version: 66.14
glider: 45
mission: 3
dive: 12
start: 5 29 119 1 53 41
data:
$ID,45
$MISSION,3
$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,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,18
$R_STBD_OVSHOOT,39
$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
$GPS1,290519,014635,3212.8845,-6431.6899,46,1.3,87,-14.9,0.5,58.5,7,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-44.9
$GPS2,290519,015241,3212.9724,-6431.6558,11,1.0,37,-14.9,0.0,341.7,8,4.9
$SPEED_LIMITS,0.173,0.262
$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,186.8,69958,-18.1,-10.000,-20.87,2960
$D_GRID,3050
$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,73,-1.39,-195.5,193,1951,328,347,0.7,-0.0,6,232,0.00,0.00,-156.25,0.146,16386,0.000,0.000,193,1952,2781,2768,2795,0,0,0,0,0,0,26.77,28.83,26.79,8.47,26.84
$GC,235,-1.39,-195.5,193,1952,2769,2796,4.5,-6.5,22,258,8.60,3.55,-5.88,0.216,18692,0.258,0.079,2497,3326,2980,2948,3013,0,0,0,0,0,0,25.96,26.17,26.08,8.70,25.42
$GC,396,-1.39,-195.5,2497,3326,2948,3012,32.0,-14.8,38,406,0.00,3.50,0.00,0.000,1030,0.000,0.072,2497,1941,2980,2948,3012,0,0,0,0,0,0,26.39,26.34,26.41,8.72,25.58
$GC,707,-1.39,-195.5,2496,1941,2948,3012,72.2,-12.6,69,716,0.00,3.58,0.00,0.000,260,0.000,0.082,2480,3330,2980,2948,3013,0,0,0,0,0,0,26.82,26.47,26.82,8.73,25.86
$GC,759,-1.39,-195.5,2480,3330,2948,3012,79.0,-12.7,74,770,0.12,3.50,0.00,0.000,3078,0.186,0.070,2526,1940,2980,2948,3013,0,0,0,0,0,0,26.36,26.51,26.45,8.73,25.94
$GC,1070,-1.39,-195.5,2525,1940,2948,3013,117.6,-13.2,105,1080,0.00,3.55,0.00,0.000,260,0.000,0.082,2511,3328,2980,2948,3013,0,0,0,0,0,0,26.92,26.57,26.93,8.72,25.74
$GC,1136,-1.39,-195.5,2511,3328,2948,3013,126.1,-13.8,111,1144,0.00,3.47,0.00,0.000,1030,0.000,0.070,2512,1941,2980,2948,3013,0,0,0,0,0,0,26.70,26.61,26.72,8.72,25.38
$GC,1453,-1.39,-195.5,2511,1941,2948,3012,168.8,-13.4,136,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1941,2980,2948,3013,0,0,0,0,0,0,26.98,27.00,26.99,8.72,25.19
$GC,1752,-1.39,-195.5,2511,1941,2948,3013,209.3,-13.1,151,1759,0.00,3.55,0.00,0.000,260,0.000,0.079,2494,3334,2980,2948,3013,0,0,0,0,0,0,27.02,26.67,27.03,8.72,25.23
$GC,1805,-1.39,-195.5,2494,3334,2948,3013,214.5,-13.2,153,1813,0.00,3.47,0.00,0.000,1030,0.000,0.070,2494,1940,2980,2948,3013,0,0,0,0,0,0,26.79,26.71,26.82,8.71,25.11
$GC,2112,-1.39,-195.5,2494,1940,2948,3013,257.9,-13.9,169,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1940,2980,2948,3013,0,0,0,0,0,0,27.05,27.06,27.06,8.71,25.03
$GC,2413,-1.39,-195.5,2494,1940,2948,3013,299.3,-13.7,184,2419,0.00,3.53,0.00,0.000,260,0.000,0.082,2477,3331,2980,2948,3013,0,0,0,0,0,0,27.07,26.72,27.08,8.71,25.90
$GC,2465,-1.39,-195.5,2476,3331,2948,3012,303.5,-13.9,186,2473,0.12,3.45,0.00,0.000,3078,0.186,0.070,2518,1942,2980,2948,3013,0,0,0,0,0,0,26.59,26.75,26.74,8.71,25.74
$GC,2773,-1.39,-195.5,2517,1942,2948,3013,348.3,-13.5,197,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1942,2980,2948,3012,0,0,0,0,0,0,27.08,27.10,27.10,8.71,26.21
$GC,3072,-1.39,-195.5,2517,1942,2948,3013,388.3,-13.4,207,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1942,2980,2948,3013,0,0,0,0,0,0,27.10,27.11,27.11,8.71,26.01
$GC,3372,-1.39,-195.5,2517,1942,2948,3013,429.8,-14.1,217,3379,0.00,3.53,0.00,0.000,260,0.000,0.079,2503,3331,2980,2948,3013,0,0,0,0,0,0,27.11,26.76,27.12,8.71,25.78
$GC,3435,-1.39,-195.5,2502,3331,2948,3013,438.5,-14.3,219,3440,0.00,3.47,0.00,0.000,1030,0.000,0.070,2503,1939,2980,2948,3012,0,0,0,0,0,0,26.88,26.79,26.90,8.71,25.74
$GC,3757,-1.39,-195.5,2502,1939,2948,3012,485.6,-14.6,230,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1939,2980,2948,3013,0,0,0,0,0,0,27.11,27.13,27.13,8.70,26.29
$GC,4057,-1.39,-195.5,2502,1939,2948,3013,528.5,-14.4,240,4064,0.00,3.53,0.00,0.000,260,0.000,0.079,2486,3328,2980,2948,3013,0,0,0,0,0,0,27.12,26.77,27.13,8.70,26.76
$GC,4149,-1.39,-195.5,2486,3328,2948,3013,542.1,-14.8,243,4156,0.10,3.45,0.00,0.000,3078,0.194,0.070,2518,1940,2980,2948,3013,0,0,0,0,0,0,26.65,26.80,26.79,8.70,26.21
$GC,4478,-1.39,-195.5,2518,1940,2948,3013,587.6,-13.7,254,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1939,2980,2948,3012,0,0,0,0,0,0,27.13,27.14,27.13,8.69,26.68
$GC,4778,-1.39,-195.5,2518,1940,2947,3012,632.0,-15.1,264,4785,0.00,3.55,0.00,0.000,260,0.000,0.082,2504,3333,2980,2948,3013,0,0,0,0,0,0,27.13,26.77,27.14,8.69,26.29
$GC,4838,-1.39,-195.5,2503,3332,2948,3012,641.8,-15.7,266,4845,0.00,3.45,0.00,0.000,1030,0.000,0.072,2503,1941,2980,2948,3012,0,0,0,0,0,0,26.85,26.81,26.88,8.69,26.29
$GC,5168,-1.39,-195.5,2503,1941,2947,3012,694.0,-15.6,277,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1941,2980,2948,3012,0,0,0,0,0,0,27.13,27.15,27.14,8.67,26.92
$GC,5468,-1.39,-195.5,2503,1941,2948,3012,739.1,-14.7,287,5476,0.00,3.53,0.00,0.000,260,0.000,0.079,2487,3328,2980,2948,3012,0,0,0,0,0,0,27.13,26.78,27.14,8.66,27.20
$GC,5521,-1.39,-195.5,2486,3328,2948,3012,743.8,-14.8,288,5529,0.00,3.45,0.00,0.000,1030,0.000,0.070,2487,1943,2979,2948,3011,0,0,0,0,0,0,26.90,26.82,26.92,8.66,27.08
$GC,5830,-1.39,-195.5,2486,1943,2948,3011,797.2,-16.3,299,5832,0.10,0.00,0.00,0.000,2054,0.204,0.000,2517,1943,2979,2948,3011,0,0,0,0,0,0,26.71,26.87,26.83,8.64,27.51
$GC,6128,-1.39,-195.5,2517,1943,2947,3010,844.3,-15.7,309,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1943,2979,2948,3010,0,0,0,0,0,0,27.13,27.15,27.15,8.63,27.27
$GC,6428,-1.39,-195.5,2517,1942,2947,3009,890.9,-15.6,319,6435,0.00,3.53,0.00,0.000,260,0.000,0.082,2502,3329,2978,2947,3009,0,0,0,0,0,0,27.13,26.78,27.15,8.61,27.47
$GC,6541,-1.39,-195.5,2502,3329,2947,3008,905.6,-16.3,322,6549,0.00,3.45,0.00,0.000,1030,0.000,0.072,2502,1944,2978,2947,3009,0,0,0,0,0,0,26.90,26.81,26.92,8.60,28.26
$GC,6849,-1.39,-195.5,2502,1944,2947,3007,959.3,-16.2,333,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1944,2976,2946,3007,0,0,0,0,0,0,27.13,27.15,27.15,8.57,28.02
$GC,7178,-1.39,-195.5,2501,1943,2945,3005,1012.7,-16.1,343,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1944,2976,2946,3006,0,0,0,0,0,0,27.13,27.15,27.15,8.56,28.61
$GC,7478,-1.39,-195.5,2501,1944,2944,3005,1062.9,-16.8,348,7485,0.00,3.55,0.00,0.000,260,0.000,0.082,2486,3330,2974,2944,3004,0,0,0,0,0,0,27.13,26.77,27.15,8.54,29.40
$GC,7547,-1.39,-195.5,2485,3330,2945,3004,1073.6,-17.3,349,7555,0.10,3.47,0.00,0.000,3078,0.199,0.072,2517,1945,2974,2945,3004,0,0,0,0,0,0,26.65,26.80,26.80,8.55,29.16
$GC,7898,-1.39,-195.5,2516,1945,2943,3002,1136.4,-17.5,355,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1945,2973,2943,3003,0,0,0,0,0,0,27.13,27.15,27.15,8.52,29.13
$GC,8198,-1.39,-195.5,2516,1945,2941,3001,1187.7,-17.1,360,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1944,2971,2941,3001,0,0,0,0,0,0,27.13,27.15,27.15,8.51,30.23
$GC,8499,-1.39,-195.5,2516,1945,2941,2999,1239.3,-17.3,365,8505,0.00,3.58,0.00,0.000,260,0.000,0.084,2502,3330,2970,2941,2999,0,0,0,0,0,0,27.13,26.76,27.15,8.50,30.27
$GC,8541,-1.39,-195.5,2501,3330,2941,2999,1239.3,-17.3,365,8546,0.00,3.53,0.00,0.000,1030,0.000,0.074,2502,1940,2969,2941,2998,0,0,0,0,0,0,26.89,26.79,26.91,8.49,30.54
$GC,8854,-1.39,-195.5,2501,1940,2939,2997,1306.6,-19.2,371,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1940,2968,2939,2997,0,0,0,0,0,0,27.13,27.15,27.14,8.48,30.07
$GC,9153,-1.39,-195.5,2501,1940,2938,2996,1362.7,-18.7,376,9160,0.00,3.60,0.00,0.000,260,0.000,0.084,2485,3332,2967,2938,2996,0,0,0,0,0,0,27.13,26.75,27.14,8.47,30.54
$GC,9196,-1.39,-195.5,2484,3332,2938,2995,1362.7,-18.7,376,9202,0.10,3.53,0.00,0.000,3078,0.201,0.074,2516,1942,2966,2938,2995,0,0,0,0,0,0,26.63,26.77,26.79,8.47,30.42
$GC,9509,-1.39,-195.5,2515,1942,2936,2993,1425.6,-17.4,382,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1942,2964,2936,2993,0,0,0,0,0,0,27.13,27.15,27.15,8.46,30.27
$STATE,9629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9629,begin apogee
$GC,9633,-0.74,0.0,2516,1835,2935,2993,1446.1,-17.2,384,9788,0.60,0.00,151.60,1.636,10246,0.159,0.000,2722,1835,2303,2273,2334,0,0,0,0,0,0,26.60,24.74,23.96,8.45,30.82
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9791,1.39,195.5,2721,1835,2273,2334,1458.6,0.0,386,9958,1.98,3.90,156.48,1.611,11012,0.137,0.089,3389,3221,1630,1604,1657,0,0,1,0,0,0,24.92,24.55,23.77,8.39,30.11
$GC,9963,1.39,195.5,3389,3221,1604,1657,1468.1,-5.7,389,9969,0.00,3.78,0.00,0.000,1030,0.000,0.079,3405,1844,1631,1604,1658,0,0,1,0,0,0,25.00,24.89,25.02,8.32,29.48
$GC,10286,1.60,611.6,3405,1844,1603,1658,1483.4,-4.4,395,10600,0.12,0.00,309.00,1.616,10758,0.117,0.000,3479,1844,339,335,343,0,0,0,0,0,0,26.13,24.38,23.65,8.32,30.23
$GC,10886,1.66,611.6,3478,1844,331,343,1435.7,11.9,405,10893,0.00,3.70,0.00,0.000,260,0.000,0.084,3479,3220,337,331,343,0,0,0,0,0,0,26.22,25.93,26.23,8.19,30.03
$GC,10934,1.71,611.6,3478,3220,331,343,1435.7,11.9,405,10940,0.00,3.67,0.00,0.000,1030,0.000,0.077,3497,1830,337,331,343,0,0,0,0,0,0,26.10,26.01,26.13,8.19,29.83
$GC,11240,1.71,611.6,3496,1830,330,343,1392.7,12.0,410,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1830,336,330,343,0,0,0,0,0,0,26.59,26.61,26.60,8.18,30.19
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$STATE,19936,end climb,SURFACE_DEPTH_REACHED
$STATE,19936,begin surface coast
$FINISH,0.2,0.998962
$STATE,19947,end surface coast,CONTROL_FINISHED_OK
$STATE,19947,begin surface
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$TT8_MAMPS,0.020972,0.175266
$HUMID,26.88
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,19.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,18.8,17.7
$24V_AH,23.65,7.763
$10V_AH,10.52,2.579
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,484.649,927.213,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320316
$DATA_FILE_SIZE,52151,711
$CAP_FILE_SIZE,144163,0
$CFSIZE,2046525440,2040135680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,2,0
$INTR,0,20919.52,0x213b36,7,24
$CURRENT,0.104,14.97,1
$GPS,290519,072906,3210.056,-6430.647,47,0.8,65,-14.9,1.0,41.2,11,5.0