version: 66.14
glider: 45
mission: 3
dive: 11
start: 5 28 119 20 4 50
data:
$ID,45
$MISSION,3
$DIVE,11
$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,200
$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,400
$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,13.5
$PITCH_TIMEOUT,20
$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,1943
$C_ROLL_CLIMB,1835
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,37
$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,2000
$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
$GPS1,280519,195943,3215.6709,-6432.1753,6,1.0,37,-14.9,0.0,2.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-43.9
$GPS2,280519,200350,3215.6841,-6432.1665,9,1.0,48,-14.9,0.0,359.9,9,5.0
$SPEED_LIMITS,0.173,0.262
$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,197.2,11061,-18.1,-10.000,-20.87,2960
$D_GRID,2732
$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,73,-1.39,-195.5,195,1921,541,558,-0.1,-0.3,6,212,0.00,0.00,-136.02,0.149,16386,0.000,0.000,196,1920,2914,2904,2925,0,0,0,0,0,0,26.96,28.83,26.97,8.61,25.03
$GC,215,-1.39,-195.5,196,1920,2904,2925,3.9,-6.3,20,235,8.40,3.58,-1.83,0.372,18692,0.256,0.077,2497,3342,2977,2953,3001,0,0,0,0,0,0,26.17,26.37,26.28,8.84,24.99
$GC,429,-1.39,-195.5,2497,3342,2953,3001,35.2,-12.8,41,439,0.00,3.42,0.00,0.000,1030,0.000,0.067,2497,1950,2977,2953,3001,0,0,0,0,0,0,26.63,26.58,26.65,8.85,24.20
$GC,741,-1.39,-195.5,2496,1950,2952,3001,73.0,-11.9,72,750,0.00,3.62,0.00,0.000,516,0.000,0.094,2497,537,2976,2952,3001,0,0,0,0,0,0,26.98,26.65,27.00,8.84,24.87
$GC,825,-1.34,-195.5,2497,537,2951,3001,84.2,-13.8,80,834,0.17,3.42,0.00,0.000,3078,0.176,0.067,2538,1955,2976,2952,3001,0,0,0,0,0,0,26.56,26.77,26.70,8.84,24.71
$GC,1134,-1.34,-195.5,2537,1955,2951,3001,120.3,-11.9,111,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1955,2976,2951,3001,0,0,0,0,0,0,27.06,27.07,27.07,8.82,25.50
$GC,1443,-1.34,-195.5,2537,1955,2951,3001,157.7,-12.8,139,1450,0.00,3.42,0.00,0.000,260,0.000,0.079,2523,3328,2976,2951,3001,0,0,0,0,0,0,27.09,26.76,27.10,8.82,25.42
$GC,1523,-1.34,-195.5,2523,3328,2951,3001,168.6,-13.7,143,1530,0.00,3.40,0.00,0.000,1030,0.000,0.067,2523,1940,2976,2951,3001,0,0,0,0,0,0,26.84,26.80,26.86,8.81,25.27
$GC,1844,-1.34,-195.5,2523,1940,2949,3001,211.4,-13.1,159,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1940,2975,2949,3001,0,0,0,0,0,0,27.11,27.13,27.13,8.81,25.58
$GC,2143,-1.34,-195.5,2522,1940,2949,3001,250.2,-12.7,174,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1940,2974,2948,3001,0,0,0,0,0,0,27.13,27.13,27.13,8.80,26.13
$GC,2443,-1.34,-195.5,2523,1940,2948,3001,290.3,-13.6,189,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1940,2974,2947,3001,0,0,0,0,0,0,27.13,27.15,27.14,8.80,26.64
$GC,2763,-1.34,-195.5,2522,1940,2946,3000,333.3,-13.2,201,2770,0.00,3.50,0.00,0.000,260,0.000,0.077,2506,3328,2974,2947,3001,0,0,0,0,0,0,27.14,26.81,27.15,8.79,26.61
$GC,2806,-1.34,-195.5,2505,3328,2947,3000,337.3,-13.3,202,2811,0.00,3.40,0.00,0.000,1030,0.000,0.067,2506,1942,2973,2947,3000,0,0,0,0,0,0,26.91,26.84,26.94,8.79,26.49
$GC,3119,-1.34,-195.5,2505,1942,2946,3000,382.8,-14.1,213,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1942,2973,2946,3000,0,0,0,0,0,0,27.14,27.16,27.15,8.79,27.35
$GC,3418,-1.34,-195.5,2506,1942,2946,2999,423.6,-13.6,223,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1942,2972,2946,2999,0,0,0,0,0,0,27.15,27.16,27.16,8.79,27.31
$GC,3718,-1.34,-195.5,2505,1943,2946,2998,464.0,-13.3,233,3725,0.00,3.50,0.00,0.000,260,0.000,0.077,2489,3328,2972,2946,2998,0,0,0,0,0,0,27.15,26.81,27.15,8.78,27.94
$GC,3766,-1.34,-195.5,2489,3328,2946,2998,468.1,-13.5,234,3773,0.12,3.40,0.00,0.000,3078,0.181,0.067,2530,1942,2972,2946,2998,0,0,0,0,0,0,26.69,26.84,26.84,8.78,27.39
$GC,4075,-1.34,-195.5,2530,1942,2945,2998,510.1,-12.6,244,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1942,2971,2945,2998,0,0,0,0,0,0,27.15,27.16,27.16,8.77,28.02
$GC,4373,-1.34,-195.5,2530,1942,2944,2998,549.9,-13.3,254,4380,0.00,3.50,0.00,0.000,260,0.000,0.077,2516,3328,2971,2944,2998,0,0,0,0,0,0,27.15,26.81,27.16,8.76,28.38
$GC,4416,-1.34,-195.5,2515,3328,2944,2998,554.0,-13.4,255,4421,0.00,3.42,0.00,0.000,1030,0.000,0.070,2516,1941,2971,2944,2998,0,0,0,0,0,0,26.92,26.84,26.94,8.76,27.90
$GC,4730,-1.34,-195.5,2515,1941,2944,2997,600.0,-14.2,266,4736,0.00,3.47,0.00,0.000,260,0.000,0.079,2499,3320,2970,2944,2997,0,0,0,0,0,0,27.15,26.81,27.16,8.74,27.83
$GC,4766,-1.34,-195.5,2499,3320,2944,2997,604.4,-14.4,267,4772,0.10,3.40,0.00,0.000,3078,0.196,0.070,2531,1943,2970,2943,2997,0,0,0,0,0,0,26.68,26.84,26.83,8.75,27.59
$GC,5084,-1.34,-195.5,2531,1943,2942,2997,649.2,-13.4,278,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1943,2969,2942,2997,0,0,0,0,0,0,27.15,27.16,27.16,8.73,28.42
$GC,5385,-1.34,-195.5,2531,1942,2941,2995,690.8,-14.2,288,5391,0.00,3.47,0.00,0.000,260,0.000,0.079,2517,3323,2968,2941,2995,0,0,0,0,0,0,27.15,26.81,27.16,8.72,28.26
$GC,5462,-1.34,-195.5,2516,3322,2941,2995,699.7,-14.7,290,5467,0.00,3.42,0.00,0.000,1030,0.000,0.070,2517,1940,2968,2941,2995,0,0,0,0,0,0,26.92,26.84,26.94,8.71,28.89
$GC,5771,-1.34,-195.5,2516,1940,2940,2993,750.6,-16.2,300,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1940,2967,2940,2994,0,0,0,0,0,0,27.15,27.17,27.16,8.70,28.30
$GC,6069,-1.34,-195.5,2517,1940,2940,2993,800.2,-16.9,310,6077,0.00,3.50,0.00,0.000,260,0.000,0.079,2500,3326,2966,2940,2993,0,0,0,0,0,0,27.15,26.80,27.16,8.68,28.73
$GC,6101,-1.34,-195.5,2499,3326,2940,2993,805.4,-17.0,311,6107,0.10,3.42,0.00,0.000,3078,0.199,0.070,2532,1944,2966,2940,2992,0,0,0,0,0,0,26.67,26.83,26.82,8.68,28.81
$GC,6426,-1.34,-195.5,2531,1944,2939,2992,857.3,-16.0,322,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1944,2965,2939,2992,0,0,0,0,0,0,27.15,27.16,27.16,8.65,28.69
$GC,6724,-1.34,-195.5,2531,1944,2938,2991,906.2,-16.3,332,6731,0.00,3.50,0.00,0.000,260,0.000,0.079,2517,3325,2964,2938,2991,0,0,0,0,0,0,27.15,26.79,27.16,8.63,29.09
$GC,6778,-1.34,-195.5,2517,3325,2938,2990,911.2,-16.5,333,6785,0.00,3.45,0.00,0.000,1030,0.000,0.070,2517,1942,2964,2938,2990,0,0,0,0,0,0,26.91,26.82,26.94,8.63,29.01
$GC,7086,-1.34,-195.5,2516,1942,2936,2989,966.2,-16.4,344,7093,0.00,3.53,0.00,0.000,260,0.000,0.079,2500,3326,2962,2936,2989,0,0,0,0,0,0,27.15,26.79,27.16,8.61,29.87
$GC,7133,-1.34,-195.5,2500,3326,2936,2988,971.3,-16.6,345,7139,0.10,3.47,0.00,0.000,3078,0.201,0.072,2531,1940,2962,2936,2989,0,0,0,0,0,0,26.65,26.82,26.82,8.60,29.72
$GC,7440,-1.34,-195.5,2531,1940,2935,2988,1023.0,-15.7,353,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1940,2961,2935,2988,0,0,0,0,0,0,27.14,27.16,27.15,8.58,29.44
$GC,7740,-1.34,-195.5,2531,1939,2934,2986,1072.4,-16.4,358,7747,0.00,3.55,0.00,0.000,260,0.000,0.082,2517,3326,2960,2934,2986,0,0,0,0,0,0,27.14,26.78,27.15,8.56,29.79
$GC,7783,-1.34,-195.5,2517,3326,2933,2986,1072.4,-16.4,358,7788,0.00,3.45,0.00,0.000,1030,0.000,0.072,2517,1944,2960,2934,2986,0,0,0,0,0,0,26.90,26.81,26.93,8.56,29.76
$GC,8095,-1.34,-195.5,2517,1944,2932,2984,1132.4,-16.8,364,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1944,2958,2932,2984,0,0,0,0,0,0,27.14,27.16,27.15,8.55,31.05
$GC,8396,-1.34,-195.5,2516,1944,2930,2982,1184.8,-17.6,369,8402,0.00,3.55,0.00,0.000,260,0.000,0.082,2501,3326,2956,2930,2982,0,0,0,0,0,0,27.14,26.77,27.15,8.54,31.65
$GC,8448,-1.34,-195.5,2500,3326,2930,2982,1184.8,-17.6,369,8457,0.10,3.47,0.00,0.000,3078,0.204,0.072,2531,1945,2956,2930,2982,0,0,0,0,0,0,26.63,26.79,26.79,8.54,31.09
$GC,8755,-1.34,-195.5,2531,1945,2928,2980,1248.1,-17.4,375,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1944,2954,2928,2981,0,0,0,0,0,0,27.14,27.16,27.15,8.52,30.90
$GC,9055,-1.34,-195.5,2531,1945,2926,2980,1300.2,-17.4,380,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1945,2953,2926,2980,0,0,0,0,0,0,27.13,27.16,27.15,8.51,31.96
$GC,9355,-1.34,-195.5,2531,1944,2924,2978,1352.3,-17.3,385,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1944,2951,2925,2978,0,0,0,0,0,0,27.13,27.16,27.15,8.50,32.55
$GC,9656,-1.34,-195.5,2531,1945,2923,2977,1403.9,-17.2,390,9662,0.00,3.55,0.00,0.000,260,0.000,0.084,2517,3322,2950,2923,2977,0,0,0,0,0,0,27.14,26.74,27.15,8.49,32.16
$GC,9698,-1.34,-195.5,2517,3323,2923,2976,1403.9,-17.2,390,9704,0.00,3.50,0.00,0.000,1030,0.000,0.074,2517,1942,2949,2923,2976,0,0,0,0,0,0,26.88,26.77,26.91,8.49,32.20
$STATE,9889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9890,begin apogee
$GC,9894,-0.74,0.0,2517,1834,2922,2975,1446.0,-17.9,394,10044,0.62,0.00,146.68,1.656,10246,0.159,0.000,2730,1834,2304,2274,2334,0,0,0,0,0,0,26.60,24.84,24.05,8.48,32.51
$STATE,10045,end apogee,CONTROL_FINISHED_OK
$STATE,10045,begin climb
$GC,10046,1.39,195.5,2729,1834,2275,2334,1458.1,0.0,396,10214,1.98,4.15,155.02,1.621,11012,0.132,0.117,3416,429,1631,1604,1658,0,0,0,0,0,0,25.03,24.71,23.97,8.41,31.53
$GC,10324,1.57,630.1,3416,428,1603,1658,1473.2,-5.0,401,10640,0.10,3.65,304.98,1.611,11270,0.127,0.077,3475,1818,339,336,343,0,0,0,0,0,0,25.85,25.89,23.87,8.35,30.15
$GC,10972,1.63,630.1,3474,1818,332,344,1423.4,11.3,412,10979,0.00,3.75,0.00,0.000,260,0.000,0.084,3475,3234,337,332,343,0,0,0,0,0,0,26.47,26.17,26.48,8.22,30.58
$GC,11265,1.63,630.1,3475,3234,331,343,1393.1,12.7,416,11273,0.00,3.62,0.00,0.000,1030,0.000,0.079,3492,1838,337,331,343,0,0,0,0,0,0,26.51,26.41,26.53,8.21,32.28
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$STATE,20293,end climb,SURFACE_DEPTH_REACHED
$STATE,20293,begin surface coast
$FINISH,0.1,1.014395
$STATE,20304,end surface coast,CONTROL_FINISHED_OK
$STATE,20304,begin surface
$SM_CCo,20380,0.00,0.000,0,0,339,570.83
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$TT8_MAMPS,0.020972,0.176015
$HUMID,28.73
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,22.70
$XPDR_PINGS,54
$ALTIM_TOP_PING,18.2,17.1
$24V_AH,23.87,7.460
$10V_AH,10.51,2.514
$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,20.550,199.475,606.675,0.000,137.850,0.000,0.000,0.000,13.750,0.000,49.903,2390.528,15429.522,787.574,1830.665,83.587,0.000,1844.096,0.000,1730.966,0.000,2.603,0.000
$DEVICE_MAMPS,255.749,126.633,1656.161,0.000,372.450,0.000,0.000,0.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,0.000,10.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.796,948.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320224
$DATA_FILE_SIZE,52115,727
$CAP_FILE_SIZE,257517,0
$CFSIZE,2046525440,2040168448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,2,0
$CURRENT,0.116,25.71,1
$GPS,290519,014635,3212.885,-6431.690,46,1.3,87,-14.9,0.5,58.5,7,4.5