.070,2789,3898,2355,2435,2276,0,0,0,0,0,0,20.37,20.09,20.38,8.48,33.50
$GC,5743,-1.01,-167.3,2789,3899,2435,2275,1097.7,-19.3,243,5748,0.00,3.03,0.00,0.000,1030,0.000,0.055,2789,2351,2355,2435,2276,0,0,0,0,0,0,20.18,20.12,20.19,8.48,33.26
$GC,6065,-1.01,-167.3,2789,2351,2432,2275,1166.3,-19.5,249,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2351,2353,2432,2274,0,0,0,0,0,0,20.37,20.38,20.37,8.45,33.85
$GC,6365,-1.01,-167.3,2789,2351,2430,2274,1230.0,-21.4,254,6372,0.00,3.22,0.00,0.000,260,0.000,0.067,2778,3902,2352,2431,2273,0,0,0,0,0,0,20.37,20.07,20.38,8.44,34.13
$GC,6413,-1.01,-167.3,2777,3903,2431,2272,1230.0,-21.4,254,6419,0.17,3.08,0.00,0.000,3078,0.211,0.055,2809,2341,2352,2431,2273,0,0,0,0,0,0,19.90,20.12,20.06,8.44,33.93
$GC,6721,-1.06,-167.3,2808,2342,2428,2272,1303.4,-20.2,259,6727,0.00,3.12,0.00,0.000,516,0.000,0.067,2808,777,2350,2428,2272,0,0,0,0,0,0,20.37,20.08,20.38,8.42,34.48
$GC,6754,-1.11,-167.3,2808,777,2428,2272,1303.4,-20.2,259,6759,0.00,3.12,0.00,0.000,1030,0.000,0.057,2801,2348,2349,2428,2271,0,0,0,0,0,0,20.17,20.11,20.19,8.42,35.03
$GC,7076,-1.11,-167.3,2801,2348,2426,2270,1373.7,-19.6,265,7083,0.00,3.20,0.00,0.000,260,0.000,0.070,2789,3907,2348,2427,2269,0,0,0,0,0,0,20.37,20.09,20.38,8.41,35.03
$GC,7136,-1.11,-167.3,2789,3907,2427,2269,1385.9,-19.6,266,7143,0.00,3.10,0.00,0.000,1030,0.000,0.055,2789,2340,2348,2427,2269,0,0,0,0,0,0,20.16,20.13,20.17,8.40,35.74
$GC,7496,-1.11,-167.3,2788,2339,2425,2267,1455.6,-19.2,272,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2340,2346,2425,2267,0,0,0,0,0,0,20.37,20.39,20.38,8.38,35.94
$GC,7797,-1.16,-167.3,2788,2340,2424,2265,1511.7,-18.7,277,7803,0.00,3.30,0.00,0.000,260,0.000,0.070,2777,3906,2344,2424,2265,0,0,0,0,0,0,20.37,20.08,20.38,8.38,36.84
$GC,7839,-1.22,-167.3,2776,3905,2424,2265,1511.7,-18.7,277,7845,0.00,3.12,0.00,0.000,1030,0.000,0.055,2777,2346,2344,2424,2264,0,0,0,0,0,0,20.18,20.12,20.19,8.38,36.49
$GC,8152,-1.22,-167.3,2776,2345,2422,2264,1580.6,-19.2,283,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2345,2343,2422,2264,0,0,0,0,0,0,20.38,20.39,20.39,8.37,36.69
$GC,8452,-1.27,-167.3,2776,2346,2420,2263,1638.1,-19.2,288,8454,0.10,0.00,0.00,0.000,4102,0.161,0.000,2754,2345,2341,2420,2263,0,0,0,0,0,0,20.04,20.16,20.13,8.36,37.12
$GC,8752,-1.27,-167.3,2753,2346,2419,2262,1697.6,-19.9,293,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2345,2340,2419,2262,0,0,0,0,0,0,20.38,20.39,20.39,8.36,37.59
$GC,9052,-1.27,-167.3,2753,2344,2419,2261,1755.6,-19.2,298,9059,0.00,3.33,0.00,0.000,260,0.000,0.067,2741,3905,2339,2418,2260,0,0,0,0,0,0,20.38,20.10,20.39,8.35,37.36
$GC,9090,-1.27,-167.3,2741,3905,2419,2260,1755.6,-19.2,298,9095,0.00,3.15,0.00,0.000,1030,0.000,0.057,2742,2350,2339,2419,2260,0,0,0,0,0,0,20.18,20.12,20.20,8.36,37.36
$GC,9407,-1.27,-167.3,2741,2349,2418,2260,1824.8,-19.3,304,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2350,2339,2418,2260,0,0,0,0,0,0,20.38,20.39,20.39,8.35,38.02
$GC,9708,-1.27,-167.3,2741,2349,2417,2258,1883.3,-19.5,309,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2350,2338,2417,2259,0,0,0,0,0,0,20.39,20.39,20.39,8.35,37.91
$STATE,9946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9946,begin apogee
$GC,9952,-0.67,0.0,2741,2232,2417,2259,1929.8,-19.4,313,10142,0.90,0.00,186.93,2.076,10246,0.209,0.000,2917,2224,1786,1874,1698,0,0,0,0,0,0,19.87,19.06,17.60,8.34,37.95
$STATE,10143,end apogee,CONTROL_FINISHED_OK
$STATE,10143,begin climb
$GC,10145,1.92,167.3,2916,2223,1874,1698,1949.8,0.0,316,10351,3.67,3.38,193.25,2.039,10756,0.181,0.084,3743,644,1210,1318,1102,0,0,0,0,0,0,19.62,18.99,17.48,8.30,36.61
$GC,10477,1.84,406.1,3742,645,1318,1102,1974.0,-9.5,321,10766,0.00,3.28,278.12,2.034,9222,0.000,0.060,3743,2240,388,501,276,0,0,0,0,0,0,19.95,19.90,17.33,8.25,35.07
$GC,11085,1.74,406.1,3742,2240,501,281,1890.8,21.0,332,11092,0.20,3.30,0.00,0.000,4356,0.258,0.070,3712,3801,391,501,281,0,0,0,0,0,0,19.62,19.85,19.77,8.17,34.80
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$STATE,22737,end climb,SURFACE_DEPTH_REACHED
$STATE,22738,begin surface coast
$FINISH,0.9,1.025999
$STATE,22748,end surface coast,CONTROL_FINISHED_OK
$STATE,22749,begin surface
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$TT8_MAMPS,0.02247,0.202979
$HUMID,32.28
$INTERNAL_PRESSURE,8.40731
$TCM_TEMP,21.60
$XPDR_PINGS,2
$24V_AH,17.33,136.012
$10V_AH,10.02,64.995
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,36.625,222.775,662.325,69.800,163.100,0.000,0.000,0.000,0.500,0.000,50.553,2418.227,17276.627,927.469,2182.671,159.788,0.000,2181.192,0.000,2070.280,0.000,1.019,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.928,916.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320628
$DATA_FILE_SIZE,48710,692
$CAP_FILE_SIZE,178478,0
$CFSIZE,2047311872,1987739648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.074,105.89,1
$GPS,060220,050413,3212.081,-6429.534,38,1.1,53,-14.9,0.7,112.5,8,5.0