version: 66.14
glider: 45
mission: 3
dive: 6
start: 5 28 119 5 53 0
data:
$ID,45
$MISSION,3
$DIVE,6
$N_DIVES,0
$STOP_T,5301919
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,240
$T_MISSION,270
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80120.602
$MASS_COMP,10859
$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,560
$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,5
$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,200
$PITCH_MAX,3820
$C_PITCH,2963
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.7
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3860
$ROLL_DEG,40
$C_ROLL_DIVE,2177
$C_ROLL_CLIMB,2177
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,2304
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.000267
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.855844
$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,1
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044369884
$SEABIRD_T_H,0.00066042581
$SEABIRD_T_I,2.7363718e-05
$SEABIRD_T_J,3.4006232e-06
$SEABIRD_C_G,-10.01541
$SEABIRD_C_H,1.1730425
$SEABIRD_C_I,-0.0023542538
$SEABIRD_C_J,0.00025774896
$SEABIRD_C_Z,2927.8301
$GPS1,280519,054311,3216.5276,-6433.3560,47,1.1,87,-14.9,0.3,113.4,7,4.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-41.7
$GPS2,280519,055200,3216.5488,-6433.3413,15,1.2,56,-14.9,0.4,55.2,7,4.4
$SPEED_LIMITS,0.173,0.289
$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,203.9,13211,-16.1,-10.000,-19.07,3691
$D_GRID,2518
$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,-1.33,-244.4,171,2187,369,377,0.3,0.3,12,220,0.00,0.00,-145.60,0.146,16386,0.000,0.000,171,2187,2739,2725,2754,0,0,0,0,0,0,26.72,28.83,26.73,8.54,26.37
$GC,222,-1.33,-244.4,171,2187,2726,2754,3.7,-7.5,35,251,8.77,3.62,-12.70,0.179,18692,0.258,0.082,2517,3575,3148,3116,3180,0,0,0,0,0,0,26.01,26.20,26.10,8.76,25.58
$GC,323,-1.33,-244.4,2517,3575,3116,3180,20.3,-13.9,53,328,0.00,3.50,0.00,0.000,1030,0.000,0.067,2518,2177,3148,3117,3180,0,0,0,0,0,0,26.43,26.36,26.44,8.81,25.31
$GC,455,-1.33,-244.4,2517,2177,3116,3180,38.4,-13.3,66,465,0.00,3.60,0.00,0.000,516,0.000,0.094,2518,787,3148,3116,3180,0,0,0,0,0,0,26.75,26.38,26.76,8.81,25.78
$GC,489,-1.33,-244.4,2517,787,3116,3180,43.2,-14.6,69,499,0.10,3.40,0.00,0.000,3078,0.179,0.070,2533,2174,3148,3116,3180,0,0,0,0,0,0,26.33,26.51,26.44,8.81,25.70
$GC,617,-1.33,-244.4,2533,2174,3116,3180,60.9,-12.7,82,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2174,3148,3116,3180,0,0,0,0,0,0,26.84,26.85,26.85,8.81,25.86
$GC,737,-1.33,-244.4,2533,2174,3116,3180,76.8,-13.3,94,748,0.00,3.62,0.00,0.000,516,0.000,0.094,2533,778,3148,3116,3180,0,0,0,0,0,0,26.89,26.51,26.90,8.82,25.97
$GC,820,-1.33,-244.4,2533,778,3116,3180,89.2,-15.3,102,830,0.00,3.42,0.00,0.000,1030,0.000,0.070,2519,2178,3148,3116,3180,0,0,0,0,0,0,26.71,26.65,26.72,8.81,25.62
$GC,950,-1.33,-244.4,2519,2178,3116,3180,106.4,-13.3,115,960,0.00,3.62,0.00,0.000,516,0.000,0.094,2519,779,3148,3116,3180,0,0,0,0,0,0,26.95,26.58,26.96,8.81,25.66
$GC,1026,-1.27,-244.4,2519,779,3116,3180,117.2,-14.9,122,1034,0.15,3.42,0.00,0.000,3078,0.184,0.070,2551,2183,3148,3116,3180,0,0,0,0,0,0,26.51,26.70,26.66,8.81,25.78
$GC,1152,-1.27,-244.4,2550,2183,3116,3180,134.1,-12.4,135,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2183,3148,3117,3180,0,0,0,0,0,0,26.99,27.01,27.00,8.80,25.74
$GC,1272,-1.27,-244.4,2551,2183,3116,3180,149.6,-12.9,147,1283,0.00,3.62,0.00,0.000,516,0.000,0.094,2552,778,3148,3116,3180,0,0,0,0,0,0,27.01,26.63,27.02,8.80,25.62
$GC,1338,-1.27,-244.4,2551,778,3116,3180,158.1,-14.0,153,1346,0.00,3.40,0.00,0.000,1030,0.000,0.070,2537,2178,3148,3116,3180,0,0,0,0,0,0,26.82,26.75,26.83,8.80,26.13
$GC,1466,-1.27,-244.4,2537,2178,3116,3179,174.9,-12.6,166,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2179,3148,3116,3180,0,0,0,0,0,0,27.04,27.05,27.05,8.80,26.29
$GC,1585,-1.27,-244.4,2536,2178,3116,3180,190.4,-12.8,178,1595,0.00,3.60,0.00,0.000,516,0.000,0.094,2537,781,3148,3116,3180,0,0,0,0,0,0,27.05,26.67,27.06,8.79,25.62
$GC,1660,-1.27,-244.4,2536,781,3116,3180,200.4,-13.9,185,1669,0.10,3.40,0.00,0.000,3078,0.199,0.070,2552,2179,3148,3116,3180,0,0,0,0,0,0,26.60,26.79,26.74,8.79,26.29
$GC,1789,-1.27,-244.4,2552,2179,3116,3180,216.8,-12.8,198,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2179,3148,3116,3180,0,0,0,0,0,0,27.07,27.08,27.08,8.79,25.74
$GC,1907,-1.27,-244.4,2552,2179,3116,3180,231.6,-12.7,210,1918,0.00,3.60,0.00,0.000,516,0.000,0.094,2553,781,3148,3116,3180,0,0,0,0,0,0,27.08,26.70,27.09,8.79,26.17
$GC,1959,-1.27,-244.4,2552,781,3116,3180,238.6,-14.0,215,1970,0.00,3.40,0.00,0.000,1030,0.000,0.070,2538,2179,3148,3116,3180,0,0,0,0,0,0,26.87,26.82,26.89,8.78,25.94
$GC,2090,-1.27,-244.4,2538,2179,3116,3179,256.0,-13.0,226,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2179,3148,3116,3180,0,0,0,0,0,0,27.09,27.10,27.10,8.78,26.01
$GC,2391,-1.27,-244.4,2538,2179,3116,3179,296.0,-13.1,241,2397,0.00,3.60,0.00,0.000,516,0.000,0.094,2538,781,3147,3116,3179,0,0,0,0,0,0,27.10,26.72,27.12,8.78,26.25
$GC,2489,-1.27,-244.4,2538,781,3116,3179,311.5,-15.8,246,2498,0.10,3.40,0.00,0.000,3078,0.199,0.070,2554,2177,3147,3116,3179,0,0,0,0,0,0,26.65,26.84,26.79,8.78,26.33
$GC,2812,-1.27,-244.4,2553,2177,3116,3179,354.6,-13.1,262,2817,0.00,3.60,0.00,0.000,516,0.000,0.094,2554,781,3147,3116,3179,0,0,0,0,0,0,27.13,26.73,27.14,8.78,26.57
$GC,2890,-1.27,-244.4,2554,781,3116,3179,366.1,-14.6,266,2897,0.00,3.40,0.00,0.000,1030,0.000,0.070,2540,2177,3147,3116,3179,0,0,0,0,0,0,26.90,26.84,26.91,8.78,26.72
$GC,3211,-1.27,-244.4,2539,2177,3115,3179,410.8,-14.1,282,3217,0.00,3.58,0.00,0.000,516,0.000,0.094,2540,787,3147,3116,3179,0,0,0,0,0,0,27.13,26.74,27.14,8.77,27.47
$GC,3263,-1.27,-244.4,2539,787,3116,3179,416.8,-14.7,284,3272,0.00,3.38,0.00,0.000,1030,0.000,0.070,2523,2180,3147,3116,3179,0,0,0,0,0,0,26.91,26.85,26.94,8.77,26.72
$GC,3570,-1.27,-244.4,2523,2180,3116,3178,463.4,-15.0,300,3578,0.10,3.60,0.00,0.000,2564,0.201,0.092,2560,784,3147,3116,3179,0,0,0,0,0,0,26.72,26.74,26.79,8.76,27.39
$GC,3653,-1.27,-244.4,2559,784,3116,3179,475.7,-15.4,304,3658,0.00,3.40,0.00,0.000,1030,0.000,0.070,2546,2182,3147,3116,3179,0,0,0,0,0,0,26.91,26.86,26.94,8.76,26.76
$GC,3965,-1.27,-244.4,2545,2182,3116,3178,519.3,-13.4,320,3973,0.00,3.60,0.00,0.000,516,0.000,0.094,2545,786,3147,3116,3178,0,0,0,0,0,0,27.14,26.74,27.15,8.76,26.76
$GC,4033,-1.27,-244.4,2545,786,3116,3177,527.9,-14.2,323,4039,0.00,3.38,0.00,0.000,1030,0.000,0.070,2529,2179,3147,3116,3178,0,0,0,0,0,0,26.93,26.86,26.94,8.76,27.75
$GC,4346,-1.27,-244.4,2529,2178,3116,3177,572.9,-14.0,339,4353,0.00,3.60,0.00,0.000,516,0.000,0.094,2529,782,3146,3116,3177,0,0,0,0,0,0,27.15,26.75,27.15,8.75,27.35
$GC,4399,-1.27,-244.4,2529,782,3116,3177,579.1,-14.5,341,4408,0.12,3.40,0.00,0.000,3078,0.184,0.070,2553,2179,3146,3116,3177,0,0,0,0,0,0,26.67,26.86,26.82,8.75,27.75
$GC,4706,-1.27,-244.4,2554,2179,3116,3176,624.8,-14.6,357,4713,0.00,3.60,0.00,0.000,516,0.000,0.094,2554,782,3146,3116,3176,0,0,0,0,0,0,27.15,26.74,27.16,8.73,27.59
$GC,4759,-1.27,-244.4,2553,782,3116,3176,630.9,-14.9,359,4767,0.00,3.40,0.00,0.000,1030,0.000,0.070,2539,2179,3146,3116,3176,0,0,0,0,0,0,26.93,26.86,26.94,8.73,27.87
$GC,5066,-1.27,-244.4,2539,2179,3116,3175,679.3,-15.1,375,5074,0.00,3.60,0.00,0.000,516,0.000,0.094,2539,782,3145,3116,3175,0,0,0,0,0,0,27.15,26.74,27.16,8.71,27.16
$GC,5129,-1.27,-244.4,2539,782,3116,3175,689.2,-16.3,378,5135,0.10,3.40,0.00,0.000,3078,0.199,0.070,2555,2179,3145,3116,3174,0,0,0,0,0,0,26.67,26.86,26.82,8.72,28.14
$STATE,5346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5346,begin apogee
$GC,5350,-0.79,0.0,2554,2179,3116,3174,721.3,-14.0,389,5532,0.45,0.00,178.55,1.112,10246,0.149,0.000,2716,2179,2304,2274,2334,0,0,0,0,0,0,26.67,25.11,24.50,8.70,28.30
$STATE,5533,end apogee,CONTROL_FINISHED_OK
$STATE,5533,begin climb
$GC,5534,1.33,244.4,2716,2179,2274,2334,735.7,0.0,398,5730,1.88,3.83,180.62,1.100,10500,0.132,0.087,3370,3574,1462,1439,1485,0,0,0,0,0,0,25.24,25.06,24.43,8.61,26.68
$GC,5816,1.37,371.7,3370,3574,1439,1485,729.4,6.5,412,5918,0.00,3.60,94.43,1.080,9222,0.000,0.070,3388,2176,1023,1006,1040,0,0,0,0,0,0,25.98,25.91,24.48,8.53,26.41
$GC,6235,1.37,371.7,3388,2176,1006,1041,695.4,8.1,433,6242,0.00,3.70,0.00,0.000,516,0.000,0.099,3405,781,1023,1006,1041,0,0,0,0,0,0,26.60,26.25,26.60,8.48,27.63
$GC,6488,1.37,371.7,3405,781,1005,1041,674.5,8.5,445,6496,0.00,3.47,0.00,0.000,1030,0.000,0.072,3405,2177,1023,1005,1041,0,0,0,0,0,0,26.59,26.53,26.60,8.48,28.30
$GC,6795,1.37,371.7,3405,2178,1004,1041,648.3,8.6,461,6803,0.00,3.67,0.00,0.000,516,0.000,0.099,3422,784,1022,1004,1041,0,0,0,0,0,0,26.89,26.54,26.91,8.48,28.14
$GC,6888,1.37,371.7,3422,784,1004,1041,640.2,10.2,465,6896,0.00,3.45,0.00,0.000,1030,0.000,0.072,3422,2178,1022,1004,1041,0,0,0,0,0,0,26.72,26.66,26.74,8.48,28.26
$GC,7195,1.37,371.7,3422,2178,1003,1040,607.9,10.4,481,7202,0.00,3.67,0.00,0.000,516,0.000,0.099,3440,781,1021,1003,1040,0,0,0,0,0,0,26.98,26.61,26.99,8.48,29.40
$GC,7337,1.37,371.7,3440,780,1003,1041,592.1,11.4,488,7344,0.12,3.45,0.00,0.000,5126,0.184,0.072,3398,2178,1021,1003,1040,0,0,0,0,0,0,26.58,26.73,26.72,8.48,28.53
$GC,7651,1.37,371.7,3398,2178,1003,1040,560.6,10.0,504,7658,0.00,3.67,0.00,0.000,516,0.000,0.099,3414,778,1021,1003,1040,0,0,0,0,0,0,27.03,26.65,27.05,8.49,29.01
$GC,7713,1.37,371.7,3413,778,1002,1040,553.8,10.9,507,7719,0.00,3.45,0.00,0.000,1030,0.000,0.072,3414,2178,1021,1002,1040,0,0,0,0,0,0,26.83,26.77,26.85,8.49,29.01
$GC,8026,1.37,371.7,3413,2178,1002,1040,521.7,9.8,523,8033,0.00,3.67,0.00,0.000,516,0.000,0.099,3431,776,1021,1002,1040,0,0,0,0,0,0,27.06,26.68,27.08,8.50,29.32
$GC,8139,1.37,371.7,3431,777,1002,1040,511.1,10.7,528,8147,0.10,3.45,0.00,0.000,5126,0.199,0.072,3399,2178,1021,1002,1040,0,0,0,0,0,0,26.63,26.79,26.77,8.50,29.01
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$STATE,12476,end climb,SURFACE_DEPTH_REACHED
$STATE,12476,begin surface coast
$FINISH,1.1,1.025417
$STATE,12487,end surface coast,CONTROL_FINISHED_OK
$STATE,12487,begin surface
$SM_CCo,12505,136.93,0.633,0,0,375,560.08
$SM_GC,0.75,7.95,3.53,136.93,0.077,0.067,0.633,199,2176,375,-8.57,0.76,560.08,0,0,1,0,0,0,26.81,26.84,25.16
$IRIDIUM_FIX,3219.32,-6433.41,280519,054428
$TT8_MAMPS,0.020972,0.176015
$HUMID,26.17
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,20.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.5,18.9
$24V_AH,24.43,6.477
$10V_AH,10.62,2.225
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,575.466,1114.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320252
$DATA_FILE_SIZE,59018,855
$CAP_FILE_SIZE,150474,0
$CFSIZE,2046525440,2040856576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
$CURRENT,0.208,31.36,1
$GPS,280519,092530,3215.770,-6433.032,38,1.0,68,-14.9,0.0,138.6,9,5.0