version: 66.14
glider: 45
mission: 3
dive: 128
start: 10 7 119 18 45 48
data:
$ID,45
$MISSION,3
$DIVE,128
$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,43
$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
$GPS1,071019,181136,3246.0095,-6638.3076,83,1.3,124,-14.3,0.5,247.5,6,14.3
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-38.9
$GPS2,071019,184512,3246.0691,-6638.8081,17,1.2,58,-14.3,0.5,312.9,6,14.0
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,3246.069,-6521.751
$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,-293.3,165,2030,326,348,0.5,-0.2,6,201,0.00,0.00,-128.25,0.149,16386,0.000,0.000,166,2030,2639,2632,2647,0,0,0,0,0,0,26.91,28.83,26.92,8.60,28.57
$GC,203,-1.23,-293.3,165,2031,2632,2647,3.7,-6.3,19,231,8.93,0.00,-9.80,0.186,18438,0.241,0.000,2591,2027,2963,2930,2997,0,0,0,0,0,0,25.67,25.99,25.79,8.83,28.46
$GC,530,-1.23,-293.3,2590,2027,2930,2997,37.6,-9.0,52,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2027,2963,2929,2997,0,0,0,0,0,0,26.87,26.89,26.88,8.87,28.73
$GC,832,-1.23,-293.3,2590,2027,2930,2997,63.2,-7.8,82,841,0.00,3.55,0.00,0.000,260,0.000,0.082,2576,3404,2963,2929,2997,0,0,0,0,0,0,26.94,26.19,26.95,8.88,28.73
$GC,935,-1.23,-293.3,2575,3403,2930,2996,72.6,-8.3,92,944,0.00,3.47,0.00,0.000,1030,0.000,0.065,2575,2005,2963,2930,2996,0,0,0,0,0,0,26.51,26.44,26.54,8.88,29.20
$GC,1243,-1.23,-293.3,2575,2005,2929,2997,100.0,-8.9,123,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2005,2962,2929,2996,0,0,0,0,0,0,26.97,26.98,26.98,8.87,28.81
$GC,1544,-1.23,-293.3,2575,2005,2930,2997,126.5,-9.2,153,1553,0.00,3.62,0.00,0.000,260,0.000,0.079,2560,3407,2963,2930,2996,0,0,0,0,0,0,26.98,26.22,26.98,8.85,29.36
$GC,1626,-1.23,-293.3,2560,3407,2930,2997,134.3,-9.5,161,1636,0.00,3.45,0.00,0.000,1030,0.000,0.065,2560,2019,2963,2930,2997,0,0,0,0,0,0,26.52,26.46,26.58,8.84,29.13
$GC,1936,-1.23,-293.3,2559,2019,2929,2996,163.7,-8.7,185,1943,0.10,3.62,0.00,0.000,2564,0.184,0.092,2601,627,2962,2929,2996,0,0,0,0,0,0,26.48,26.13,26.51,8.82,29.48
$GC,1998,-1.23,-293.3,2600,627,2929,2997,168.6,-8.3,188,2003,0.00,3.42,0.00,0.000,1030,0.000,0.065,2586,2024,2963,2929,2997,0,0,0,0,0,0,26.61,26.55,26.63,8.82,29.32
$GC,2311,-1.23,-293.3,2586,2024,2928,2996,191.8,-7.2,204,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2024,2962,2928,2996,0,0,0,0,0,0,26.98,26.99,26.98,8.81,29.99
$GC,2611,-1.23,-293.3,2586,2025,2927,2996,218.3,-9.8,219,2617,0.00,3.67,0.00,0.000,516,0.000,0.092,2586,628,2961,2927,2996,0,0,0,0,0,0,26.98,26.12,26.98,8.80,30.31
$GC,2658,-1.23,-293.3,2586,628,2926,2996,222.7,-10.3,221,2664,0.00,3.40,0.00,0.000,1030,0.000,0.065,2570,2023,2961,2926,2996,0,0,0,0,0,0,26.63,26.58,26.65,8.80,30.27
$GC,2966,-1.23,-293.3,2569,2023,2926,2994,256.4,-10.8,236,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2023,2960,2926,2994,0,0,0,0,0,0,26.98,26.98,26.99,8.80,30.98
$GC,3266,-1.23,-293.3,2569,2023,2925,2994,288.8,-10.8,251,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2023,2959,2925,2994,0,0,0,0,0,0,26.98,26.99,26.98,8.78,31.49
$GC,3566,-1.23,-293.3,2569,2023,2925,2993,320.0,-10.3,263,3572,0.00,3.67,0.00,0.000,516,0.000,0.092,2570,629,2959,2925,2993,0,0,0,0,0,0,26.98,26.10,26.99,8.78,31.57
$GC,3626,-1.23,-293.3,2569,629,2924,2993,326.9,-10.7,265,3633,0.10,3.40,0.00,0.000,3078,0.166,0.065,2591,2023,2958,2924,2993,0,0,0,0,0,0,26.22,26.58,26.27,8.78,31.49
$GC,3956,-1.23,-293.3,2590,2023,2923,2992,357.5,-9.1,276,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2023,2957,2923,2992,0,0,0,0,0,0,26.98,26.99,26.98,8.78,32.16
$GC,4256,-1.23,-293.3,2590,2023,2923,2991,386.3,-9.8,286,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2023,2957,2923,2991,0,0,0,0,0,0,26.98,26.99,26.98,8.78,32.51
$GC,4556,-1.23,-293.3,2590,2023,2923,2990,415.8,-9.8,296,4562,0.00,3.70,0.00,0.000,516,0.000,0.092,2591,628,2956,2923,2990,0,0,0,0,0,0,26.98,26.08,26.99,8.77,33.38
$GC,4616,-1.23,-293.3,2590,628,2922,2989,422.5,-10.4,298,4623,0.00,3.40,0.00,0.000,1030,0.000,0.065,2577,2023,2955,2922,2989,0,0,0,0,0,0,26.60,26.56,26.63,8.77,32.71
$GC,4946,-1.23,-293.3,2576,2023,2923,2989,455.0,-9.5,309,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2023,2955,2922,2988,0,0,0,0,0,0,26.98,26.99,26.98,8.76,32.91
$GC,5246,-1.23,-293.3,2576,2023,2921,2988,483.0,-9.3,319,5252,0.00,3.67,0.00,0.000,516,0.000,0.092,2577,631,2954,2921,2988,0,0,0,0,0,0,26.98,26.07,26.98,8.76,33.22
$GC,5293,-1.23,-293.3,2575,630,2920,2988,486.1,-9.5,320,5299,0.00,3.40,0.00,0.000,1030,0.000,0.065,2561,2022,2954,2920,2988,0,0,0,0,0,0,26.62,26.56,26.64,8.76,32.94
$GC,5601,-1.23,-293.3,2560,2022,2920,2987,520.3,-10.7,330,5603,0.10,0.00,0.00,0.000,2054,0.189,0.000,2596,2023,2954,2920,2988,0,0,0,0,0,0,26.49,26.58,26.54,8.75,33.69
$GC,5901,-1.23,-293.3,2595,2023,2920,2987,551.4,-10.3,340,5907,0.00,3.70,0.00,0.000,516,0.000,0.092,2597,628,2954,2920,2988,0,0,0,0,0,0,26.98,26.06,26.99,8.75,33.89
$GC,5961,-1.23,-293.3,2596,628,2919,2987,558.4,-11.0,342,5967,0.00,3.38,0.00,0.000,1030,0.000,0.065,2581,2015,2953,2919,2987,0,0,0,0,0,0,26.58,26.57,26.60,8.75,33.22
$GC,6291,-1.23,-293.3,2580,2015,2919,2986,596.2,-11.8,353,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2015,2952,2918,2986,0,0,0,0,0,0,26.97,26.99,26.99,8.74,34.17
$GC,6591,-1.23,-293.3,2581,2015,2918,2986,630.5,-11.3,363,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2015,2951,2918,2985,0,0,0,0,0,0,26.98,26.99,26.99,8.73,33.65
$GC,6891,-1.23,-293.3,2580,2015,2918,2985,663.8,-10.9,373,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2015,2951,2918,2985,0,0,0,0,0,0,26.98,26.99,26.99,8.72,34.28
$GC,7191,-1.23,-293.3,2580,2015,2917,2984,694.8,-10.3,383,7197,0.00,3.67,0.00,0.000,516,0.000,0.092,2581,632,2950,2917,2984,0,0,0,0,0,0,26.98,26.04,26.99,8.71,33.73
$GC,7251,-1.23,-293.3,2580,632,2917,2984,701.5,-10.5,385,7258,0.00,3.40,0.00,0.000,1030,0.000,0.065,2565,2019,2950,2917,2984,0,0,0,0,0,0,26.60,26.55,26.62,8.71,33.93
$GC,7581,-1.23,-293.3,2564,2019,2917,2982,738.2,-11.4,396,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2019,2949,2917,2982,0,0,0,0,0,0,26.98,26.99,26.98,8.70,34.01
$GC,7881,-1.23,-293.3,2564,2019,2915,2982,774.7,-12.4,406,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2019,2948,2915,2982,0,0,0,0,0,0,26.97,26.99,26.98,8.68,34.28
$GC,8181,-1.23,-293.3,2562,2019,2914,2981,815.3,-13.9,416,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2019,2948,2915,2981,0,0,0,0,0,0,26.98,26.99,26.98,8.67,34.80
$GC,8481,-1.23,-293.3,2564,2019,2913,2980,856.1,-13.5,426,8487,0.00,3.70,0.00,0.000,516,0.000,0.094,2564,629,2946,2913,2980,0,0,0,0,0,0,26.98,26.00,26.98,8.65,34.72
$GC,8528,-1.23,-293.3,2564,629,2913,2980,860.3,-13.6,427,8535,0.12,3.42,0.00,0.000,3078,0.179,0.065,2592,2018,2946,2913,2980,0,0,0,0,0,0,26.14,26.53,26.25,8.65,34.95
$GC,8836,-1.23,-293.3,2592,2019,2912,2980,897.9,-10.9,437,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2019,2946,2912,2980,0,0,0,0,0,0,26.97,26.98,26.98,8.63,35.35
$GC,9136,-1.23,-293.3,2592,2018,2911,2979,931.0,-11.0,447,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2019,2945,2911,2979,0,0,0,0,0,0,26.97,26.98,26.98,8.61,35.90
$STATE,9404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9404,begin apogee
$GC,9409,-0.79,0.0,2592,1956,2911,2978,960.9,-11.1,456,9634,0.40,0.00,222.12,1.284,10246,0.139,0.000,2736,1956,1949,1917,1982,0,0,0,0,0,0,26.01,25.05,24.05,8.60,36.25
$STATE,9635,end apogee,CONTROL_FINISHED_OK
$STATE,9636,begin climb
$GC,9637,1.23,293.3,2736,1956,1918,1982,975.2,0.0,463,9871,1.80,3.97,223.25,1.274,11012,0.124,0.104,3373,548,939,920,958,0,0,0,0,0,0,25.27,25.08,24.10,8.50,34.48
$GC,9907,1.34,477.8,3372,548,918,960,967.9,5.7,472,10057,0.08,3.58,139.05,1.249,11270,0.139,0.067,3446,1945,340,335,345,0,0,0,0,0,0,25.79,25.87,24.10,8.40,33.50
$GC,10364,1.34,477.8,3445,1944,330,344,920.3,10.8,488,10371,0.00,3.65,0.00,0.000,260,0.000,0.079,3446,3339,336,330,343,0,0,0,0,0,0,26.70,26.25,26.71,8.33,35.07
$GC,10432,1.34,477.8,3444,3339,330,343,913.1,11.5,490,10439,0.12,3.55,0.00,0.000,5126,0.166,0.067,3417,1958,337,331,343,0,0,0,0,0,0,26.19,26.31,26.34,8.33,35.15
$GC,10751,1.34,477.8,3416,1957,330,342,881.0,9.6,501,10758,0.00,3.83,0.00,0.000,516,0.000,0.102,3428,543,336,330,342,0,0,0,0,0,0,26.85,26.25,26.86,8.33,36.21
$GC,10811,1.34,477.8,3427,543,329,342,874.4,10.2,503,10818,0.00,3.47,0.00,0.000,1030,0.000,0.067,3428,1944,335,328,342,0,0,0,0,0,0,26.56,26.54,26.59,8.33,36.17
$GC,11141,1.34,477.8,3427,1944,328,342,838.8,11.1,514,11148,0.00,3.65,0.00,0.000,260,0.000,0.079,3429,3342,335,328,342,0,0,0,0,0,0,26.90,26.33,26.91,8.33,36.96
$GC,11174,1.34,477.8,3428,3342,328,341,835.3,11.2,515,11179,0.00,3.58,0.00,0.000,1030,0.000,0.067,3443,1941,334,328,341,0,0,0,0,0,0,26.49,26.36,26.54,8.33,37.32
$GC,11496,1.34,477.8,3442,1941,328,341,794.4,12.9,526,11503,0.00,3.78,0.00,0.000,516,0.000,0.102,3460,548,334,328,341,0,0,0,0,0,0,26.92,26.20,26.94,8.33,37.67
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$STATE,17554,end climb,SURFACE_DEPTH_REACHED
$STATE,17555,begin surface coast
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$STATE,17576,end surface coast,CONTROL_FINISHED_OK
$STATE,17577,begin surface
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$10V_AH,10.40,29.154
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$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,139170,0
$CFSIZE,2046525440,2014216192
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