version: 66.14
glider: 45
mission: 3
dive: 126
start: 10 7 119 8 9 7
data:
$ID,45
$MISSION,3
$DIVE,126
$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,23
$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
$GPS1,071019,073305,3249.7961,-6638.3228,84,1.2,125,-14.3,0.9,257.7,8,12.3
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-44.2
$GPS2,071019,080831,3249.4819,-6639.0967,18,1.3,59,-14.3,0.8,227.1,8,14.5
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,3249.482,-6521.991
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,70,-1.23,-293.3,134,2032,331,349,0.3,0.2,6,201,0.00,0.00,-128.23,0.149,16386,0.000,0.000,134,2032,2651,2644,2658,0,0,0,0,0,0,26.91,28.83,26.93,8.61,29.52
$GC,203,-1.23,-293.3,134,2032,2644,2660,3.4,-5.1,19,232,8.93,3.60,-9.55,0.186,18692,0.243,0.082,2570,3404,2963,2929,2998,0,0,0,0,0,0,25.74,26.10,25.87,8.84,28.30
$GC,284,-1.23,-293.3,2569,3404,2930,2998,16.7,-15.4,27,294,0.00,3.50,0.00,0.000,1030,0.000,0.065,2570,2005,2964,2930,2998,0,0,0,0,0,0,26.30,26.27,26.34,8.87,28.53
$GC,594,-1.23,-293.3,2569,2005,2930,2998,48.5,-11.1,58,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2005,2964,2930,2998,0,0,0,0,0,0,26.89,26.90,26.90,8.88,28.30
$GC,895,-1.23,-293.3,2569,2005,2929,2998,78.2,-7.6,88,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2005,2964,2930,2998,0,0,0,0,0,0,26.94,26.96,26.96,8.88,28.77
$GC,1196,-1.23,-293.3,2570,2005,2929,2998,102.8,-8.1,118,1205,0.00,3.60,0.00,0.000,516,0.000,0.092,2570,625,2963,2929,2998,0,0,0,0,0,0,26.97,26.14,26.98,8.86,28.97
$GC,1240,-1.23,-293.3,2569,625,2929,2998,106.7,-8.8,122,1248,0.12,3.42,0.00,0.000,3078,0.174,0.065,2598,2023,2963,2929,2997,0,0,0,0,0,0,26.21,26.57,26.32,8.86,29.09
$GC,1549,-1.23,-293.3,2598,2023,2929,2997,127.0,-6.4,153,1558,0.00,3.65,0.00,0.000,516,0.000,0.092,2599,623,2963,2929,2998,0,0,0,0,0,0,26.98,26.13,26.98,8.84,29.44
$GC,1603,-1.23,-293.3,2598,623,2929,2998,131.2,-8.3,158,1610,0.00,3.42,0.00,0.000,1030,0.000,0.065,2584,2021,2963,2929,2998,0,0,0,0,0,0,26.61,26.56,26.63,8.84,29.05
$GC,1910,-1.23,-293.3,2584,2021,2928,2997,156.1,-9.0,186,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2021,2963,2928,2998,0,0,0,0,0,0,26.98,26.99,26.98,8.83,29.24
$GC,2210,-1.23,-293.3,2584,2021,2927,2997,183.8,-9.4,201,2217,0.00,3.67,0.00,0.000,516,0.000,0.092,2584,625,2962,2927,2997,0,0,0,0,0,0,26.98,26.12,26.99,8.81,29.83
$GC,2283,-1.23,-293.3,2584,626,2927,2997,190.6,-10.9,204,2290,0.00,3.40,0.00,0.000,1030,0.000,0.065,2568,2019,2962,2927,2997,0,0,0,0,0,0,26.63,26.58,26.65,8.81,30.35
$GC,2590,-1.23,-293.3,2567,2019,2926,2996,226.5,-11.4,220,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2019,2961,2927,2996,0,0,0,0,0,0,26.98,26.99,26.99,8.80,30.42
$GC,2890,-1.23,-293.3,2568,2019,2926,2995,259.4,-10.7,235,2897,0.00,3.67,0.00,0.000,516,0.000,0.089,2568,624,2960,2926,2995,0,0,0,0,0,0,26.98,26.12,26.99,8.80,30.78
$GC,2938,-1.23,-293.3,2567,625,2926,2995,264.1,-11.1,237,2944,0.12,3.40,0.00,0.000,3078,0.176,0.065,2596,2018,2960,2926,2995,0,0,0,0,0,0,26.20,26.57,26.32,8.79,31.68
$GC,3245,-1.23,-293.3,2596,2018,2925,2994,294.6,-9.5,252,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2019,2959,2925,2994,0,0,0,0,0,0,26.98,26.99,26.99,8.79,31.25
$GC,3565,-1.23,-293.3,2596,2018,2924,2993,323.7,-9.3,264,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2019,2958,2924,2993,0,0,0,0,0,0,26.98,26.99,26.99,8.78,32.12
$GC,3865,-1.23,-293.3,2596,2018,2923,2992,351.7,-9.5,274,3872,0.00,3.67,0.00,0.000,516,0.000,0.092,2597,628,2957,2923,2992,0,0,0,0,0,0,26.98,26.09,26.99,8.78,32.63
$GC,3903,-1.23,-293.3,2597,628,2923,2992,355.0,-9.7,275,3908,0.00,3.40,0.00,0.000,1030,0.000,0.065,2581,2019,2958,2924,2992,0,0,0,0,0,0,26.62,26.56,26.65,8.78,32.43
$GC,4220,-1.23,-293.3,2581,2019,2923,2991,388.8,-10.4,286,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2019,2957,2923,2991,0,0,0,0,0,0,26.98,26.99,26.99,8.77,32.43
$GC,4520,-1.23,-293.3,2581,2019,2923,2990,421.1,-11.1,296,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2019,2956,2922,2990,0,0,0,0,0,0,26.98,26.99,26.99,8.77,32.71
$GC,4820,-1.23,-293.3,2581,2020,2921,2989,453.0,-10.5,306,4827,0.00,3.70,0.00,0.000,516,0.000,0.092,2582,620,2955,2922,2989,0,0,0,0,0,0,26.98,26.07,26.99,8.77,32.87
$GC,4863,-1.23,-293.3,2581,621,2922,2989,456.2,-10.5,307,4868,0.00,3.42,0.00,0.000,1030,0.000,0.065,2565,2019,2955,2922,2989,0,0,0,0,0,0,26.62,26.57,26.64,8.77,33.06
$GC,5175,-1.23,-293.3,2565,2020,2921,2988,489.2,-9.8,318,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2020,2954,2921,2988,0,0,0,0,0,0,26.98,26.99,26.99,8.76,33.10
$GC,5475,-1.23,-293.3,2565,2020,2921,2987,518.8,-9.9,328,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2020,2954,2921,2987,0,0,0,0,0,0,26.98,26.99,26.99,8.75,33.57
$GC,5775,-1.23,-293.3,2565,2020,2919,2987,550.6,-10.9,338,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2020,2953,2920,2987,0,0,0,0,0,0,26.98,26.99,26.99,8.75,33.14
$GC,6075,-1.23,-293.3,2565,2020,2919,2987,583.5,-11.0,348,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2020,2952,2919,2986,0,0,0,0,0,0,26.98,26.99,26.99,8.74,33.57
$GC,6375,-1.23,-293.3,2565,2020,2919,2986,618.1,-11.8,358,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2020,2952,2919,2986,0,0,0,0,0,0,26.98,26.99,26.99,8.74,33.26
$GC,6675,-1.23,-293.3,2565,2020,2918,2985,655.9,-12.9,368,6682,0.00,3.70,0.00,0.000,516,0.000,0.092,2565,620,2951,2918,2985,0,0,0,0,0,0,26.98,26.03,26.99,8.72,33.42
$GC,6713,-1.23,-293.3,2564,620,2918,2985,659.9,-13.0,369,6719,0.12,3.45,0.00,0.000,3078,0.176,0.065,2593,2026,2951,2918,2985,0,0,0,0,0,0,26.17,26.55,26.28,8.72,33.97
$GC,7031,-1.23,-293.3,2593,2025,2917,2984,698.4,-11.4,380,7038,0.00,3.58,0.00,0.000,260,0.000,0.079,2580,3404,2951,2918,2984,0,0,0,0,0,0,26.98,26.17,26.98,8.71,34.36
$GC,7084,-1.23,-293.3,2578,3405,2917,2984,701.9,-11.2,381,7092,0.00,3.47,0.00,0.000,1030,0.000,0.065,2579,2021,2950,2917,2984,0,0,0,0,0,0,26.49,26.40,26.52,8.71,34.05
$GC,7391,-1.23,-293.3,2578,2021,2916,2984,737.8,-10.6,392,7398,0.00,3.67,0.00,0.000,516,0.000,0.092,2579,624,2949,2916,2983,0,0,0,0,0,0,26.98,26.02,26.99,8.69,34.40
$GC,7429,-1.23,-293.3,2578,624,2916,2983,741.5,-10.8,393,7435,0.00,3.42,0.00,0.000,1030,0.000,0.065,2563,2017,2949,2916,2983,0,0,0,0,0,0,26.60,26.54,26.62,8.69,34.17
$GC,7747,-1.23,-293.3,2562,2017,2916,2982,778.0,-11.4,404,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2018,2949,2916,2982,0,0,0,0,0,0,26.98,26.99,26.98,8.68,34.95
$GC,8047,-1.23,-293.3,2562,2017,2914,2981,814.1,-12.2,414,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2017,2947,2914,2981,0,0,0,0,0,0,26.98,26.98,26.99,8.66,34.60
$GC,8347,-1.23,-293.3,2563,2017,2913,2980,851.8,-12.6,424,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2017,2947,2913,2981,0,0,0,0,0,0,26.97,26.99,26.98,8.65,35.03
$GC,8647,-1.23,-293.3,2563,2017,2912,2980,889.1,-12.5,434,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2017,2946,2912,2980,0,0,0,0,0,0,26.98,26.99,26.98,8.63,35.23
$GC,8947,-1.23,-293.3,2563,2017,2911,2978,926.7,-12.3,444,8948,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2017,2945,2911,2979,0,0,0,0,0,0,26.97,26.99,26.98,8.62,36.33
$STATE,9216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9216,begin apogee
$GC,9220,-0.79,0.0,2563,1948,2911,2978,962.6,-13.3,453,9446,0.47,0.00,222.02,1.294,10246,0.139,0.000,2731,1948,1950,1918,1982,0,0,0,0,0,0,25.93,25.04,24.04,8.60,36.37
$STATE,9447,end apogee,CONTROL_FINISHED_OK
$STATE,9447,begin climb
$GC,9448,1.23,293.3,2731,1948,1917,1982,980.0,0.0,460,9684,1.80,3.83,221.90,1.279,10500,0.134,0.082,3366,3339,939,921,958,0,0,0,0,0,0,24.60,25.08,24.09,8.50,34.64
$GC,9765,1.26,439.7,3366,3339,921,958,969.4,6.6,471,9890,0.00,3.58,115.35,1.254,9222,0.000,0.067,3378,1962,435,428,443,0,0,0,0,0,0,26.10,26.01,24.17,8.41,33.57
$GC,10208,1.33,439.7,3378,1962,422,443,931.8,8.5,486,10210,0.05,0.00,0.00,0.000,2054,0.184,0.000,3434,1962,432,422,443,0,0,0,0,0,0,26.50,26.53,26.52,8.35,36.02
$GC,10507,1.33,439.7,3433,1962,422,442,898.5,11.3,496,10514,0.00,3.83,0.00,0.000,516,0.000,0.102,3450,544,432,422,442,0,0,0,0,0,0,26.84,26.25,26.85,8.34,35.62
$GC,10550,1.33,439.7,3449,544,420,442,895.0,11.5,497,10556,0.12,3.50,0.00,0.000,5126,0.161,0.067,3406,1946,431,420,442,0,0,0,0,0,0,26.27,26.53,26.39,8.35,36.06
$GC,10864,1.33,439.7,3405,1946,419,442,860.7,10.4,508,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1947,430,420,441,0,0,0,0,0,0,26.89,26.91,26.91,8.34,36.65
$GC,11164,1.33,439.7,3405,1946,419,441,831.9,9.3,518,11165,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,1946,430,419,441,0,0,0,0,0,0,26.91,26.93,26.93,8.35,37.12
$GC,11464,1.33,439.7,3405,1947,418,441,803.5,9.5,528,11471,0.00,3.83,0.00,0.000,516,0.000,0.102,3418,544,429,418,441,0,0,0,0,0,0,26.93,26.20,26.94,8.35,37.83
$GC,11501,1.33,439.7,3417,544,418,441,800.5,9.6,529,11507,0.00,3.50,0.00,0.000,1030,0.000,0.067,3418,1949,429,418,441,0,0,0,0,0,0,26.63,26.56,26.65,8.35,37.43
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$STATE,18139,end climb,SURFACE_DEPTH_REACHED
$STATE,18140,begin surface coast
$FINISH,0.1,1.024475
$STATE,18161,end surface coast,CONTROL_FINISHED_OK
$STATE,18161,begin surface
$SM_CCo,18177,23.40,0.596,0,0,340,467.70
$SM_GC,0.92,8.12,0.12,23.40,0.072,0.107,0.596,175,2022,340,-8.66,-1.10,467.70,0,0,0,0,0,0,25.96,26.73,24.94
$IRIDIUM_FIX,3250.07,-6636.63,071019,074523
$TT8_MAMPS,0.020972,0.176015
$HUMID,32.79
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,24.04,62.910
$10V_AH,10.41,29.022
$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,20.075,136.825,559.275,23.400,137.775,648.463,222.914,0.000,1.000,0.000,60.440,2381.877,14535.710,747.028,2570.959,104.686,0.000,1677.044,0.000,1559.893,0.000,1.005,0.000
$DEVICE_MAMPS,243.334,111.735,1293.643,595.920,186.225,34.760,160.000,0.000,420.000,0.000,14.230,13.970,2.190,13.220,37.940,54.410,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.053,1110.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,32.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319516
$DATA_FILE_SIZE,59201,851
$CAP_FILE_SIZE,139136,0
$CFSIZE,2046525440,2014478336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071019,131459,3247.492,-6638.954,71,1.2,111,-14.3,0.0,285.4,7,17.3