version: 66.14
glider: 45
mission: 3
dive: 119
start: 10 5 119 16 9 54
data:
$ID,45
$MISSION,3
$DIVE,119
$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,15
$R_STBD_OVSHOOT,44
$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
$GPS1,051019,153212,3307.2737,-6647.4277,69,1.0,110,-14.3,0.6,315.1,7,10.2
$_CALLS,20
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-45.6
$GPS2,051019,160918,3307.1086,-6647.7300,27,1.1,68,-14.3,0.0,291.3,7,11.2
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,HEADING
$TGT_LATLONG,3307.109,-6530.367
$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,4,begin dive
$GC,70,-1.23,-293.3,168,2031,332,353,0.3,0.3,6,201,0.00,0.00,-128.27,0.149,16386,0.000,0.000,168,2030,2645,2641,2649,0,0,0,0,0,0,26.91,28.83,26.91,8.63,29.36
$GC,203,-1.23,-293.3,168,2030,2641,2650,3.1,-4.6,19,232,9.00,3.75,-10.38,0.184,18948,0.251,0.089,2582,607,2962,2929,2996,0,0,0,0,0,0,25.75,26.05,25.86,8.86,28.57
$GC,407,-1.14,-293.3,2582,607,2929,2996,29.6,-12.8,39,416,0.15,3.47,0.00,0.000,3078,0.169,0.065,2619,2024,2962,2929,2996,0,0,0,0,0,0,26.06,26.44,26.17,8.90,28.53
$GC,714,-1.14,-293.3,2619,2024,2928,2996,56.4,-10.4,70,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2024,2962,2928,2996,0,0,0,0,0,0,26.92,26.94,26.93,8.91,28.73
$GC,1015,-1.14,-293.3,2619,2024,2928,2996,79.0,-6.0,100,1024,0.00,3.72,0.00,0.000,516,0.000,0.092,2620,610,2961,2928,2995,0,0,0,0,0,0,26.96,26.10,26.97,8.90,29.36
$GC,1106,-1.14,-293.3,2619,610,2928,2996,85.5,-6.7,109,1117,0.00,3.42,0.00,0.000,1030,0.000,0.067,2605,2019,2962,2928,2996,0,0,0,0,0,0,26.59,26.56,26.60,8.89,28.57
$GC,1418,-1.14,-293.3,2605,2019,2928,2996,105.4,-7.3,140,1427,0.00,3.55,0.00,0.000,260,0.000,0.082,2591,3402,2962,2928,2996,0,0,0,0,0,0,26.98,26.22,26.99,8.87,29.09
$GC,1472,-1.14,-293.3,2590,3402,2928,2996,108.8,-6.3,145,1480,0.00,3.50,0.00,0.000,1030,0.000,0.072,2591,2004,2962,2928,2996,0,0,0,0,0,0,25.89,25.54,25.98,8.87,29.56
$GC,1781,-1.14,-293.3,2590,2004,2928,2996,130.1,-7.5,176,1790,0.00,3.62,0.00,0.000,516,0.000,0.097,2591,626,2961,2927,2995,0,0,0,0,0,0,26.98,26.06,26.99,8.85,29.05
$GC,1882,-1.14,-293.3,2590,626,2927,2996,138.8,-8.5,186,1893,0.10,3.42,0.00,0.000,3078,0.184,0.070,2618,2022,2961,2927,2996,0,0,0,0,0,0,26.22,26.55,26.28,8.84,29.52
$GC,2193,-1.14,-293.3,2617,2022,2927,2995,162.8,-7.7,209,2199,0.00,3.55,0.00,0.000,260,0.000,0.082,2606,3401,2960,2926,2995,0,0,0,0,0,0,26.98,26.22,26.99,8.83,29.56
$GC,2294,-1.14,-293.3,2605,3400,2926,2994,170.9,-8.2,214,2300,0.00,3.45,0.00,0.000,1030,0.000,0.070,2606,2022,2960,2926,2994,0,0,0,0,0,0,25.58,25.06,25.73,8.82,30.31
$GC,2607,-1.14,-293.3,2605,2022,2926,2994,196.3,-8.6,230,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2959,2925,2994,0,0,0,0,0,0,26.98,27.00,26.99,8.81,30.54
$GC,2907,-1.14,-293.3,2606,2022,2925,2994,223.4,-9.4,245,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2959,2925,2993,0,0,0,0,0,0,26.98,26.99,27.00,8.81,31.65
$GC,3207,-1.14,-293.3,2605,2022,2924,2992,251.5,-9.6,260,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2958,2924,2992,0,0,0,0,0,0,26.98,27.00,27.00,8.80,31.57
$GC,3507,-1.14,-293.3,2605,2022,2923,2991,282.2,-10.1,275,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2958,2924,2992,0,0,0,0,0,0,26.98,27.00,26.99,8.79,32.04
$GC,3807,-1.14,-293.3,2605,2022,2922,2991,311.8,-9.6,288,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2956,2922,2991,0,0,0,0,0,0,26.98,27.00,26.99,8.79,32.39
$GC,4107,-1.14,-293.3,2605,2022,2922,2989,340.9,-9.6,298,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2955,2922,2989,0,0,0,0,0,0,26.98,27.00,27.00,8.79,33.22
$GC,4407,-1.14,-293.3,2605,2022,2922,2988,370.1,-9.7,308,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2954,2922,2987,0,0,0,0,0,0,26.98,27.00,27.00,8.79,33.10
$GC,4707,-1.14,-293.3,2605,2022,2920,2988,399.6,-10.0,318,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2953,2920,2987,0,0,0,0,0,0,26.98,27.00,27.00,8.78,33.30
$GC,5007,-1.14,-293.3,2605,2022,2920,2987,429.3,-9.8,328,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2022,2953,2920,2987,0,0,0,0,0,0,26.98,27.00,27.00,8.79,33.69
$GC,5307,-1.14,-293.3,2605,2022,2919,2986,459.8,-10.5,338,5314,0.00,3.67,0.00,0.000,516,0.000,0.094,2606,625,2952,2919,2986,0,0,0,0,0,0,26.98,26.03,27.00,8.79,33.30
$GC,5360,-1.14,-293.3,2605,625,2919,2986,463.1,-10.9,339,5368,0.00,3.42,0.00,0.000,1030,0.000,0.065,2590,2015,2952,2918,2986,0,0,0,0,0,0,26.60,26.54,26.62,8.78,33.50
$GC,5667,-1.14,-293.3,2589,2015,2919,2985,501.4,-11.6,350,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2015,2952,2919,2985,0,0,0,0,0,0,26.98,27.00,27.00,8.77,33.65
$GC,5967,-1.14,-293.3,2590,2015,2918,2984,534.8,-10.6,360,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2015,2951,2918,2985,0,0,0,0,0,0,26.98,27.00,27.00,8.77,33.22
$GC,6267,-1.14,-293.3,2589,2015,2918,2984,564.4,-9.5,370,6274,0.00,3.58,0.00,0.000,260,0.000,0.079,2574,3405,2951,2918,2984,0,0,0,0,0,0,26.98,26.15,27.00,8.77,33.18
$GC,6320,-1.14,-293.3,2574,3405,2918,2984,567.5,-9.5,371,6329,0.12,3.47,0.00,0.000,3078,0.159,0.065,2621,2019,2951,2918,2984,0,0,0,0,0,0,26.17,26.39,26.28,8.76,33.02
$GC,6627,-1.14,-293.3,2620,2019,2917,2984,600.7,-10.1,382,6634,0.00,3.70,0.00,0.000,516,0.000,0.094,2622,620,2950,2917,2984,0,0,0,0,0,0,26.98,26.00,26.99,8.75,33.46
$GC,6680,-1.14,-293.3,2620,620,2916,2984,604.1,-10.3,383,6688,0.00,3.45,0.00,0.000,1030,0.000,0.065,2607,2023,2950,2916,2984,0,0,0,0,0,0,26.58,26.53,26.60,8.75,33.34
$GC,6987,-1.14,-293.3,2607,2022,2916,2982,637.7,-9.6,394,6994,0.00,3.72,0.00,0.000,516,0.000,0.094,2608,623,2949,2916,2982,0,0,0,0,0,0,26.98,25.99,26.99,8.74,33.81
$GC,7047,-1.14,-293.3,2607,623,2916,2982,643.6,-9.5,396,7054,0.00,3.45,0.00,0.000,1030,0.000,0.065,2592,2020,2949,2916,2982,0,0,0,0,0,0,26.58,26.52,26.60,8.74,33.81
$GC,7377,-1.14,-293.3,2591,2021,2916,2981,675.0,-9.7,407,7384,0.00,3.72,0.00,0.000,516,0.000,0.094,2592,625,2948,2916,2981,0,0,0,0,0,0,26.98,25.98,26.99,8.72,33.93
$GC,7415,-1.14,-293.3,2591,625,2915,2981,678.4,-10.0,408,7421,0.12,3.45,0.00,0.000,3078,0.171,0.065,2620,2023,2948,2915,2981,0,0,0,0,0,0,26.17,26.51,26.28,8.72,34.40
$GC,7733,-1.14,-293.3,2619,2023,2913,2981,712.3,-10.7,419,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2023,2947,2914,2981,0,0,0,0,0,0,26.98,27.00,26.99,8.71,34.17
$GC,8033,-1.14,-293.3,2620,2023,2913,2980,744.5,-10.5,429,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2023,2946,2913,2980,0,0,0,0,0,0,26.98,27.00,26.99,8.69,34.64
$GC,8333,-1.14,-293.3,2620,2023,2912,2980,778.2,-11.6,439,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2023,2946,2912,2980,0,0,0,0,0,0,26.98,27.00,26.99,8.69,34.52
$GC,8633,-1.14,-293.3,2620,2023,2911,2979,814.1,-12.0,449,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2023,2945,2911,2979,0,0,0,0,0,0,26.98,27.00,26.99,8.68,35.74
$GC,8933,-1.14,-293.3,2619,2023,2911,2978,851.3,-12.1,459,8940,0.00,3.60,0.00,0.000,260,0.000,0.082,2607,3406,2944,2911,2978,0,0,0,0,0,0,26.98,26.08,26.99,8.67,35.54
$GC,8971,-1.14,-293.3,2606,3406,2910,2978,855.0,-12.3,460,8977,0.00,3.50,0.00,0.000,1030,0.000,0.067,2607,2023,2944,2911,2977,0,0,0,0,0,0,26.42,26.32,26.46,8.66,35.39
$GC,9289,-1.14,-293.3,2606,2023,2910,2976,894.6,-11.9,471,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2023,2943,2910,2976,0,0,0,0,0,0,26.98,27.00,26.99,8.65,36.13
$GC,9589,-1.14,-293.3,2606,2023,2908,2975,932.3,-12.7,481,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2023,2941,2908,2975,0,0,0,0,0,0,26.98,27.00,26.99,8.64,36.06
$STATE,9828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9828,begin apogee
$GC,9832,-0.79,0.0,2606,1940,2908,2975,962.6,-12.4,489,10056,0.35,0.00,220.77,1.291,10246,0.139,0.000,2732,1940,1949,1917,1982,0,0,0,0,0,0,26.03,25.07,24.12,8.63,36.02
$STATE,10057,end apogee,CONTROL_FINISHED_OK
$STATE,10058,begin climb
$GC,10059,1.23,293.3,2732,1940,1917,1982,979.2,0.0,496,10292,1.80,3.95,221.10,1.284,10756,0.124,0.107,3378,553,940,922,958,0,0,0,0,0,0,25.29,25.10,24.16,8.53,34.91
$GC,10318,1.28,479.1,3378,553,919,959,971.5,5.7,505,10465,0.00,3.60,138.62,1.259,9222,0.000,0.070,3379,1946,340,334,346,0,0,0,0,0,0,25.84,25.78,24.14,8.42,33.73
$GC,10787,1.35,479.1,3378,1946,330,345,930.2,8.5,521,10795,0.08,3.65,0.00,0.000,2308,0.144,0.082,3453,3343,337,330,344,0,0,0,0,0,0,26.48,26.26,26.51,8.36,35.35
$GC,10840,1.40,479.1,3453,3342,329,344,926.9,9.0,522,10848,0.12,3.55,0.00,0.000,5126,0.174,0.070,3427,1962,337,330,344,0,0,0,0,0,0,26.17,26.34,26.34,8.36,35.58
$GC,11147,1.40,479.1,3426,1962,330,343,891.5,10.9,533,11154,0.00,3.83,0.00,0.000,516,0.000,0.104,3441,544,336,330,343,0,0,0,0,0,0,26.85,26.25,26.86,8.36,35.74
$GC,11190,1.40,479.1,3440,544,328,343,887.9,11.0,534,11195,0.00,3.53,0.00,0.000,1030,0.000,0.070,3440,1949,335,328,343,0,0,0,0,0,0,26.59,26.53,26.62,8.37,35.98
$GC,11502,1.40,479.1,3440,1948,328,343,851.2,11.1,545,11503,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1948,335,327,343,0,0,0,0,0,0,26.91,26.92,26.91,8.37,36.57
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$STATE,17767,end climb,SURFACE_DEPTH_REACHED
$STATE,17767,begin surface coast
$FINISH,0.2,1.023968
$STATE,17790,end surface coast,CONTROL_FINISHED_OK
$STATE,17790,begin surface
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$TT8_MAMPS,0.020972,0.176764
$HUMID,33.65
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$TCM_TEMP,24.60
$XPDR_PINGS,9
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$10V_AH,10.40,28.503
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,319516
$DATA_FILE_SIZE,59020,850
$CAP_FILE_SIZE,150030,0
$CFSIZE,2046525440,2015395840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,051019,211017,3306.552,-6643.855,80,1.8,120,-14.3,0.0,216.4,4,22.7