version: 66.12
glider: 37
mission: 17
dive: 37
start: 4 15 117 4 1 44
data:
$ID,37
$MISSION,17
$DIVE,37
$N_DIVES,0
$STOP_T,4171719
$D_SURF,5
$D_FLARE,3
$D_TGT,1620
$D_ABORT,6000
$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,540
$T_MISSION,570
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79136.703
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,135
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$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,13
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2645
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,1614
$C_ROLL_CLIMB,1625
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,79
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$UNCOM_BLEED,50
$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,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.159239
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153395
$SEABIRD_T_H,0.00062396226
$SEABIRD_T_I,2.2913076e-05
$SEABIRD_T_J,2.4063572e-06
$SEABIRD_C_G,-9.7631979
$SEABIRD_C_H,1.129918
$SEABIRD_C_I,-0.0016344788
$SEABIRD_C_J,0.00020403086
$SEABIRD_C_Z,2943.46
$GPS1,150417,035455,2747.3279,-7647.2598,37,0.9,42,-8.7,1.6,195.9,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-52.1
$GPS2,150417,040113,2747.2271,-7647.4072,5,0.8,17,-8.7,2.1,143.0,10,4.5
$SPEED_LIMITS,0.100,0.230
$TGT_NAME,HEADING
$TGT_LATLONG,2701.410,-7555.976
$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,107.8,120000,-20.9,-10.000,-23.52,2227
$D_GRID,1620
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.09,-146.0,114,1624,686,885,0.0,0.0,0,150,0.00,0.00,-131.60,0.102,16386,0.000,0.000,114,1624,2401,2330,2473,0,0,0,0,0,0,26.84,28.83,26.85,8.91,12.11
$GC,153,-1.09,-146.0,114,1624,2330,2474,3.2,-1.9,13,191,8.62,2.15,-23.75,0.109,18948,0.276,0.062,2291,189,2843,2780,2907,0,0,0,0,0,0,26.16,26.43,26.32,9.07,11.96
$GC,366,-1.00,-146.0,2290,189,2781,2907,36.1,-14.4,34,375,0.12,2.00,0.00,0.000,3078,0.216,0.052,2318,1627,2844,2781,2907,0,0,0,0,0,0,26.38,26.62,26.55,9.13,12.39
$GC,675,-1.00,-146.0,2317,1627,2781,2907,77.3,-12.9,65,684,0.00,2.28,0.00,0.000,260,0.000,0.062,2309,3178,2844,2781,2907,0,0,0,0,0,0,26.99,26.72,27.00,9.13,11.41
$GC,719,-1.00,-146.0,2308,3178,2781,2907,83.1,-13.6,69,727,0.00,2.30,0.00,0.000,1030,0.000,0.052,2309,1599,2843,2780,2907,0,0,0,0,0,0,26.82,26.77,26.84,9.13,12.47
$GC,1028,-1.00,-146.0,2309,1599,2781,2907,124.6,-14.0,100,1031,0.00,2.05,0.00,0.000,516,0.000,0.065,2310,223,2844,2781,2907,0,0,0,0,0,0,27.08,26.79,27.08,9.13,11.60
$GC,1119,-1.00,-146.0,2309,200,2781,2907,138.0,-14.7,109,1122,0.00,1.95,0.00,0.000,1030,0.000,0.050,2302,1614,2844,2781,2907,0,0,0,0,0,0,26.91,26.86,26.92,9.14,12.23
$GC,1430,-1.00,-146.0,2300,1620,2781,2907,181.2,-14.1,129,1435,0.00,2.10,0.00,0.000,516,0.000,0.067,2301,189,2844,2781,2907,0,0,0,0,0,0,27.13,26.84,27.14,9.14,11.68
$GC,1465,-1.00,-146.0,2301,189,2781,2907,184.3,-14.1,130,1473,0.10,1.98,0.00,0.000,3078,0.216,0.050,2320,1623,2844,2781,2907,0,0,0,0,0,0,26.67,26.91,26.84,9.13,11.76
$GC,1772,-1.00,-146.0,2319,1623,2781,2907,225.4,-12.3,146,1779,0.00,2.28,0.00,0.000,260,0.000,0.062,2312,3183,2844,2781,2908,0,0,0,0,0,0,27.16,26.89,27.17,9.13,11.33
$GC,1841,-1.00,-146.0,2310,3183,2781,2908,232.8,-12.4,149,1845,0.00,2.25,0.00,0.000,1030,0.000,0.050,2311,1611,2844,2781,2908,0,0,0,0,0,0,26.98,26.92,26.99,9.13,11.88
$GC,2148,-1.00,-146.0,2310,1611,2781,2908,272.8,-12.4,164,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1611,2844,2781,2908,0,0,0,0,0,0,27.18,27.20,27.20,9.13,11.80
$GC,2447,-1.00,-146.0,2310,1612,2781,2908,309.3,-12.6,178,2454,0.00,2.08,0.00,0.000,516,0.000,0.067,2311,196,2844,2781,2908,0,0,0,0,0,0,27.20,26.91,27.21,9.12,11.92
$GC,2526,-1.00,-146.0,2310,196,2781,2908,317.2,-12.9,180,2530,0.00,1.98,0.00,0.000,1030,0.000,0.050,2303,1615,2844,2781,2908,0,0,0,0,0,0,27.02,26.97,27.03,9.11,11.37
$GC,2838,-1.00,-146.0,2302,1625,2781,2908,357.6,-12.6,191,2844,0.00,2.12,0.00,0.000,516,0.000,0.065,2303,187,2844,2781,2908,0,0,0,0,0,0,27.20,26.91,27.22,9.10,11.84
$GC,2875,-1.00,-146.0,2302,187,2781,2908,361.4,-12.5,192,2880,0.10,2.00,0.00,0.000,3078,0.211,0.050,2322,1632,2844,2781,2908,0,0,0,0,0,0,26.74,26.98,26.91,9.10,11.84
$GC,3198,-1.05,-146.0,2321,1632,2780,2908,400.4,-11.4,203,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1632,2844,2781,2908,0,0,0,0,0,0,27.21,27.23,27.22,9.09,11.92
$GC,3498,-1.10,-146.0,2321,1632,2781,2907,434.9,-11.8,213,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1632,2844,2781,2908,0,0,0,0,0,0,27.21,27.23,27.23,9.09,11.60
$GC,3799,-1.16,-146.0,2321,1632,2781,2907,469.9,-11.7,223,3800,0.10,0.00,0.00,0.000,4102,0.144,0.000,2271,1633,2844,2781,2907,0,0,0,0,0,0,26.93,27.02,26.99,9.08,12.11
$GC,4098,-1.16,-146.0,2270,1633,2781,2907,510.9,-13.4,233,4104,0.00,2.15,0.00,0.000,516,0.000,0.067,2272,185,2844,2781,2907,0,0,0,0,0,0,27.22,26.93,27.23,9.07,12.94
$GC,4166,-1.16,-146.0,2271,185,2781,2907,519.4,-13.8,235,4170,0.00,2.00,0.00,0.000,1030,0.000,0.050,2264,1609,2844,2781,2907,0,0,0,0,0,0,27.04,26.99,27.05,9.07,12.70
$GC,4488,-1.16,-146.0,2263,1621,2781,2906,563.8,-13.4,246,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1621,2844,2781,2907,0,0,0,0,0,0,27.22,27.24,27.24,9.06,11.96
$GC,4788,-1.16,-146.0,2263,1621,2780,2906,604.3,-13.5,256,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1621,2843,2781,2906,0,0,0,0,0,0,27.22,27.24,27.24,9.05,12.63
$GC,5088,-1.16,-146.0,2262,1621,2781,2905,645.8,-14.0,266,5094,0.00,2.12,0.00,0.000,516,0.000,0.065,2266,196,2843,2781,2905,0,0,0,0,0,0,27.22,26.94,27.24,9.04,12.74
$GC,5141,-1.16,-146.0,2265,196,2781,2904,649.9,-13.9,267,5148,0.00,2.00,0.00,0.000,1030,0.000,0.050,2258,1642,2843,2781,2905,0,0,0,0,0,0,27.05,27.01,27.06,9.03,13.26
$GC,5448,-1.16,-146.0,2257,1642,2781,2904,696.1,-14.1,278,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1642,2842,2781,2904,0,0,0,0,0,0,27.22,27.24,27.24,9.02,13.10
$GC,5748,-1.16,-146.0,2257,1642,2780,2902,741.1,-15.4,288,5754,0.00,2.15,0.00,0.000,516,0.000,0.067,2263,202,2841,2781,2902,0,0,0,0,0,0,27.22,26.93,27.24,9.00,12.31
$GC,5827,-1.16,-146.0,2263,202,2780,2901,750.6,-15.6,290,5831,0.00,1.98,0.00,0.000,1030,0.000,0.050,2255,1617,2841,2781,2901,0,0,0,0,0,0,27.05,27.01,27.06,9.00,12.23
$GC,6140,-1.16,-146.0,2255,1625,2780,2901,800.2,-14.7,301,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1625,2840,2780,2901,0,0,0,0,0,0,27.20,27.22,27.22,8.98,12.94
$GC,6440,-1.16,-146.0,2255,1625,2781,2900,846.2,-15.8,311,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1625,2840,2780,2900,0,0,0,0,0,0,27.22,27.24,27.24,8.95,13.10
$GC,6742,-1.16,-146.0,2254,1625,2781,2898,891.9,-15.2,321,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1625,2839,2781,2898,0,0,0,0,0,0,27.22,27.23,27.23,8.92,12.23
$GC,7040,-1.16,-146.0,2255,1625,2780,2895,937.7,-15.0,331,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1625,2838,2781,2895,0,0,0,0,0,0,27.22,27.24,27.24,8.89,12.74
$GC,7342,-1.16,-146.0,2254,1625,2778,2895,983.2,-15.2,341,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1624,2836,2778,2894,0,0,0,0,0,0,27.21,27.23,27.23,8.87,12.51
$GC,7640,-1.16,-146.0,2255,1625,2777,2894,1025.5,-13.9,348,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1624,2835,2777,2893,0,0,0,0,0,0,27.20,27.22,27.22,8.84,13.14
$GC,7942,-1.16,-146.0,2255,1625,2775,2892,1070.1,-14.9,353,7948,0.00,2.35,0.00,0.000,260,0.000,0.062,2244,3173,2833,2775,2892,0,0,0,0,0,0,27.21,26.95,27.22,8.80,12.67
$GC,7989,-1.16,-146.0,2243,3173,2774,2892,1070.1,-14.9,353,7993,0.00,2.33,0.00,0.000,1030,0.000,0.052,2248,1618,2833,2774,2892,0,0,0,0,0,0,27.03,26.96,27.05,8.81,12.47
$GC,8298,-1.16,-146.0,2247,1618,2774,2889,1124.2,-15.1,358,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1618,2831,2774,2889,0,0,0,0,0,0,27.20,27.22,27.22,8.78,13.14
$GC,8596,-1.16,-146.0,2247,1617,2772,2887,1169.0,-14.9,363,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1618,2830,2773,2887,0,0,0,0,0,0,27.22,27.24,27.24,8.77,13.61
$GC,8897,-1.38,-146.0,2247,1618,2771,2886,1192.4,-5.8,368,8904,0.10,2.33,0.00,0.000,4356,0.194,0.060,2200,3176,2828,2770,2886,0,0,0,0,0,0,26.79,26.93,26.87,8.76,13.49
$GC,9050,-1.72,-146.0,2199,3177,2768,2886,1192.4,0.0,370,9055,0.25,2.38,0.00,0.000,5126,0.151,0.057,2108,1613,2827,2768,2886,0,0,0,0,0,0,26.77,26.94,26.93,8.74,12.98
$STATE,9191,end dive,NO_VERTICAL_VELOCITY
$STATE,9191,begin apogee
$GC,9196,-0.25,0.0,2108,1613,2767,2886,1192.5,0.0,373,9313,1.33,0.00,108.85,1.567,10246,0.149,0.000,2568,1612,2340,2276,2404,0,0,0,0,0,0,26.75,24.93,24.34,8.74,13.81
$STATE,9314,end apogee,CONTROL_FINISHED_OK
$STATE,9314,begin climb
$GC,9316,1.09,146.0,2568,1612,2276,2404,1192.1,0.0,375,9437,1.23,2.38,113.53,1.539,10756,0.154,0.082,2984,191,1837,1763,1912,0,0,0,0,0,0,25.31,24.91,24.14,8.70,12.67
$GC,9980,1.34,362.0,2984,191,1763,1906,1192.1,0.0,386,10161,0.22,2.12,166.62,1.549,11270,0.151,0.055,3069,1612,1092,997,1187,0,0,0,0,0,0,26.40,26.52,24.12,8.62,13.06
$GC,10457,1.14,362.0,3069,1612,993,1187,1139.0,17.9,394,10464,0.20,2.30,0.00,0.000,4612,0.286,0.072,3031,175,1090,994,1186,0,0,0,0,0,0,26.03,26.25,26.18,8.54,13.65
$GC,10931,0.97,362.0,3031,175,994,1182,1069.8,16.4,401,10939,0.25,2.17,0.00,0.000,5126,0.268,0.062,2964,1634,1088,994,1183,0,0,0,0,0,0,26.36,26.63,26.58,8.53,13.53
$GC,11238,0.90,362.0,2964,1634,991,1183,1020.9,12.7,407,11244,0.00,2.30,0.00,0.000,516,0.000,0.077,2974,178,1087,992,1182,0,0,0,0,0,0,26.95,26.66,26.97,8.52,13.93
$GC,11327,0.82,362.0,2973,178,992,1182,1013.2,12.7,408,11334,0.22,2.15,0.00,0.000,5126,0.271,0.062,2918,1627,1087,992,1182,0,0,0,0,0,0,26.46,26.73,26.70,8.52,13.41
$GC,11657,0.82,362.0,2917,1627,990,1183,974.7,9.8,418,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1627,1086,990,1183,0,0,0,0,0,0,27.03,27.05,27.05,8.52,13.02
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$STATE,18811,end climb,SURFACE_DEPTH_REACHED
$STATE,18811,begin surface coast
$FINISH,4.7,1.024951
$STATE,18815,end surface coast,CONTROL_FINISHED_OK
$STATE,18815,begin surface
$SM_CCo,18833,63.72,0.660,0,0,790,450.26
$SM_GC,1.39,8.05,2.08,63.72,0.139,0.052,0.660,137,1620,790,-7.76,-1.92,450.26,0,0,0,0,0,0,26.88,26.96,25.58
$IRIDIUM_FIX,2739.67,-7650.46,140417,230738
$TT8_MAMPS,0.021721,0.176015
$HUMID,12.59
$INTERNAL_PRESSURE,8.82725
$TCM_TEMP,24.30
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,24.12,17.159
$10V_AH,10.65,4.195
$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,21.225,103.750,389.000,63.725,155.350,58.421,19.808,131.925,12.250,0.000,19.134,2412.553,13920.185,626.652,2173.788,151.655,0.000,1664.400,0.000,1863.093,0.000,94.994,0.000
$DEVICE_MAMPS,285.545,81.939,1566.773,660.478,109.252,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,497.230,962.211,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,284228
$DATA_FILE_SIZE,52154,728
$CAP_FILE_SIZE,155533,0
$CFSIZE,2047311872,2038300672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164,174.71,1
$GPS,150417,091800,2744.882,-7644.189,38,0.8,42,-8.7,0.6,197.2,11,4.5