version: 66.12
glider: 37
mission: 22
dive: 99
start: 1 23 116 22 59 32
data:
$ID,37
$MISSION,22
$DIVE,99
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,6000
$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,3750
$T_MISSION,4060
$T_ABORT,4120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78758
$MASS_COMP,9226.7002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,624.55353
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,256
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1788
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,45
$C_ROLL_DIVE,1885
$C_ROLL_CLIMB,1663
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,97
$R_STBD_OVSHOOT,90
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2350
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1069.0311
$PRESSURE_SLOPE,0.00091968128
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,60
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$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,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,230116,221939,2647.9795,-7652.3618,135,1.3,176,-8.5,3.4,102.3,8,18.1
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-49.0
$GPS2,230116,225903,2648.4248,-7652.2451,502,0.9,544,-8.5,0.0,0.0,9,22.2
$SPEED_LIMITS,0.147,0.196
$TGT_NAME,RM75_30
$TGT_LATLONG,2630.000,-7530.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.112074,-0.143081
$KALMAN_X,-28376.074219,0.000000,0.000000,24896.144531,4044.476562
$KALMAN_Y,19841.541016,0.000000,0.000000,-25468.328125,9749.666016
$MHEAD_RNG_PITCHd_Wd,157.6,140520,-16.3,-5.333,-20.00,2117
$D_GRID,6000
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.76,-74.5,176,1845,156,279,0.0,0.0,0,190,0.00,0.00,-169.25,0.139,16390,0.000,0.000,177,1843,2606,2586,2626,0,0,0,0,0,0,27.10,26.08,25.98
$GC,193,-0.78,-134.6,176,1842,2586,2626,2.2,-2.4,17,219,11.43,2.17,-8.85,0.184,19204,0.281,0.060,2892,345,2814,2796,2833,0,0,0,0,0,0,25.60,26.10,25.82
$GC,546,-0.65,-134.6,2891,345,2796,2831,60.7,-22.9,46,552,0.17,2.08,0.00,0.000,3078,0.161,0.050,2942,1869,2814,2796,2832,0,0,0,0,0,0,26.24,26.72,26.32
$GC,862,-0.65,-134.6,2942,1871,2795,2831,105.0,-12.5,67,867,0.00,2.20,0.00,0.000,516,0.000,0.060,2942,342,2813,2795,2831,0,0,0,0,0,0,27.09,26.67,27.10
$GC,1057,-0.65,-134.6,2942,342,2796,2829,128.4,-11.9,79,1062,0.00,2.15,0.00,0.000,1030,0.000,0.047,2932,1900,2812,2795,2829,0,0,0,0,0,0,26.82,26.79,26.83
$GC,1387,-0.65,-134.6,2932,1900,2795,2830,164.0,-11.0,97,1392,0.00,2.20,0.00,0.000,260,0.000,0.062,2921,3428,2812,2795,2830,0,0,0,0,0,0,27.10,26.70,27.12
$GC,1699,-0.65,-134.6,2920,3427,2795,2830,197.5,-11.0,107,1704,0.00,2.05,0.00,0.000,1030,0.000,0.047,2921,1884,2812,2795,2830,0,0,0,0,0,0,26.86,26.85,26.87
$GC,2030,-0.65,-134.6,2921,1883,2795,2829,224.5,-7.5,118,2035,0.00,2.22,0.00,0.000,260,0.000,0.062,2910,3434,2812,2795,2829,0,0,0,0,0,0,27.11,26.71,27.13
$GC,2092,-0.65,-134.6,2910,3434,2794,2829,229.1,-7.5,120,2097,0.08,2.15,0.00,0.000,3078,0.161,0.045,2937,1869,2812,2795,2829,0,0,0,0,0,0,26.53,26.85,26.58
$GC,2422,-0.65,-134.6,2937,1869,2795,2829,253.4,-7.9,131,2427,0.00,2.17,0.00,0.000,516,0.000,0.062,2937,341,2812,2796,2829,0,0,0,0,0,0,27.11,26.70,27.13
$GC,2505,-0.65,-134.6,2937,340,2795,2828,258.7,-8.2,133,2514,0.00,2.12,0.00,0.000,1030,0.000,0.047,2928,1887,2811,2795,2828,0,0,0,0,0,0,26.84,26.81,26.85
$GC,2814,-0.65,-134.6,2928,1887,2795,2827,288.2,-8.8,144,2820,0.00,2.20,0.00,0.000,260,0.000,0.060,2917,3427,2811,2795,2827,0,0,0,0,0,0,27.11,26.71,27.13
$GC,2961,-0.65,-134.6,2917,3427,2795,2828,299.8,-9.4,148,2969,0.00,2.12,0.00,0.000,1030,0.000,0.047,2917,1879,2811,2795,2827,0,0,0,0,0,0,26.87,26.86,26.89
$GC,3284,-0.65,-134.6,2916,1879,2795,2826,333.1,-9.6,156,3290,0.00,2.17,0.00,0.000,516,0.000,0.060,2916,349,2810,2794,2826,0,0,0,0,0,0,27.11,26.70,27.13
$GC,3320,-0.65,-134.6,2916,350,2795,2825,333.1,-9.6,156,3330,0.10,2.12,0.00,0.000,3078,0.156,0.047,2943,1885,2810,2795,2825,0,0,0,0,0,0,26.48,26.82,26.54
$GC,3644,-0.65,-134.6,2942,1885,2795,2825,361.5,-7.4,164,3651,0.00,2.22,0.00,0.000,260,0.000,0.062,2932,3440,2809,2794,2824,0,0,0,0,0,0,27.11,26.71,27.13
$GC,3702,-0.65,-134.6,2932,3440,2794,2824,365.2,-7.5,165,3706,0.00,2.12,0.00,0.000,1030,0.000,0.045,2933,1878,2809,2794,2825,0,0,0,0,0,0,26.89,26.86,26.91
$GC,4051,-0.65,-134.6,2932,1875,2794,2823,394.8,-8.3,173,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1875,2808,2794,2823,0,0,0,0,0,0,27.10,27.13,27.13
$GC,4366,-0.65,-134.6,2932,1875,2795,2821,423.5,-9.1,180,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1875,2807,2794,2821,0,0,0,0,0,0,27.11,27.13,27.13
$GC,4681,-0.65,-134.6,2932,1875,2794,2820,452.6,-9.2,187,4686,0.00,2.17,0.00,0.000,516,0.000,0.062,2933,343,2806,2794,2819,0,0,0,0,0,0,27.11,26.70,27.13
$GC,4738,-0.65,-134.6,2932,343,2794,2819,457.3,-9.6,188,4742,0.00,2.15,0.00,0.000,1030,0.000,0.047,2922,1886,2806,2794,2819,0,0,0,0,0,0,26.84,26.82,26.84
$GC,5087,-0.65,-134.6,2922,1886,2794,2818,494.6,-10.5,196,5093,0.00,2.22,0.00,0.000,260,0.000,0.062,2911,3431,2805,2793,2818,0,0,0,0,0,0,27.11,26.71,27.13
$GC,5159,-0.65,-134.6,2911,3431,2793,2818,499.2,-10.5,197,5163,0.00,2.12,0.00,0.000,1030,0.000,0.045,2911,1871,2805,2793,2818,0,0,0,0,0,0,26.89,26.86,26.91
$GC,5493,-0.65,-134.6,2911,1869,2792,2816,537.7,-10.6,205,5498,0.00,2.28,0.00,0.000,260,0.000,0.060,2901,3434,2804,2793,2816,0,0,0,0,0,0,27.11,26.70,27.13
$GC,5554,-0.65,-134.6,2901,3434,2792,2816,542.6,-10.5,206,5560,0.12,2.15,0.00,0.000,3078,0.142,0.045,2948,1870,2804,2792,2816,0,0,0,0,0,0,26.48,26.86,26.55
$GC,5905,-0.72,-134.6,2947,1870,2792,2815,573.7,-8.2,214,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1870,2803,2792,2815,0,0,0,0,0,0,27.11,27.13,27.13
$GC,6219,-0.80,-134.6,2947,1870,2792,2813,599.2,-8.1,221,6220,0.00,0.00,0.00,0.000,4102,0.000,0.000,2947,1870,2803,2792,2814,0,0,0,0,0,0,27.13,27.13,27.13
$GC,6534,-0.87,-134.6,2947,1870,2791,2811,624.2,-7.6,228,6541,0.08,2.15,0.00,0.000,4612,0.134,0.060,2876,358,2801,2792,2810,0,0,0,0,0,0,26.89,26.70,26.91
$GC,6603,-0.87,-134.6,2876,358,2791,2809,629.1,-8.2,229,6607,0.00,2.10,0.00,0.000,1030,0.000,0.047,2865,1891,2800,2792,2809,0,0,0,0,0,0,26.85,26.80,26.87
$GC,6936,-0.87,-134.6,2865,1892,2791,2808,672.7,-12.3,237,6943,0.00,2.25,0.00,0.000,260,0.000,0.062,2854,3432,2799,2791,2808,0,0,0,0,0,0,27.10,26.70,27.13
$GC,7004,-0.87,-134.6,2854,3432,2790,2808,678.6,-12.6,238,7008,0.00,2.12,0.00,0.000,1030,0.000,0.045,2854,1874,2799,2790,2808,0,0,0,0,0,0,26.89,26.85,26.91
$GC,7337,-0.87,-134.6,2854,1874,2788,2808,726.5,-13.7,246,7343,0.00,2.30,0.00,0.000,260,0.000,0.060,2843,3441,2797,2787,2808,0,0,0,0,0,0,27.10,26.70,27.13
$GC,7405,-0.87,-134.6,2843,3441,2786,2808,732.9,-13.7,247,7409,0.00,2.12,0.00,0.000,1030,0.000,0.045,2843,1879,2797,2786,2808,0,0,0,0,0,0,26.89,26.86,26.90
$GC,7739,-0.87,-134.6,2843,1878,2786,2806,783.0,-13.9,255,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1879,2796,2786,2806,0,0,0,0,0,0,27.10,27.13,27.13
$GC,8054,-0.87,-134.6,2843,1878,2786,2804,826.3,-13.7,262,8059,0.00,2.28,0.00,0.000,260,0.000,0.062,2832,3433,2795,2787,2804,0,0,0,0,0,0,27.10,26.69,27.13
$GC,8194,-0.87,-134.6,2832,3433,2785,2804,845.6,-13.8,265,8199,0.10,2.15,0.00,0.000,3078,0.161,0.045,2869,1868,2794,2785,2804,0,0,0,0,0,0,26.46,26.85,26.53
$GC,8508,-0.87,-134.6,2869,1868,2784,2801,881.1,-10.9,272,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1868,2793,2785,2801,0,0,0,0,0,0,27.10,27.13,27.13
$GC,8823,-0.87,-134.6,2869,1868,2784,2799,918.4,-12.1,279,8829,0.00,2.28,0.00,0.000,260,0.000,0.060,2859,3430,2791,2783,2799,0,0,0,0,0,0,27.10,26.67,27.13
$GC,8854,-0.87,-134.6,2859,3430,2782,2800,918.4,-12.1,279,8858,0.00,2.10,0.00,0.000,1030,0.000,0.047,2859,1886,2790,2782,2799,0,0,0,0,0,0,26.87,26.83,26.89
$GC,9178,-0.87,-134.6,2859,1885,2780,2798,965.4,-13.3,286,9183,0.00,2.25,0.00,0.000,260,0.000,0.062,2850,3436,2789,2780,2798,0,0,0,0,0,0,27.10,26.67,27.13
$GC,9235,-0.87,-134.6,2848,3436,2779,2798,971.6,-13.4,287,9239,0.00,2.15,0.00,0.000,1030,0.000,0.045,2848,1886,2788,2779,2798,0,0,0,0,0,0,26.86,26.84,26.87
$GC,9570,-0.87,-134.6,2848,1885,2779,2795,1019.1,-13.7,293,9575,0.00,2.25,0.00,0.000,260,0.000,0.062,2839,3431,2787,2780,2794,0,0,0,0,0,0,27.10,26.66,27.12
$GC,9626,-0.87,-134.6,2838,3431,2777,2794,1019.1,-13.7,293,9631,0.10,2.15,0.00,0.000,3078,0.171,0.045,2875,1866,2786,2777,2795,0,0,0,0,0,0,26.49,26.83,26.59
$GC,10046,-0.87,-134.6,2874,1865,2777,2790,1076.7,-12.1,297,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1866,2784,2777,2791,0,0,0,0,0,0,27.10,27.13,27.12
$GC,10404,-0.87,-134.6,2874,1866,2773,2790,1117.8,-11.5,300,10410,0.00,2.30,0.00,0.000,260,0.000,0.060,2864,3437,2781,2773,2790,0,0,0,0,0,0,27.10,26.64,27.12
$GC,10485,-0.87,-134.6,2864,3437,2772,2791,1117.8,-11.5,300,10489,0.00,2.15,0.00,0.000,1030,0.000,0.045,2864,1888,2781,2772,2791,0,0,0,0,0,0,26.86,26.82,26.87
$GC,10885,-0.87,-134.6,2864,1888,2772,2788,1174.2,-11.7,304,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1888,2780,2773,2788,0,0,0,0,0,0,27.10,27.13,27.12
$GC,11245,-1.06,-134.6,2864,1887,2772,2785,1188.9,-6.1,307,11247,0.15,0.00,0.00,0.000,4102,0.127,0.000,2802,1887,2778,2772,2784,0,0,0,0,0,0,26.65,26.74,26.70
$STATE,11603,end dive,NO_VERTICAL_VELOCITY
$STATE,11603,begin apogee
$GC,11608,-0.23,0.0,2802,1688,2768,2784,1189.1,0.0,310,11710,0.57,0.00,99.30,1.507,10246,0.065,0.000,3058,1688,2350,2335,2366,0,0,0,0,0,0,26.71,24.92,23.66
$STATE,11711,end apogee,CONTROL_FINISHED_OK
$STATE,11711,begin climb
$GC,11712,0.78,134.6,3058,1688,2335,2366,1189.1,0.0,310,11826,0.90,0.00,110.60,1.475,10246,0.065,0.000,3439,1688,1886,1859,1914,0,0,0,0,0,0,25.39,24.13,23.00
$GC,12084,0.78,134.6,3439,1688,1859,1914,1188.9,0.2,314,12091,0.10,2.25,0.00,0.000,4356,0.159,0.055,3395,3220,1886,1858,1914,0,0,0,0,0,0,26.36,26.45,26.40
$GC,12384,0.96,246.2,3395,3220,1856,1914,1189.0,-0.1,316,12478,0.00,2.20,87.57,1.485,11270,0.000,0.047,3401,1674,1502,1460,1545,0,0,0,0,0,0,26.77,26.70,23.87
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$STATE,27162,end climb,SURFACE_DEPTH_REACHED
$STATE,27162,begin surface coast
$FINISH,0.1,1.024634
$STATE,27173,end surface coast,CONTROL_FINISHED_OK
$STATE,27173,begin surface
$SM_CCo,27188,213.38,0.668,0,0,200,624.55
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$IRIDIUM_FIX,2612.58,-7546.74,041108,121359
$TT8_MAMPS,0.021721,0.021721
$HUMID,69.13
$INTERNAL_PRESSURE,9.23076
$TCM_TEMP,25.30
$XPDR_PINGS,20
$ALTIM_TOP_PING,59.8,58.8
$24V_AH,23.00,50.105
$10V_AH,10.32,38.678
$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
$DEVICE_SECS,22.975,175.675,357.625,213.375,178.100,661.406,104.176,0.000,5.250,0.000,545.673,2437.941,20920.758,789.975,5365.731,238.731,0.000,2285.605,0.000,3957.233,0.000,2.724,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.454,2248.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353364
$DATA_FILE_SIZE,43509,689
$CAP_FILE_SIZE,214943,0
$CFSIZE,1024409600,944717824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,19827.61,0x235806,1,24
$CURRENT,0.350,337.17,1
$GPS,240116,064133,2650.251,-7652.934,242,1.0,283,-8.5,0.9,325.7,10,12.8