version: 66.14
glider: 37
mission: 24
dive: 211
start: 2 5 120 15 36 0
data:
$ID,37
$MISSION,24
$DIVE,211
$N_DIVES,211
$STOP_T,2062006
$D_SURF,3
$D_FLARE,3
$D_TGT,1920
$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,640
$T_MISSION,700
$T_ABORT,3360
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,79116.297
$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,-1
$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,478.16296
$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,7
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,3143
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,14.89
$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,2350
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,1786
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2.5
$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,-23.550753
$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,0
$ALTIM_PING_DEPTH,4900
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,6
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004395098
$SEABIRD_T_H,0.00063361513
$SEABIRD_T_I,2.5651329e-05
$SEABIRD_T_J,3.1717634e-06
$SEABIRD_C_G,-9.9017992
$SEABIRD_C_H,1.1589037
$SEABIRD_C_I,-0.0017859261
$SEABIRD_C_J,0.00021709637
$SEABIRD_C_Z,2927.29
$GPS1,050220,153202,3211.1431,-6429.6777,1,1.3,42,-14.9,0.0,122.2,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-62.5
$GPS2,050220,153519,3211.1416,-6429.5889,10,0.8,51,-14.9,0.6,118.2,9,6.9
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$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,240.2,2210,-27.8,-10.000,-30.00,1253
$D_GRID,1920
$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,71,-1.89,-82.2,120,2378,252,29,1.3,-0.4,6,221,0.00,0.00,-146.70,0.127,16386,0.000,0.000,116,2381,1936,2022,1851,0,0,0,0,0,0,20.35,28.83,20.37,8.48,31.41
$GC,224,-1.92,-180.6,116,2381,2022,1851,3.0,-2.0,21,271,15.77,3.00,-19.67,0.132,18692,0.271,0.062,2508,3895,2408,2487,2330,1,0,0,0,0,0,19.70,20.02,19.90,8.64,30.86
$GC,326,-1.58,-180.6,2507,3895,2488,2330,30.5,-33.1,31,336,0.62,2.97,0.00,0.000,3078,0.228,0.052,2624,2314,2408,2487,2330,0,0,0,0,0,0,19.81,20.10,20.00,8.69,30.98
$GC,635,-1.38,-180.6,2625,2314,2487,2330,115.2,-26.1,62,645,0.32,3.15,0.00,0.000,2308,0.219,0.065,2679,3886,2408,2486,2330,0,0,0,0,0,0,19.86,20.04,19.97,8.70,31.37
$GC,709,-1.20,-180.6,2678,3886,2487,2330,133.8,-23.7,69,720,0.38,2.88,0.00,0.000,3078,0.214,0.052,2749,2350,2408,2487,2330,0,0,0,0,0,0,19.85,20.13,19.98,8.71,31.02
$GC,1029,-1.11,-180.6,2749,2350,2486,2330,202.9,-22.0,89,1031,0.15,0.00,0.00,0.000,2054,0.209,0.000,2777,2350,2408,2486,2330,0,0,0,0,0,0,19.90,20.11,20.06,8.71,31.57
$GC,1329,-1.11,-180.6,2776,2350,2487,2330,266.0,-20.9,104,1336,0.00,3.08,0.00,0.000,260,0.000,0.067,2768,3891,2408,2486,2330,0,0,0,0,0,0,20.36,20.06,20.37,8.71,32.04
$GC,1378,-1.05,-180.6,2768,3891,2486,2329,274.5,-21.7,106,1389,0.15,2.92,0.00,0.000,3078,0.199,0.052,2796,2349,2408,2487,2330,0,0,0,0,0,0,19.90,20.13,20.06,8.70,31.45
$GC,1690,-1.05,-180.6,2795,2349,2487,2329,338.0,-19.2,119,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2349,2408,2487,2330,0,0,0,0,0,0,20.36,20.37,20.37,8.71,31.65
$GC,1989,-1.05,-180.6,2795,2349,2487,2329,394.4,-18.9,129,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2349,2408,2487,2330,0,0,0,0,0,0,20.36,20.37,20.37,8.70,32.16
$GC,2289,-1.05,-180.6,2796,2349,2486,2330,450.8,-18.6,139,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2349,2408,2486,2330,0,0,0,0,0,0,20.36,20.37,20.37,8.70,32.43
$GC,2589,-1.05,-180.6,2796,2349,2486,2329,504.6,-18.0,149,2596,0.00,3.10,0.00,0.000,260,0.000,0.067,2787,3885,2408,2487,2329,0,0,0,0,0,0,20.36,20.07,20.37,8.69,31.61
$GC,2662,-1.05,-180.6,2786,3885,2486,2329,515.7,-18.3,151,2667,0.00,2.92,0.00,0.000,1030,0.000,0.052,2787,2347,2408,2487,2329,0,0,0,0,0,0,20.18,20.13,20.19,8.69,32.12
$GC,2980,-1.05,-180.6,2788,2345,2486,2329,580.5,-19.6,162,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2345,2407,2486,2329,0,0,0,0,0,0,20.37,20.37,20.37,8.68,32.12
$GC,3279,-1.05,-180.6,2787,2345,2486,2329,638.1,-19.6,172,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2345,2408,2487,2329,0,0,0,0,0,0,20.37,20.37,20.37,8.66,32.47
$GC,3580,-1.05,-180.6,2786,2345,2487,2328,697.3,-19.6,182,3586,0.00,3.12,0.00,0.000,260,0.000,0.067,2776,3892,2407,2486,2328,0,0,0,0,0,0,20.37,20.08,20.37,8.64,32.16
$GC,3640,-1.05,-180.6,2775,3892,2487,2328,709.5,-19.8,184,3646,0.00,2.92,0.00,0.000,1030,0.000,0.052,2776,2357,2407,2487,2328,0,0,0,0,0,0,20.16,20.13,20.18,8.64,31.84
$GC,3970,-1.05,-180.6,2775,2357,2486,2328,775.2,-20.5,195,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2357,2407,2486,2328,0,0,0,0,0,0,20.37,20.37,20.37,8.61,32.08
$GC,4271,-1.05,-180.6,2776,2357,2485,2327,836.5,-20.7,205,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2357,2406,2485,2327,0,0,0,0,0,0,20.37,20.38,20.37,8.59,32.55
$GC,4570,-1.05,-180.6,2775,2357,2484,2326,896.4,-19.7,215,4572,0.12,0.00,0.00,0.000,2054,0.211,0.000,2796,2350,2405,2484,2326,0,0,0,0,0,0,19.93,20.13,20.09,8.56,32.39
$GC,4869,-1.05,-180.6,2795,2350,2483,2325,952.7,-19.4,225,4876,0.00,3.10,0.00,0.000,260,0.000,0.067,2787,3884,2403,2483,2324,0,0,0,0,0,0,20.37,20.08,20.37,8.53,33.26
$GC,4912,-1.05,-180.6,2787,3883,2483,2322,959.1,-19.7,226,4917,0.00,2.97,0.00,0.000,1030,0.000,0.052,2787,2348,2403,2483,2323,0,0,0,0,0,0,20.18,20.13,20.19,8.52,32.31
$GC,5229,-1.05,-180.6,2787,2343,2481,2322,1028.3,-20.9,235,5237,0.00,3.15,0.00,0.000,260,0.000,0.067,2776,3889,2402,2482,2322,0,0,0,0,0,0,20.37,20.09,20.37,8.50,32.47
$GC,5298,-1.05,-180.6,2775,3889,2482,2322,1041.5,-21.2,236,5303,0.12,3.00,0.00,0.000,3078,0.214,0.055,2796,2347,2401,2482,2321,0,0,0,0,0,0,19.91,20.12,20.08,8.50,33.38
$GC,5648,-1.05,-180.6,2795,2347,2479,2321,1114.9,-20.5,242,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2347,2400,2479,2321,0,0,0,0,0,0,20.37,20.38,20.37,8.47,33.61
$GC,5946,-1.05,-180.6,2795,2347,2477,2320,1175.9,-20.5,247,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2347,2398,2477,2320,0,0,0,0,0,0,20.37,20.38,20.38,8.46,33.81
$GC,6247,-1.05,-180.6,2796,2347,2475,2319,1236.3,-20.1,252,6253,0.00,3.17,0.00,0.000,260,0.000,0.067,2787,3890,2396,2474,2319,0,0,0,0,0,0,20.37,20.09,20.38,8.44,34.17
$GC,6289,-1.05,-180.6,2786,3890,2475,2318,1236.3,-20.1,252,6294,0.00,3.05,0.00,0.000,1030,0.000,0.055,2787,2344,2396,2475,2318,0,0,0,0,0,0,20.18,20.12,20.19,8.44,34.20
$GC,6602,-1.05,-180.6,2787,2344,2473,2317,1309.2,-20.5,258,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2344,2395,2473,2317,0,0,0,0,0,0,20.37,20.38,20.38,8.42,35.11
$GC,6901,-1.05,-180.6,2787,2344,2471,2316,1370.0,-20.2,263,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2344,2392,2470,2315,0,0,0,0,0,0,20.37,20.39,20.38,8.41,35.46
$GC,7201,-1.05,-180.6,2786,2344,2468,2314,1429.7,-19.9,268,7209,0.00,3.22,0.00,0.000,260,0.000,0.067,2776,3888,2391,2468,2314,0,0,0,0,0,0,20.38,20.09,20.38,8.40,36.69
$GC,7254,-1.05,-180.6,2775,3888,2469,2312,1429.7,-19.9,268,7262,0.12,3.08,0.00,0.000,3078,0.223,0.055,2797,2344,2390,2468,2313,0,0,0,0,0,0,19.90,20.13,20.08,8.40,35.58
$GC,7562,-1.12,-180.6,2796,2344,2467,2312,1497.7,-18.4,274,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2344,2389,2467,2312,0,0,0,0,0,0,20.37,20.39,20.38,8.38,35.94
$GC,7862,-1.19,-180.6,2796,2344,2465,2311,1550.3,-17.5,279,7864,0.10,0.00,0.00,0.000,4102,0.159,0.000,2774,2344,2388,2465,2312,0,0,0,0,0,0,20.05,20.17,20.14,8.38,37.12
$GC,8162,-1.25,-180.6,2773,2343,2463,2310,1606.6,-18.9,284,8168,0.00,3.25,0.00,0.000,260,0.000,0.070,2762,3884,2386,2463,2310,0,0,0,0,0,0,20.38,20.10,20.39,8.37,37.08
$GC,8195,-1.30,-180.6,2762,3884,2463,2310,1606.6,-18.9,284,8203,0.08,3.10,0.00,0.000,5126,0.179,0.055,2744,2350,2387,2464,2310,0,0,0,0,0,0,20.01,20.13,20.12,8.36,37.28
$GC,8522,-1.30,-180.6,2744,2350,2462,2310,1678.3,-19.9,290,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2351,2386,2462,2310,0,0,0,0,0,0,20.38,20.39,20.39,8.37,37.04
$GC,8822,-1.30,-180.6,2744,2350,2461,2309,1737.0,-19.5,295,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2351,2385,2462,2309,0,0,0,0,0,0,20.39,20.39,20.39,8.36,38.02
$GC,9122,-1.30,-180.6,2744,2352,2460,2309,1794.1,-19.0,300,9128,0.00,3.28,0.00,0.000,260,0.000,0.067,2733,3888,2384,2460,2308,0,0,0,0,0,0,20.38,20.10,20.39,8.35,37.67
$GC,9160,-1.30,-180.6,2733,3888,2461,2307,1794.1,-19.0,300,9165,0.00,3.12,0.00,0.000,1030,0.000,0.055,2733,2350,2384,2461,2307,0,0,0,0,0,0,20.19,20.13,20.20,8.34,38.18
$GC,9478,-1.30,-180.6,2732,2350,2460,2306,1862.2,-18.9,306,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2350,2383,2459,2307,0,0,0,0,0,0,20.38,20.39,20.39,8.35,37.75
$GC,9777,-1.30,-180.6,2733,2349,2458,2306,1918.0,-18.7,311,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2350,2382,2458,2306,0,0,0,0,0,0,20.39,20.40,20.39,8.34,38.18
$STATE,9835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9835,begin apogee
$GC,9841,-0.67,0.0,2732,2232,2458,2306,1929.4,-18.7,312,10044,0.95,0.00,199.07,2.073,10246,0.211,0.000,2917,2223,1786,1875,1698,0,0,0,0,0,0,19.88,19.15,17.76,8.34,38.02
$STATE,10045,end apogee,CONTROL_FINISHED_OK
$STATE,10045,begin climb
$GC,10046,1.92,180.6,2917,2224,1874,1698,1947.8,0.0,315,10265,3.67,3.35,205.45,2.044,10756,0.181,0.084,3744,654,1164,1272,1056,0,0,0,0,0,0,19.64,18.71,17.70,8.29,37.00
$GC,10501,1.83,371.8,3743,653,1271,1056,1979.4,-5.6,323,10730,0.00,3.20,220.15,2.039,9222,0.000,0.060,3744,2219,506,618,394,0,0,0,0,0,0,19.98,19.95,17.61,8.24,34.72
$GC,11039,1.72,371.8,3743,2218,618,399,1903.0,19.9,332,11045,0.25,3.35,0.00,0.000,4356,0.268,0.067,3704,3802,508,618,398,0,0,0,0,0,0,19.65,19.86,19.79,8.17,34.95
$GC,11098,1.62,371.8,3703,3802,618,397,1891.1,19.8,333,11105,0.28,3.25,0.00,0.000,5126,0.268,0.057,3672,2229,508,618,398,0,0,0,0,0,0,19.64,19.94,19.80,8.17,34.91
$GC,11458,1.62,371.8,3672,2229,618,398,1828.5,17.1,339,11465,0.00,3.28,0.00,0.000,516,0.000,0.072,3682,654,508,618,398,0,0,0,0,0,0,20.25,19.92,20.25,8.17,36.02
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$STATE,23972,end climb,SURFACE_DEPTH_REACHED
$STATE,23972,begin surface coast
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$STATE,23981,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,52187,725
$CAP_FILE_SIZE,192370,0
$CFSIZE,2047311872,1987870720
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