version: 66.14
glider: 37
mission: 24
dive: 213
start: 2 6 120 5 35 42
data:
$ID,37
$MISSION,24
$DIVE,213
$N_DIVES,213
$STOP_T,2062008
$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,48
$R_STBD_OVSHOOT,49
$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
$GPS1,060220,052929,3211.8474,-6429.2432,1,1.0,29,-14.9,0.6,184.5,8,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.1
$GPS2,060220,053501,3211.7925,-6429.1724,10,1.0,32,-14.9,0.9,104.2,8,5.0
$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,241.4,3564,-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,70,-1.89,-82.2,123,2369,252,28,1.0,0.5,6,221,0.00,0.00,-147.20,0.127,16386,0.000,0.000,124,2373,1970,2056,1885,0,0,0,0,0,0,20.35,28.83,20.36,8.49,31.49
$GC,224,-1.92,-167.7,124,2373,2056,1885,3.2,-3.0,21,262,15.73,3.08,-15.48,0.134,18692,0.268,0.065,2508,3904,2365,2444,2287,2,0,0,0,0,0,19.66,20.00,19.87,8.65,30.86
$GC,295,-1.58,-167.7,2508,3905,2444,2287,22.8,-29.9,28,306,0.62,2.95,0.00,0.000,3078,0.228,0.052,2625,2337,2365,2443,2287,0,0,0,0,0,0,19.77,20.09,19.90,8.69,30.27
$GC,605,-1.37,-167.7,2624,2336,2444,2287,105.5,-25.4,59,607,0.35,0.00,0.00,0.000,2054,0.216,0.000,2692,2337,2365,2444,2287,0,0,0,0,0,0,19.82,20.06,20.01,8.71,31.21
$GC,906,-1.23,-167.7,2691,2337,2444,2286,173.5,-22.4,84,913,0.22,3.12,0.00,0.000,2308,0.221,0.067,2727,3890,2365,2444,2287,0,0,0,0,0,0,19.85,20.03,19.97,8.71,31.13
$GC,1069,-1.10,-167.7,2726,3890,2444,2286,210.0,-23.0,92,1075,0.28,2.92,0.00,0.000,3078,0.206,0.052,2778,2358,2365,2444,2286,0,0,0,0,0,0,19.84,20.11,20.01,8.71,31.68
$GC,1383,-1.10,-167.7,2778,2358,2444,2286,271.3,-20.4,108,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2358,2365,2444,2286,0,0,0,0,0,0,20.35,20.36,20.36,8.70,31.49
$GC,1693,-1.05,-167.7,2778,2358,2444,2286,330.7,-18.7,121,1699,0.00,3.10,0.00,0.000,260,0.000,0.067,2769,3895,2365,2444,2286,0,0,0,0,0,0,20.35,20.06,20.36,8.70,32.00
$GC,1726,-1.00,-167.7,2769,3895,2444,2286,336.4,-18.6,122,1734,0.25,2.95,0.00,0.000,3078,0.196,0.052,2817,2348,2365,2444,2286,0,0,0,0,0,0,19.87,20.11,20.04,8.70,31.57
$GC,2052,-1.00,-167.7,2817,2348,2444,2286,394.5,-17.4,133,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2348,2365,2444,2286,0,0,0,0,0,0,20.35,20.37,20.37,8.70,32.08
$GC,2352,-1.00,-167.7,2817,2348,2444,2286,446.9,-17.4,143,2359,0.00,3.12,0.00,0.000,260,0.000,0.067,2808,3899,2365,2444,2286,0,0,0,0,0,0,20.36,20.06,20.37,8.69,31.53
$GC,2395,-1.00,-167.7,2807,3899,2444,2286,452.2,-17.4,144,2400,0.00,2.95,0.00,0.000,1030,0.000,0.052,2807,2348,2365,2444,2286,0,0,0,0,0,0,20.16,20.12,20.18,8.69,31.92
$GC,2707,-1.00,-167.7,2807,2348,2444,2286,511.2,-18.5,155,2715,0.00,3.12,0.00,0.000,260,0.000,0.067,2796,3898,2365,2444,2286,0,0,0,0,0,0,20.36,20.06,20.37,8.68,32.43
$GC,2746,-1.00,-167.7,2796,3898,2444,2285,516.7,-18.6,156,2751,0.00,2.95,0.00,0.000,1030,0.000,0.052,2796,2351,2364,2443,2285,0,0,0,0,0,0,20.16,20.12,20.18,8.68,32.12
$GC,3065,-1.00,-167.7,2796,2351,2444,2285,577.0,-17.6,167,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2351,2364,2444,2285,0,0,0,0,0,0,20.36,20.37,20.37,8.67,31.84
$GC,3363,-1.00,-167.7,2796,2350,2444,2284,633.8,-19.1,177,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2351,2364,2444,2285,0,0,0,0,0,0,20.36,20.37,20.37,8.66,32.16
$GC,3663,-1.00,-167.7,2796,2351,2444,2284,690.4,-19.0,187,3668,0.00,3.15,0.00,0.000,260,0.000,0.065,2785,3893,2363,2444,2283,0,0,0,0,0,0,20.36,20.07,20.37,8.64,32.39
$GC,3713,-1.00,-167.7,2784,3902,2444,2283,696.6,-19.1,188,3719,0.17,2.97,0.00,0.000,3078,0.196,0.052,2817,2351,2363,2444,2283,0,0,0,0,0,0,19.90,20.12,20.06,8.63,32.67
$GC,4022,-1.00,-167.7,2817,2351,2443,2282,757.6,-18.8,198,4028,0.00,3.05,0.00,0.000,516,0.000,0.062,2817,785,2362,2443,2282,0,0,0,0,0,0,20.36,20.07,20.37,8.62,32.79
$GC,4081,-1.00,-167.7,2817,784,2442,2282,769.1,-19.1,200,4087,0.00,3.00,0.00,0.000,1030,0.000,0.055,2809,2344,2362,2441,2283,0,0,0,0,0,0,20.14,20.11,20.16,8.61,32.94
$GC,4411,-1.00,-167.7,2808,2344,2441,2282,830.7,-18.6,211,4417,0.00,3.10,0.00,0.000,260,0.000,0.067,2797,3904,2362,2442,2282,0,0,0,0,0,0,20.36,20.08,20.37,8.59,33.06
$GC,4519,-1.00,-167.7,2797,3904,2442,2280,848.5,-19.5,214,4524,0.00,3.00,0.00,0.000,1030,0.000,0.052,2798,2347,2361,2441,2281,0,0,0,0,0,0,20.17,20.12,20.18,8.57,32.08
$GC,4827,-1.00,-167.7,2797,2347,2440,2280,910.8,-19.0,224,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2347,2360,2440,2280,0,0,0,0,0,0,20.37,20.37,20.37,8.54,32.20
$GC,5126,-1.00,-167.7,2797,2347,2438,2279,969.4,-19.4,234,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2347,2359,2439,2279,0,0,0,0,0,0,20.36,20.37,20.37,8.52,33.22
$GC,5426,-1.00,-167.7,2796,2347,2438,2277,1027.8,-19.6,242,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2347,2358,2438,2278,0,0,0,0,0,0,20.37,20.37,20.37,8.50,32.98
$GC,5726,-1.00,-167.7,2797,2347,2437,2277,1087.7,-20.0,247,5732,0.00,3.20,0.00,0.000,260,0.000,0.067,2786,3908,2356,2437,2276,0,0,0,0,0,0,20.37,20.09,20.37,8.48,33.14
$GC,5774,-1.00,-167.7,2786,3908,2437,2275,1087.7,-20.0,247,5780,0.15,3.03,0.00,0.000,3078,0.206,0.055,2813,2359,2356,2437,2276,0,0,0,0,0,0,19.89,20.11,20.06,8.47,33.06
$GC,6082,-1.00,-167.7,2813,2358,2434,2275,1157.3,-19.2,252,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2358,2354,2434,2275,0,0,0,0,0,0,20.37,20.38,20.37,8.46,33.18
$GC,6381,-1.00,-167.7,2813,2358,2432,2274,1214.2,-19.0,257,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2358,2353,2433,2274,0,0,0,0,0,0,20.37,20.38,20.38,8.44,34.40
$GC,6683,-1.05,-167.7,2813,2358,2431,2272,1270.2,-18.5,262,6690,0.00,3.22,0.00,0.000,260,0.000,0.070,2805,3903,2351,2431,2272,0,0,0,0,0,0,20.37,20.08,20.37,8.43,34.87
$GC,6765,-1.10,-167.7,2804,3904,2431,2271,1281.7,-18.5,263,6770,0.00,3.08,0.00,0.000,1030,0.000,0.055,2804,2348,2350,2431,2270,0,0,0,0,0,0,20.17,20.11,20.18,8.42,34.95
$GC,7103,-1.15,-167.7,2804,2348,2428,2270,1348.1,-18.3,269,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2348,2349,2428,2270,0,0,0,0,0,0,20.37,20.38,20.38,8.40,35.58
$GC,7404,-1.21,-167.7,2804,2348,2426,2269,1401.9,-17.8,274,7406,0.12,0.00,0.00,0.000,4102,0.142,0.000,2771,2348,2347,2426,2269,0,0,0,0,0,0,20.04,20.16,20.13,8.40,36.06
$GC,7703,-1.21,-167.7,2770,2348,2424,2268,1459.8,-19.4,279,7709,0.00,3.28,0.00,0.000,260,0.000,0.067,2759,3909,2346,2425,2267,0,0,0,0,0,0,20.37,20.08,20.38,8.38,36.84
$GC,7741,-1.21,-167.7,2759,3909,2425,2267,1459.8,-19.4,279,7746,0.00,3.12,0.00,0.000,1030,0.000,0.055,2759,2349,2346,2425,2267,0,0,0,0,0,0,20.17,20.11,20.19,8.40,37.28
$GC,8058,-1.21,-167.7,2759,2349,2422,2266,1530.0,-19.9,285,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2349,2344,2423,2266,0,0,0,0,0,0,20.37,20.39,20.38,8.38,37.12
$GC,8358,-1.21,-167.7,2759,2349,2420,2265,1590.0,-19.9,290,8365,0.00,3.28,0.00,0.000,260,0.000,0.070,2747,3907,2342,2420,2265,0,0,0,0,0,0,20.37,20.08,20.39,8.37,37.28
$GC,8411,-1.21,-167.7,2747,3907,2421,2264,1590.0,-19.9,290,8419,0.00,3.12,0.00,0.000,1030,0.000,0.055,2747,2353,2342,2420,2265,0,0,0,0,0,0,20.18,20.11,20.19,8.37,37.67
$GC,8718,-1.21,-167.7,2747,2352,2420,2264,1661.9,-19.7,296,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2352,2342,2420,2264,0,0,0,0,0,0,20.38,20.39,20.39,8.36,37.87
$GC,9019,-1.21,-167.7,2748,2352,2418,2263,1720.7,-19.6,301,9025,0.00,3.28,0.00,0.000,260,0.000,0.070,2736,3906,2340,2418,2263,0,0,0,0,0,0,20.38,20.09,20.39,8.36,37.43
$GC,9056,-1.21,-167.7,2735,3906,2419,2262,1720.7,-19.6,301,9062,0.00,3.15,0.00,0.000,1030,0.000,0.055,2736,2344,2341,2419,2263,0,0,0,0,0,0,20.18,20.11,20.19,8.35,37.71
$GC,9375,-1.21,-167.7,2735,2344,2418,2262,1791.9,-20.1,307,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2344,2339,2417,2262,0,0,0,0,0,0,20.38,20.39,20.39,8.35,37.87
$GC,9674,-1.21,-167.7,2735,2344,2417,2262,1849.9,-19.3,312,9681,0.00,3.33,0.00,0.000,260,0.000,0.067,2724,3907,2339,2417,2261,0,0,0,0,0,0,20.38,20.09,20.39,8.35,37.79
$GC,9718,-1.21,-167.7,2723,3907,2417,2261,1849.9,-19.3,312,9726,0.00,3.15,0.00,0.000,1030,0.000,0.055,2724,2351,2339,2417,2261,0,0,0,0,0,0,20.18,20.12,20.19,8.34,37.55
$STATE,10034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10034,begin apogee
$GC,10039,-0.67,0.0,2724,2236,2416,2261,1921.0,-19.5,318,10233,1.00,0.00,189.27,2.056,10246,0.211,0.000,2916,2225,1786,1873,1699,0,0,0,0,0,0,19.85,18.90,17.37,8.34,38.34
$STATE,10234,end apogee,CONTROL_FINISHED_OK
$STATE,10234,begin climb
$GC,10235,1.92,167.7,2916,2224,1874,1699,1939.0,0.0,321,10447,3.65,3.38,196.93,2.026,10756,0.179,0.084,3743,647,1209,1318,1101,0,0,0,0,0,0,19.58,18.30,17.20,8.29,36.92
$GC,10583,1.89,381.3,3743,647,1317,1101,1964.4,-7.4,327,10847,0.00,3.28,254.00,2.024,9222,0.000,0.057,3743,2244,473,586,360,0,0,0,0,0,0,19.94,19.89,17.00,8.24,35.50
$GC,11176,1.79,381.3,3743,2244,585,365,1878.7,20.6,337,11181,0.00,3.30,0.00,0.000,260,0.000,0.067,3743,3799,475,585,365,0,0,0,0,0,0,20.18,19.89,20.18,8.17,35.70
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$STATE,22994,end climb,SURFACE_DEPTH_REACHED
$STATE,22994,begin surface coast
$FINISH,0.3,1.025976
$STATE,23007,end surface coast,CONTROL_FINISHED_OK
$STATE,23007,begin surface
$SM_CCo,23028,91.47,0.646,0,0,139,478.16
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$TT8_MAMPS,0.021721,0.263648
$HUMID,31.41
$INTERNAL_PRESSURE,8.41707
$TCM_TEMP,21.50
$XPDR_PINGS,10
$24V_AH,17.00,136.421
$10V_AH,9.99,65.080
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,36.875,235.575,648.275,91.475,162.675,0.000,0.000,0.000,2.500,0.000,33.402,2466.489,17489.340,950.130,2157.957,166.290,0.000,2204.301,0.000,2066.143,0.000,1.018,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.220,32.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,320656
$DATA_FILE_SIZE,52052,699
$CAP_FILE_SIZE,192785,0
$CFSIZE,2047311872,1987608576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,2,0
$CURRENT,0.100,105.58,1
$GPS,060220,120308,3209.535,-6431.146,44,1.0,84,-14.9,0.5,89.0,8,8.8