version: 66.14
glider: 45
mission: 3
dive: 124
start: 10 6 119 20 1 36
data:
$ID,45
$MISSION,3
$DIVE,124
$N_DIVES,130
$STOP_T,10071920
$D_SURF,3
$D_FLARE,3
$D_TGT,960
$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,320
$T_MISSION,540
$T_ABORT,700
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,360
$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,80120.602
$MASS_COMP,10859
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,90
$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,467.70499
$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,12
$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,2985
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,12.71
$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,2020
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,340
$VBD_MAX,3960
$C_VBD,1950
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$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
$GPS1,061019,191618,3255.3149,-6637.5029,45,1.2,85,-14.4,0.5,242.1,5,18.9
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-35.2
$GPS2,061019,200101,3255.0725,-6638.2295,418,1.2,459,-14.4,0.4,238.3,7,13.0
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,3255.073,-6521.042
$TGT_RADIUS,1852.000
$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,104.4,120000,-14.6,-10.000,-17.72,4418
$D_GRID,960
$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,71,-1.23,-293.3,134,2030,332,351,0.2,0.1,6,212,0.00,0.00,-138.12,0.149,16386,0.000,0.000,134,2030,2831,2827,2835,0,0,0,0,0,0,26.96,28.83,26.97,8.62,27.90
$GC,214,-1.23,-293.3,134,2030,2827,2836,4.0,-6.7,20,234,8.98,3.58,-3.67,0.253,18692,0.248,0.079,2566,3400,2962,2932,2992,0,0,0,0,0,0,25.76,26.17,25.92,8.87,27.27
$GC,281,-1.15,-293.3,2566,3400,2933,2992,14.3,-11.0,26,289,0.15,3.50,0.00,0.000,3078,0.159,0.065,2619,2005,2962,2933,2992,0,0,0,0,0,0,26.02,26.29,26.14,8.88,27.04
$GC,587,-1.15,-293.3,2619,2005,2932,2991,42.6,-10.1,57,597,0.00,3.62,0.00,0.000,516,0.000,0.092,2620,622,2962,2932,2992,0,0,0,0,0,0,26.90,26.09,26.91,8.90,27.98
$GC,622,-1.15,-293.3,2619,622,2932,2992,45.7,-10.2,60,630,0.00,3.40,0.00,0.000,1030,0.000,0.065,2605,2019,2962,2932,2992,0,0,0,0,0,0,26.57,26.52,26.59,8.90,28.73
$GC,930,-1.15,-293.3,2605,2019,2932,2992,74.0,-8.8,91,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2018,2962,2932,2992,0,0,0,0,0,0,26.95,26.96,26.96,8.89,29.01
$GC,1230,-1.15,-293.3,2604,2018,2932,2991,101.1,-7.7,121,1239,0.00,3.67,0.00,0.000,516,0.000,0.092,2605,623,2962,2932,2992,0,0,0,0,0,0,26.97,26.14,26.98,8.88,28.57
$GC,1512,-1.15,-293.3,2604,623,2931,2992,120.0,-7.8,149,1522,0.00,3.40,0.00,0.000,1030,0.000,0.067,2590,2019,2961,2931,2992,0,0,0,0,0,0,26.60,26.57,26.61,8.86,29.09
$GC,1823,-1.15,-293.3,2590,2019,2931,2992,144.6,-7.8,180,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2019,2961,2931,2991,0,0,0,0,0,0,26.98,26.99,26.99,8.84,29.40
$GC,2121,-1.15,-293.3,2590,2019,2930,2992,168.3,-8.3,199,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2019,2961,2931,2991,0,0,0,0,0,0,26.98,27.00,26.99,8.83,29.44
$GC,2421,-1.15,-293.3,2590,2019,2930,2991,194.3,-8.4,214,2428,0.00,3.55,0.00,0.000,260,0.000,0.079,2574,3402,2960,2929,2991,0,0,0,0,0,0,26.98,26.25,26.99,8.82,29.76
$GC,2463,-1.15,-293.3,2573,3402,2929,2991,197.9,-8.8,216,2470,0.12,3.45,0.00,0.000,3078,0.159,0.065,2620,2018,2960,2929,2992,0,0,0,0,0,0,26.23,26.46,26.34,8.82,30.46
$GC,2777,-1.15,-293.3,2619,2018,2927,2991,223.3,-8.3,232,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2018,2959,2928,2991,0,0,0,0,0,0,26.98,26.99,26.99,8.81,30.82
$GC,3077,-1.15,-293.3,2619,2018,2926,2991,249.7,-9.2,247,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2018,2958,2926,2991,0,0,0,0,0,0,26.98,27.00,26.99,8.80,31.05
$GC,3377,-1.15,-293.3,2619,2018,2925,2990,277.9,-9.6,262,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2018,2957,2925,2990,0,0,0,0,0,0,26.98,27.00,26.99,8.80,31.57
$GC,3677,-1.15,-293.3,2619,2018,2924,2989,306.4,-9.4,276,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2018,2956,2924,2989,0,0,0,0,0,0,26.98,27.00,26.99,8.79,31.41
$GC,3977,-1.15,-293.3,2619,2018,2923,2989,335.0,-9.7,286,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2018,2956,2923,2989,0,0,0,0,0,0,26.98,27.00,26.99,8.79,32.79
$GC,4277,-1.15,-293.3,2619,2018,2923,2988,363.9,-9.5,296,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2018,2955,2923,2988,0,0,0,0,0,0,26.98,27.00,26.99,8.79,32.28
$GC,4577,-1.15,-293.3,2619,2018,2922,2987,391.4,-9.1,306,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2018,2954,2922,2987,0,0,0,0,0,0,26.98,27.00,26.99,8.78,33.30
$GC,4877,-1.15,-293.3,2619,2018,2921,2987,417.2,-8.7,316,4884,0.00,3.65,0.00,0.000,516,0.000,0.092,2620,628,2954,2921,2987,0,0,0,0,0,0,26.98,26.08,26.99,8.78,32.79
$GC,4915,-1.15,-293.3,2619,628,2921,2987,419.8,-8.7,317,4920,0.00,3.40,0.00,0.000,1030,0.000,0.065,2606,2018,2953,2921,2986,0,0,0,0,0,0,26.62,26.56,26.64,8.78,33.26
$GC,5232,-1.15,-293.3,2606,2018,2920,2985,450.3,-9.4,328,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2018,2952,2920,2985,0,0,0,0,0,0,26.98,27.00,26.99,8.77,33.34
$GC,5532,-1.15,-293.3,2605,2018,2919,2985,478.1,-9.2,338,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2018,2952,2919,2985,0,0,0,0,0,0,26.98,26.99,26.99,8.77,32.79
$GC,5834,-1.15,-293.3,2605,2018,2918,2984,506.1,-9.5,348,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2018,2951,2919,2984,0,0,0,0,0,0,26.98,27.00,26.99,8.77,33.10
$GC,6132,-1.15,-293.3,2606,2018,2918,2984,535.8,-10.2,358,6139,0.00,3.70,0.00,0.000,516,0.000,0.092,2606,628,2951,2918,2984,0,0,0,0,0,0,26.98,26.06,26.99,8.76,33.02
$GC,6192,-1.15,-293.3,2606,628,2918,2984,542.8,-10.6,360,6199,0.00,3.42,0.00,0.000,1030,0.000,0.065,2590,2023,2951,2918,2984,0,0,0,0,0,0,26.61,26.55,26.63,8.76,32.98
$GC,6522,-1.15,-293.3,2590,2023,2918,2982,578.9,-10.8,371,6529,0.00,3.58,0.00,0.000,260,0.000,0.079,2575,3402,2950,2918,2982,0,0,0,0,0,0,26.98,26.18,26.99,8.75,33.61
$GC,6565,-1.15,-293.3,2574,3402,2918,2982,582.2,-10.7,372,6571,0.12,3.47,0.00,0.000,3078,0.159,0.065,2620,2019,2950,2918,2982,0,0,0,0,0,0,26.19,26.41,26.29,8.74,33.54
$GC,6878,-1.15,-293.3,2620,2019,2917,2982,615.0,-10.1,383,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2019,2949,2916,2982,0,0,0,0,0,0,26.98,26.99,26.99,8.74,33.34
$GC,7178,-1.15,-293.3,2619,2019,2916,2981,643.5,-9.4,393,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2019,2948,2916,2981,0,0,0,0,0,0,26.98,26.99,26.99,8.73,33.77
$GC,7478,-1.15,-293.3,2620,2019,2915,2980,670.9,-9.1,403,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2019,2948,2915,2981,0,0,0,0,0,0,26.98,26.99,26.99,8.71,33.89
$GC,7778,-1.15,-293.3,2620,2019,2915,2980,700.0,-9.5,413,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2019,2947,2915,2980,0,0,0,0,0,0,26.98,26.99,26.99,8.70,34.05
$GC,8078,-1.15,-293.3,2620,2019,2913,2980,729.3,-9.9,423,8085,0.00,3.70,0.00,0.000,516,0.000,0.094,2620,622,2946,2913,2980,0,0,0,0,0,0,26.98,26.01,26.99,8.69,35.35
$GC,8116,-1.15,-293.3,2620,622,2913,2979,732.5,-10.2,424,8122,0.00,3.45,0.00,0.000,1030,0.000,0.065,2606,2021,2946,2913,2980,0,0,0,0,0,0,26.59,26.53,26.61,8.69,34.64
$GC,8434,-1.15,-293.3,2606,2022,2913,2978,770.0,-11.7,435,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2022,2945,2913,2978,0,0,0,0,0,0,26.98,26.99,26.99,8.68,34.68
$GC,8736,-1.15,-293.3,2606,2022,2911,2978,806.6,-12.3,445,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2944,2912,2977,0,0,0,0,0,0,26.98,26.99,26.99,8.66,35.27
$GC,9034,-1.15,-293.3,2606,2022,2910,2976,841.8,-11.6,455,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2942,2909,2976,0,0,0,0,0,0,26.98,26.99,26.98,8.65,35.62
$GC,9334,-1.15,-293.3,2605,2021,2910,2975,876.4,-11.7,465,9341,0.00,3.75,0.00,0.000,516,0.000,0.094,2606,627,2942,2910,2975,0,0,0,0,0,0,26.98,25.96,26.99,8.65,35.82
$GC,9382,-1.15,-293.3,2606,627,2910,2975,879.9,-11.7,466,9387,0.00,3.45,0.00,0.000,1030,0.000,0.065,2590,2020,2942,2910,2975,0,0,0,0,0,0,26.58,26.51,26.59,8.64,35.54
$GC,9689,-1.15,-293.3,2589,2020,2910,2974,921.6,-12.9,476,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2020,2941,2909,2974,0,0,0,0,0,0,26.97,26.99,26.98,8.62,36.57
$STATE,9988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9988,begin apogee
$GC,9992,-0.79,0.0,2590,1946,2908,2973,960.2,-13.0,486,10217,0.40,0.00,221.32,1.289,10246,0.139,0.000,2732,1946,1949,1917,1981,0,0,0,0,0,0,25.98,25.05,24.06,8.61,36.33
$STATE,10218,end apogee,CONTROL_FINISHED_OK
$STATE,10218,begin climb
$GC,10219,1.23,293.3,2731,1946,1917,1982,977.7,0.0,493,10449,1.83,0.00,223.07,1.276,10758,0.124,0.000,3370,1946,939,921,958,0,0,0,0,0,0,25.28,25.03,24.13,8.51,35.19
$GC,10740,1.31,385.6,3369,1945,918,958,950.0,7.9,511,10819,0.05,3.92,72.00,1.237,10756,0.184,0.107,3453,551,621,609,633,0,0,0,0,0,0,26.48,25.27,24.32,8.40,34.99
$GC,10859,1.31,385.6,3453,551,607,633,938.6,9.6,515,10865,0.15,3.58,0.00,0.000,5126,0.156,0.067,3402,1950,620,607,634,0,0,0,0,0,0,25.75,25.95,25.89,8.38,35.15
$GC,11182,1.31,385.6,3402,1950,605,634,906.8,9.5,526,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,1950,619,605,634,0,0,0,0,0,0,26.74,26.77,26.76,8.37,35.70
$GC,11482,1.31,385.6,3402,1950,605,632,878.4,9.5,536,11489,0.00,3.80,0.00,0.000,516,0.000,0.102,3416,548,618,604,632,0,0,0,0,0,0,26.85,26.24,26.86,8.37,36.88
$GC,11530,1.31,385.6,3415,548,602,632,875.7,9.4,537,11535,0.00,3.50,0.00,0.000,1030,0.000,0.067,3416,1949,617,602,632,0,0,0,0,0,0,26.59,26.53,26.61,8.36,37.04
$GC,11837,1.31,385.6,3416,1949,602,632,844.8,9.4,547,11838,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1949,617,602,632,0,0,0,0,0,0,26.90,26.91,26.91,8.37,37.04
$GC,12137,1.31,385.6,3415,1949,602,630,817.8,9.2,557,12144,0.00,3.78,0.00,0.000,516,0.000,0.102,3431,554,616,602,631,0,0,0,0,0,0,26.92,26.20,26.94,8.37,37.43
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$STATE,19498,end climb,SURFACE_DEPTH_REACHED
$STATE,19499,begin surface coast
$FINISH,-0.1,0.998833
$STATE,19520,end surface coast,CONTROL_FINISHED_OK
$STATE,19521,begin surface
$SM_CCo,19596,0.00,0.000,0,0,336,468.58
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$TT8_MAMPS,0.021721,0.176015
$HUMID,33.02
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,24.30
$XPDR_PINGS,2
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$10V_AH,10.43,28.871
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,319516
$DATA_FILE_SIZE,65988,910
$CAP_FILE_SIZE,146591,0
$CFSIZE,2046525440,2014707712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071019,013041,3252.351,-6638.254,71,1.3,111,-14.3,0.0,227.3,6,13.0