version: 66.14
glider: 45
mission: 3
dive: 125
start: 10 7 119 2 9 31
data:
$ID,45
$MISSION,3
$DIVE,125
$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,18
$R_STBD_OVSHOOT,48
$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
$GPS1,071019,013041,3252.3508,-6638.2544,71,1.3,111,-14.3,0.0,227.3,6,13.0
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-36.6
$GPS2,071019,020856,3252.0981,-6638.7290,28,1.4,69,-14.3,0.0,233.7,6,15.1
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,3252.098,-6521.585
$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,104.3,120000,-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,-293.3,165,2040,329,348,0.3,-0.3,6,202,0.00,0.00,-128.27,0.149,16386,0.000,0.000,165,2041,2636,2628,2644,0,0,0,0,0,0,26.89,28.83,26.90,8.62,28.57
$GC,204,-1.23,-293.3,164,2040,2628,2645,3.1,-4.2,19,233,8.88,3.58,-10.52,0.184,18692,0.243,0.079,2574,3405,2962,2931,2994,0,0,0,0,0,0,25.72,25.95,25.84,8.84,27.90
$GC,279,-1.23,-293.3,2574,3405,2931,2994,13.9,-13.4,26,287,0.00,3.53,0.00,0.000,1030,0.000,0.065,2574,2004,2962,2931,2994,0,0,0,0,0,0,26.34,26.26,26.36,8.88,27.98
$GC,585,-1.23,-293.3,2573,2004,2931,2993,47.8,-10.6,57,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2004,2962,2930,2994,0,0,0,0,0,0,26.89,26.90,26.90,8.89,28.10
$GC,885,-1.23,-293.3,2574,2004,2930,2994,76.8,-9.4,87,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2004,2961,2930,2993,0,0,0,0,0,0,26.94,26.96,26.96,8.89,28.89
$GC,1186,-1.23,-293.3,2573,2004,2930,2993,96.2,-6.2,117,1195,0.00,3.62,0.00,0.000,516,0.000,0.094,2574,625,2961,2929,2994,0,0,0,0,0,0,26.97,25.89,26.98,8.87,29.09
$GC,1358,-1.23,-293.3,2574,624,2930,2993,109.2,-7.7,134,1368,0.08,3.40,0.00,0.000,3078,0.169,0.072,2588,2022,2962,2930,2994,0,0,0,0,0,0,26.26,26.57,26.30,8.86,28.89
$GC,1669,-1.23,-293.3,2587,2022,2929,2993,136.6,-9.6,165,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2022,2961,2929,2993,0,0,0,0,0,0,26.98,26.99,26.99,8.85,28.93
$GC,1978,-1.23,-293.3,2587,2022,2929,2993,164.2,-8.9,188,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2022,2961,2929,2993,0,0,0,0,0,0,26.98,26.99,26.99,8.83,29.52
$GC,2279,-1.23,-293.3,2586,2022,2928,2993,187.5,-6.8,203,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2022,2960,2928,2993,0,0,0,0,0,0,26.98,27.00,26.99,8.82,29.72
$GC,2578,-1.23,-293.3,2587,2022,2926,2993,209.8,-8.0,218,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2022,2959,2926,2993,0,0,0,0,0,0,26.98,27.00,26.99,8.81,30.46
$GC,2877,-1.23,-293.3,2587,2022,2925,2993,235.3,-8.7,233,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2022,2959,2925,2993,0,0,0,0,0,0,26.98,27.00,26.99,8.80,31.29
$GC,3178,-1.23,-293.3,2587,2022,2925,2992,262.7,-9.4,248,3184,0.00,3.70,0.00,0.000,516,0.000,0.094,2588,626,2958,2925,2992,0,0,0,0,0,0,26.98,26.10,26.99,8.80,31.84
$GC,3230,-1.23,-293.3,2587,626,2924,2992,266.7,-9.6,250,3238,0.00,3.40,0.00,0.000,1030,0.000,0.065,2574,2018,2958,2924,2992,0,0,0,0,0,0,26.63,26.57,26.64,8.79,31.21
$GC,3537,-1.23,-293.3,2573,2018,2923,2991,297.5,-9.2,266,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2018,2957,2923,2991,0,0,0,0,0,0,26.98,26.99,26.99,8.79,31.92
$GC,3847,-1.23,-293.3,2573,2018,2924,2989,325.6,-9.1,277,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2018,2956,2923,2990,0,0,0,0,0,0,26.98,27.00,26.99,8.79,31.96
$GC,4147,-1.23,-293.3,2573,2018,2922,2989,353.1,-9.1,287,4154,0.00,3.70,0.00,0.000,516,0.000,0.092,2574,621,2956,2923,2989,0,0,0,0,0,0,26.98,26.08,26.99,8.78,32.55
$GC,4200,-1.23,-293.3,2573,622,2922,2988,356.2,-9.3,288,4209,0.10,3.42,0.00,0.000,3078,0.184,0.065,2594,2020,2955,2922,2989,0,0,0,0,0,0,26.25,26.55,26.34,8.78,32.43
$GC,4507,-1.23,-293.3,2593,2021,2921,2988,386.7,-9.0,299,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2020,2954,2921,2988,0,0,0,0,0,0,26.98,27.00,26.99,8.78,32.83
$GC,4807,-1.23,-293.3,2593,2020,2920,2987,416.0,-9.8,309,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2020,2954,2920,2988,0,0,0,0,0,0,26.98,27.00,26.99,8.77,32.94
$GC,5107,-1.23,-293.3,2594,2020,2920,2987,445.8,-10.0,319,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2020,2953,2920,2987,0,0,0,0,0,0,26.98,27.00,26.99,8.77,32.67
$GC,5407,-1.23,-293.3,2594,2021,2919,2986,475.1,-9.7,329,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2020,2952,2919,2986,0,0,0,0,0,0,26.98,27.00,26.99,8.77,33.77
$GC,5707,-1.23,-293.3,2593,2020,2919,2985,505.0,-10.0,339,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2020,2952,2918,2986,0,0,0,0,0,0,26.98,27.00,26.99,8.76,33.26
$GC,6009,-1.23,-293.3,2593,2020,2918,2985,534.0,-9.5,349,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2020,2951,2918,2985,0,0,0,0,0,0,26.98,27.00,26.99,8.76,33.57
$GC,6307,-1.23,-293.3,2594,2020,2918,2984,564.6,-10.1,359,6314,0.00,3.58,0.00,0.000,260,0.000,0.082,2580,3397,2951,2918,2984,0,0,0,0,0,0,26.98,26.18,26.99,8.75,33.57
$GC,6360,-1.23,-293.3,2580,3397,2918,2984,567.5,-10.0,360,6368,0.00,3.45,0.00,0.000,1030,0.000,0.065,2580,2023,2951,2918,2984,0,0,0,0,0,0,26.49,26.40,26.53,8.75,33.57
$GC,6667,-1.23,-293.3,2580,2024,2917,2983,599.5,-9.3,371,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2024,2950,2917,2983,0,0,0,0,0,0,26.98,26.99,26.99,8.74,34.09
$GC,6967,-1.23,-293.3,2580,2023,2916,2982,628.7,-9.8,381,6974,0.00,3.60,0.00,0.000,260,0.000,0.079,2565,3406,2949,2916,2982,0,0,0,0,0,0,26.98,26.18,26.99,8.73,33.77
$GC,7007,-1.23,-293.3,2565,3406,2916,2982,631.7,-10.0,382,7014,0.00,3.50,0.00,0.000,1030,0.000,0.065,2565,2015,2949,2916,2982,0,0,0,0,0,0,26.48,26.40,26.52,8.73,33.85
$GC,7327,-1.23,-293.3,2565,2015,2915,2981,668.1,-11.4,393,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2015,2948,2915,2981,0,0,0,0,0,0,26.98,26.99,26.98,8.72,34.52
$GC,7627,-1.23,-293.3,2565,2015,2915,2981,705.0,-12.8,403,7634,0.00,3.60,0.00,0.000,260,0.000,0.079,2549,3399,2948,2915,2981,0,0,0,0,0,0,26.98,26.16,26.99,8.70,34.36
$GC,7705,-1.23,-293.3,2548,3399,2915,2980,712.6,-13.1,405,7711,0.12,3.47,0.00,0.000,3078,0.164,0.065,2594,2019,2947,2915,2980,0,0,0,0,0,0,26.14,26.39,26.25,8.70,33.93
$GC,8012,-1.23,-293.3,2594,2018,2913,2980,749.3,-11.1,415,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2019,2946,2913,2980,0,0,0,0,0,0,26.98,26.99,26.99,8.69,34.99
$GC,8312,-1.23,-293.3,2594,2019,2912,2980,779.6,-9.9,425,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2018,2945,2912,2979,0,0,0,0,0,0,26.98,26.99,26.98,8.68,35.43
$GC,8612,-1.23,-293.3,2594,2018,2912,2979,809.9,-10.1,435,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2018,2945,2912,2979,0,0,0,0,0,0,26.98,26.99,26.99,8.66,34.80
$GC,8914,-1.23,-293.3,2594,2019,2910,2978,841.0,-10.6,445,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2018,2944,2911,2978,0,0,0,0,0,0,26.98,26.99,26.99,8.65,35.90
$GC,9212,-1.23,-293.3,2594,2018,2911,2977,874.3,-11.3,455,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2019,2943,2910,2977,0,0,0,0,0,0,26.98,26.99,26.98,8.64,35.82
$GC,9512,-1.23,-293.3,2594,2018,2909,2975,910.0,-12.3,465,9519,0.00,3.72,0.00,0.000,516,0.000,0.094,2595,622,2942,2909,2975,0,0,0,0,0,0,26.98,25.96,26.98,8.63,35.62
$GC,9550,-1.23,-293.3,2594,622,2909,2975,913.7,-12.4,466,9556,0.00,3.45,0.00,0.000,1030,0.000,0.065,2579,2017,2942,2909,2975,0,0,0,0,0,0,26.57,26.51,26.59,8.63,36.06
$GC,9868,-1.23,-293.3,2579,2017,2909,2974,958.0,-13.8,477,9875,0.00,3.75,0.00,0.000,516,0.000,0.094,2579,622,2941,2909,2974,0,0,0,0,0,0,26.97,25.92,26.98,8.61,36.33
$STATE,9896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9896,begin apogee
$GC,9904,-0.79,0.0,2563,1949,2908,2974,962.3,-13.9,478,10129,0.50,0.00,221.77,1.294,10246,0.142,0.000,2737,1950,1949,1917,1982,0,0,0,0,0,0,25.86,25.03,24.05,8.61,35.94
$STATE,10130,end apogee,CONTROL_FINISHED_OK
$STATE,10130,begin climb
$GC,10132,1.23,293.3,2737,1950,1917,1982,980.7,0.0,485,10360,1.77,0.00,222.45,1.276,10758,0.127,0.000,3362,1952,939,921,958,0,0,0,0,0,0,25.28,25.03,24.11,8.51,34.44
$GC,10648,1.31,387.8,3361,1952,918,958,953.9,7.8,503,10731,0.08,3.80,73.28,1.239,10500,0.144,0.082,3429,3341,614,604,625,0,0,0,0,0,0,26.46,25.26,24.30,8.41,35.90
$GC,10791,1.31,387.8,3428,3341,604,625,941.1,10.6,507,10800,0.12,3.62,0.00,0.000,5126,0.169,0.067,3402,1956,614,603,625,0,0,0,0,0,0,25.83,25.96,25.96,8.37,34.56
$GC,11098,1.31,387.8,3402,1956,598,625,907.1,10.2,518,11105,0.00,3.83,0.00,0.000,516,0.000,0.102,3416,541,611,598,625,0,0,0,0,0,0,26.74,26.20,26.77,8.37,35.46
$GC,11151,1.31,387.8,3415,541,596,625,904.1,10.2,519,11159,0.00,3.55,0.00,0.000,1030,0.000,0.067,3416,1956,610,596,625,0,0,0,0,0,0,26.53,26.47,26.55,8.37,36.10
$GC,11458,1.31,387.8,3415,1956,596,625,871.8,9.2,530,11465,0.00,3.83,0.00,0.000,516,0.000,0.102,3430,540,610,596,624,0,0,0,0,0,0,26.86,26.25,26.87,8.37,36.65
$GC,11496,1.31,387.8,3430,541,594,625,868.8,9.5,531,11501,0.00,3.53,0.00,0.000,1030,0.000,0.067,3431,1952,609,594,624,0,0,0,0,0,0,26.60,26.53,26.61,8.37,36.45
$GC,11813,1.31,387.8,3430,1952,595,624,839.0,9.0,542,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1952,609,594,624,0,0,0,0,0,0,26.91,26.92,26.91,8.37,37.04
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$STATE,19148,end climb,SURFACE_DEPTH_REACHED
$STATE,19148,begin surface coast
$FINISH,0.5,1.024323
$STATE,19169,end surface coast,CONTROL_FINISHED_OK
$STATE,19169,begin surface
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$TT8_MAMPS,0.020972,0.176764
$HUMID,32.63
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,24.30
$XPDR_PINGS,4
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$10V_AH,10.42,28.949
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.025,151.625,517.500,62.850,138.800,601.207,429.379,0.000,1.000,0.000,70.050,2509.506,15343.301,779.456,2815.186,108.415,0.000,1733.627,0.000,1634.527,0.000,1.006,0.000
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$MEM,319516
$DATA_FILE_SIZE,62518,886
$CAP_FILE_SIZE,147020,0
$CFSIZE,2046525440,2014609408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071019,073305,3249.796,-6638.323,84,1.2,125,-14.3,0.9,257.7,8,12.3