version: 66.14
glider: 45
mission: 3
dive: 127
start: 10 7 119 13 19 23
data:
$ID,45
$MISSION,3
$DIVE,127
$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,19
$R_STBD_OVSHOOT,39
$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
$GPS1,071019,131459,3247.4919,-6638.9541,71,1.2,111,-14.3,0.0,285.4,7,17.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-43.9
$GPS2,071019,131847,3247.5022,-6639.0190,8,1.2,49,-14.3,0.7,285.8,7,10.4
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,3247.502,-6521.941
$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,4,begin dive
$GC,70,-1.23,-293.3,174,2031,332,343,0.9,-0.8,6,201,0.00,0.00,-128.15,0.146,16386,0.000,0.000,175,2031,2486,2480,2492,0,0,0,0,0,0,26.84,28.83,26.85,8.56,32.00
$GC,203,-1.23,-293.3,174,2031,2479,2492,3.1,-4.3,19,233,8.88,0.00,-17.67,0.166,18950,0.243,0.000,2583,2027,2962,2927,2998,0,0,0,0,0,0,25.57,25.97,25.75,8.78,31.21
$GC,532,-1.23,-293.3,2582,2027,2928,2998,43.3,-10.2,52,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2027,2963,2928,2998,0,0,0,0,0,0,26.84,26.86,26.85,8.85,30.46
$GC,831,-1.23,-293.3,2582,2027,2928,2998,72.1,-8.9,82,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2027,2963,2928,2998,0,0,0,0,0,0,26.92,26.94,26.93,8.85,30.03
$GC,1132,-1.23,-293.3,2582,2027,2928,2998,95.1,-7.0,112,1141,0.00,3.58,0.00,0.000,260,0.000,0.082,2568,3408,2963,2928,2998,0,0,0,0,0,0,26.95,26.19,26.96,8.84,30.74
$GC,1293,-1.23,-293.3,2567,3409,2928,2998,107.9,-8.4,128,1303,0.00,3.50,0.00,0.000,1030,0.000,0.065,2568,2006,2963,2928,2998,0,0,0,0,0,0,26.51,26.44,26.53,8.83,29.56
$GC,1604,-1.23,-293.3,2567,2006,2928,2998,133.8,-8.1,159,1613,0.00,3.65,0.00,0.000,516,0.000,0.092,2568,613,2963,2928,2998,0,0,0,0,0,0,26.97,26.08,26.98,8.81,29.32
$GC,1658,-1.23,-293.3,2567,613,2928,2998,138.5,-8.9,164,1667,0.12,3.47,0.00,0.000,3078,0.176,0.070,2595,2030,2963,2928,2998,0,0,0,0,0,0,26.18,26.55,26.29,8.82,30.11
$GC,1976,-1.23,-293.3,2594,2030,2928,2998,166.2,-8.9,187,1983,0.00,3.70,0.00,0.000,516,0.000,0.089,2595,626,2963,2928,2999,0,0,0,0,0,0,26.97,26.09,26.98,8.80,29.91
$GC,2028,-1.23,-293.3,2595,626,2928,2999,170.2,-9.1,189,2036,0.00,3.40,0.00,0.000,1030,0.000,0.065,2580,2021,2963,2928,2998,0,0,0,0,0,0,26.62,26.57,26.64,8.79,29.99
$GC,2336,-1.23,-293.3,2580,2021,2928,2999,199.9,-9.0,205,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2021,2963,2928,2999,0,0,0,0,0,0,26.97,26.98,26.98,8.78,30.98
$GC,2636,-1.23,-293.3,2580,2021,2928,2999,227.6,-9.3,220,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2021,2963,2928,2999,0,0,0,0,0,0,26.98,26.98,26.98,8.79,30.86
$GC,2936,-1.23,-293.3,2580,2021,2928,2998,257.4,-10.1,235,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2021,2963,2928,2998,0,0,0,0,0,0,26.98,26.99,26.98,8.77,31.29
$GC,3237,-1.23,-293.3,2580,2021,2928,2998,287.2,-9.7,250,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2021,2963,2928,2998,0,0,0,0,0,0,26.98,26.99,26.98,8.77,31.72
$GC,3556,-1.23,-293.3,2580,2021,2928,2998,321.0,-11.5,263,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2021,2963,2928,2998,0,0,0,0,0,0,26.98,26.99,26.98,8.76,31.72
$GC,3856,-1.23,-293.3,2580,2021,2927,2998,353.9,-11.1,273,3862,0.00,3.70,0.00,0.000,516,0.000,0.092,2580,626,2962,2927,2998,0,0,0,0,0,0,26.98,26.06,26.98,8.76,32.12
$GC,3893,-1.23,-293.3,2579,626,2927,2998,357.4,-11.3,274,3899,0.00,3.40,0.00,0.000,1030,0.000,0.065,2564,2017,2962,2927,2998,0,0,0,0,0,0,26.61,26.56,26.63,8.75,32.47
$GC,4211,-1.23,-293.3,2563,2017,2926,2998,393.9,-10.9,285,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2017,2962,2926,2998,0,0,0,0,0,0,26.98,26.98,26.98,8.76,32.59
$GC,4511,-1.23,-293.3,2563,2017,2926,2997,426.8,-11.0,295,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2017,2961,2926,2997,0,0,0,0,0,0,26.98,26.99,26.98,8.76,33.14
$GC,4811,-1.23,-293.3,2563,2017,2926,2997,459.5,-10.7,305,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2017,2960,2925,2996,0,0,0,0,0,0,26.98,26.99,26.98,8.76,32.47
$GC,5111,-1.23,-293.3,2563,2017,2926,2996,490.8,-10.2,315,5118,0.00,3.70,0.00,0.000,516,0.000,0.092,2564,623,2961,2926,2996,0,0,0,0,0,0,26.98,26.03,26.98,8.75,32.75
$GC,5154,-1.23,-293.3,2563,623,2926,2995,493.9,-10.3,316,5160,0.12,3.42,0.00,0.000,3078,0.176,0.065,2592,2021,2960,2926,2995,0,0,0,0,0,0,26.17,26.55,26.28,8.75,32.55
$GC,5467,-1.23,-293.3,2591,2021,2925,2995,523.7,-8.9,327,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2021,2959,2925,2994,0,0,0,0,0,0,26.97,26.99,26.98,8.74,32.91
$GC,5767,-1.23,-293.3,2591,2021,2925,2994,552.9,-10.3,337,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2021,2959,2925,2994,0,0,0,0,0,0,26.98,26.99,26.98,8.73,33.14
$GC,6067,-1.23,-293.3,2591,2021,2925,2993,585.8,-11.1,347,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2021,2959,2925,2993,0,0,0,0,0,0,26.97,26.99,26.98,8.73,33.10
$GC,6367,-1.23,-293.3,2591,2021,2924,2993,619.7,-11.4,357,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2021,2958,2924,2993,0,0,0,0,0,0,26.98,26.99,26.98,8.72,33.06
$GC,6667,-1.23,-293.3,2591,2021,2924,2992,652.9,-11.0,367,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2021,2958,2924,2992,0,0,0,0,0,0,26.98,26.99,26.98,8.71,33.61
$GC,6967,-1.23,-293.3,2591,2021,2923,2992,684.3,-10.2,377,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2021,2957,2923,2992,0,0,0,0,0,0,26.97,26.99,26.98,8.71,33.77
$GC,7267,-1.23,-293.3,2591,2021,2923,2991,714.6,-10.4,387,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2021,2957,2923,2991,0,0,0,0,0,0,26.97,26.98,26.98,8.69,34.48
$GC,7569,-1.23,-293.3,2591,2022,2922,2990,745.6,-10.6,397,7574,0.00,3.58,0.00,0.000,260,0.000,0.082,2578,3399,2956,2922,2990,0,0,0,0,0,0,26.98,26.14,26.98,8.68,34.68
$GC,7605,-1.23,-293.3,2577,3399,2922,2990,748.8,-10.6,398,7610,0.00,3.47,0.00,0.000,1030,0.000,0.065,2578,2021,2955,2922,2989,0,0,0,0,0,0,26.48,26.39,26.51,8.68,34.44
$GC,7922,-1.23,-293.3,2577,2021,2922,2989,786.0,-11.7,409,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2021,2955,2922,2989,0,0,0,0,0,0,26.97,26.98,26.98,8.67,34.83
$GC,8222,-1.23,-293.3,2577,2021,2921,2988,821.7,-12.0,419,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2021,2954,2921,2988,0,0,0,0,0,0,26.97,26.98,26.98,8.65,35.23
$GC,8522,-1.23,-293.3,2577,2021,2921,2987,859.8,-13.0,429,8529,0.00,3.70,0.00,0.000,516,0.000,0.094,2577,623,2954,2921,2987,0,0,0,0,0,0,26.97,25.95,26.98,8.64,35.19
$GC,8570,-1.23,-293.3,2576,623,2920,2986,864.1,-13.4,430,8576,0.00,3.45,0.00,0.000,1030,0.000,0.065,2561,2021,2953,2920,2987,0,0,0,0,0,0,26.57,26.51,26.59,8.64,35.23
$GC,8877,-1.23,-293.3,2561,2021,2920,2986,909.8,-14.0,440,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2021,2953,2920,2986,0,0,0,0,0,0,26.97,26.98,26.98,8.63,35.23
$GC,9177,-1.23,-293.3,2560,2021,2919,2985,951.6,-13.7,450,9184,0.00,3.75,0.00,0.000,516,0.000,0.094,2561,626,2952,2919,2985,0,0,0,0,0,0,26.97,25.92,26.98,8.60,35.27
$GC,9230,-1.23,-293.3,2560,626,2918,2985,955.9,-13.9,451,9239,0.15,3.45,0.00,0.000,3078,0.171,0.065,2596,2020,2951,2918,2985,0,0,0,0,0,0,26.06,26.51,26.18,8.60,35.82
$STATE,9266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9266,begin apogee
$GC,9270,-0.79,0.0,2596,1948,2918,2985,964.3,-14.2,453,9498,0.38,0.00,224.48,1.289,10246,0.139,0.000,2732,1947,1950,1918,1982,0,0,0,0,0,0,26.00,25.01,24.00,8.60,36.17
$STATE,9499,end apogee,CONTROL_FINISHED_OK
$STATE,9499,begin climb
$GC,9501,1.23,293.3,2732,1948,1917,1982,979.8,0.0,460,9736,1.80,3.97,223.30,1.276,10756,0.127,0.102,3375,551,939,919,959,0,0,0,0,0,0,25.24,25.04,24.06,8.50,34.56
$GC,9809,1.30,388.0,3374,551,918,960,964.8,7.8,471,9891,0.00,3.53,73.95,1.242,9222,0.000,0.067,3376,1943,613,601,625,0,0,0,0,0,0,26.06,26.04,24.15,8.40,33.26
$GC,10199,1.40,516.1,3374,1943,596,625,935.3,7.0,484,10269,0.12,0.00,66.80,1.224,10246,0.109,0.000,3459,1944,339,336,343,0,0,0,0,0,0,26.46,25.22,24.32,8.36,35.07
$GC,10558,1.40,516.1,3459,1944,332,342,899.8,9.9,496,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1944,337,332,342,0,0,0,0,0,0,26.68,26.70,26.70,8.33,35.39
$GC,10858,1.40,516.1,3459,1944,331,342,867.5,11.0,506,10865,0.00,3.80,0.00,0.000,516,0.000,0.102,3475,547,336,331,342,0,0,0,0,0,0,26.82,26.22,26.84,8.33,36.17
$GC,10926,1.40,516.1,3474,547,330,342,860.1,11.7,508,10933,0.12,3.53,0.00,0.000,5126,0.171,0.067,3431,1956,336,330,342,0,0,0,0,0,0,26.22,26.51,26.38,8.33,36.53
$GC,11245,1.40,516.1,3431,1956,330,341,823.1,11.8,519,11252,0.00,3.83,0.00,0.000,516,0.000,0.102,3446,553,335,330,341,0,0,0,0,0,0,26.89,26.20,26.90,8.33,36.96
$GC,11288,1.40,516.1,3445,553,329,341,819.3,12.0,520,11293,0.00,3.50,0.00,0.000,1030,0.000,0.067,3446,1953,335,329,341,0,0,0,0,0,0,26.60,26.54,26.63,8.33,37.28
$GC,11600,1.40,516.1,3445,1954,329,341,776.0,13.4,531,11601,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1954,335,329,341,0,0,0,0,0,0,26.91,26.93,26.93,8.34,37.24
$GC,11900,1.40,516.1,3445,1954,329,340,738.2,12.3,541,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1954,334,329,340,0,0,0,0,0,0,26.93,26.94,26.94,8.34,38.26
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$STATE,17274,end climb,SURFACE_DEPTH_REACHED
$STATE,17274,begin surface coast
$FINISH,0.6,1.024298
$STATE,17296,end surface coast,CONTROL_FINISHED_OK
$STATE,17296,begin surface
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$TT8_MAMPS,0.021721,0.167776
$HUMID,32.98
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,21.80
$XPDR_PINGS,3
$24V_AH,24.00,63.130
$10V_AH,10.46,29.083
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.100,122.975,588.525,0.000,145.825,32.576,27.080,19.364,0.750,0.000,50.818,2299.478,12765.152,766.748,1696.636,83.805,0.000,1637.589,0.000,1493.352,0.000,1.004,0.000
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$MEM,319396
$DATA_FILE_SIZE,59106,817
$CAP_FILE_SIZE,120573,0
$CFSIZE,2046525440,2014380032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071019,181136,3246.010,-6638.308,83,1.3,124,-14.3,0.5,247.5,6,14.3