version: 66.13
glider: 190
mission: 9
dive: 684
start: 3 13 117 0 40 24
data:
$ID,190
$MISSION,9
$DIVE,684
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,50
$D_BOOST,120
$T_BOOST,5
$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,450
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53220
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040899999
$HD_B,0.0102
$HD_C,4.5000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3920
$C_PITCH,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.1
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2740
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-163.98293
$PRESSURE_SLOPE,0.00010649362
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,134
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043932092
$SEABIRD_T_H,0.00063312391
$SEABIRD_T_I,2.6030159e-05
$SEABIRD_T_J,3.2258831e-06
$SEABIRD_C_G,-9.8128548
$SEABIRD_C_H,1.1245126
$SEABIRD_C_I,-0.00070758193
$SEABIRD_C_J,0.00013654788
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,130317,003332,1048.2703,-12503.6143,33,0.7,33,9.3,0.6,261.2,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-63.2
$GPS2,130317,004004,1048.2618,-12503.7256,14,0.8,16,9.3,0.7,323.1,10,8.1
$SPEED_LIMITS,0.127,0.213
$TGT_NAME,N
$TGT_LATLONG,1100.000,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,23.3,22770,-15.8,-7.333,-19.03,2447
$D_GRID,990
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,8,-0.68,-116.8,202,2293,735,669,0.0,0.0,0,100,0.00,0.00,-89.88,0.000,16386,0.000,0.000,202,2293,3033,3081,2985,0,0,0,0,0,0,14.58,28.83,14.59
$GC,104,-0.68,-116.8,202,2293,3083,2986,4.1,-5.7,3,126,9.00,0.00,-3.12,0.000,18438,0.396,0.000,1973,2293,3219,3307,3132,0,0,0,0,0,0,13.84,13.22,14.26
$GC,436,-0.56,-116.8,1974,2293,3314,3129,79.3,-12.3,15,441,0.15,2.53,0.00,0.000,2692,0.272,0.045,2011,856,3221,3314,3129,0,0,0,0,0,0,13.74,14.01,13.88
$GC,467,-0.48,-116.8,2011,857,3314,3129,82.7,-10.6,19,472,0.12,2.55,0.00,0.000,3206,0.259,0.054,2039,2285,3221,3314,3128,0,0,0,0,0,0,13.88,14.18,14.14
$GC,834,-0.48,-116.8,2039,2286,3317,3129,109.0,-7.0,33,840,0.00,2.53,0.00,0.000,292,0.000,0.074,2028,3690,3222,3317,3128,0,0,0,0,0,0,14.81,13.95,14.82
$GC,960,-0.48,-116.8,2029,3691,3317,3129,118.8,-7.6,51,965,0.00,2.42,0.00,0.000,1030,0.000,0.039,2028,2259,3222,3317,3128,0,0,0,0,0,0,14.25,14.18,14.28
$GC,1287,-0.48,-116.8,2029,2260,3317,3129,143.0,-7.4,62,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2260,3222,3317,3128,0,0,0,0,0,0,14.82,14.84,14.83
$GC,1623,-0.48,-116.8,2029,2260,3317,3126,169.8,-8.1,68,1628,0.00,2.40,0.00,0.000,516,0.000,0.050,2028,896,3220,3317,3124,0,0,0,0,0,0,14.83,13.85,14.85
$GC,1683,-0.48,-116.8,2029,896,3317,3125,174.9,-8.5,76,1688,0.00,2.55,0.00,0.000,1030,0.000,0.053,2026,2295,3221,3317,3125,0,0,0,0,0,0,14.12,14.00,14.16
$GC,2022,-0.48,-116.8,2027,2296,3317,3122,205.1,-9.1,89,2027,0.00,2.60,0.00,0.000,260,0.000,0.078,2020,3695,3219,3316,3122,0,0,0,0,0,0,14.83,13.97,14.85
$GC,2104,-0.48,-116.8,2020,3695,3317,3122,213.1,-9.1,101,2110,0.00,2.42,0.00,0.000,1030,0.000,0.038,2020,2286,3219,3317,3121,0,0,0,0,0,0,14.15,14.05,14.16
$GC,2475,-0.48,-116.8,2020,2287,3318,3118,248.0,-9.7,111,2480,0.00,2.55,0.00,0.000,516,0.000,0.052,2020,891,3217,3317,3117,0,0,0,0,0,0,14.83,13.87,14.84
$GC,2564,-0.48,-116.8,2020,891,3317,3116,256.8,-8.7,124,2569,0.12,2.55,0.00,0.000,3078,0.240,0.054,2043,2280,3216,3317,3115,0,0,0,0,0,0,13.71,13.99,13.95
$GC,2928,-0.48,-116.8,2044,2281,3318,3113,284.3,-7.7,133,2933,0.00,2.60,0.00,0.000,260,0.000,0.077,2039,3691,3215,3317,3113,0,0,0,0,0,0,14.83,13.93,14.84
$GC,3018,-0.54,-116.8,2040,3691,3317,3112,291.4,-7.4,146,3023,0.00,2.45,0.00,0.000,1158,0.000,0.040,2039,2278,3214,3317,3112,0,0,0,0,0,0,14.14,14.07,14.16
$GC,3380,-0.54,-116.8,2039,2279,3318,3108,317.7,-7.3,155,3385,0.00,2.53,0.00,0.000,548,0.000,0.051,2039,896,3212,3316,3108,0,0,0,0,0,0,14.83,13.83,14.85
$GC,3440,-0.60,-116.8,2039,897,3318,3108,322.1,-7.6,163,3445,0.00,2.58,0.00,0.000,1158,0.000,0.054,2039,2295,3212,3316,3108,0,0,0,0,0,0,14.11,13.98,14.15
$GC,3779,-0.60,-116.8,2038,2297,3317,3106,347.7,-7.7,176,3784,0.00,2.60,0.00,0.000,260,0.000,0.082,2038,3691,3210,3316,3105,0,0,0,0,0,0,14.83,13.95,14.85
$GC,3861,-0.66,-116.8,2038,3692,3317,3105,354.2,-7.1,188,3867,0.17,2.45,0.00,0.000,5286,0.106,0.041,1964,2282,3210,3316,3104,0,0,0,0,0,0,13.98,14.04,14.08
$GC,4232,-0.60,-116.8,1964,2283,3316,3100,395.7,-11.6,198,4237,0.12,2.55,0.00,0.000,2692,0.258,0.050,1996,900,3208,3316,3100,0,0,0,0,0,0,13.69,13.78,13.72
$GC,4264,-0.60,-116.8,1997,899,3317,3100,400.0,-10.7,203,4270,0.00,2.58,0.00,0.000,1030,0.000,0.057,1996,2289,3208,3316,3100,0,0,0,0,0,0,14.12,14.00,14.17
$GC,4628,-0.60,-116.8,1996,2290,3317,3097,436.3,-10.3,212,4633,0.00,2.60,0.00,0.000,516,0.000,0.054,1996,891,3206,3316,3097,0,0,0,0,0,0,14.82,13.87,14.83
$GC,4653,-0.60,-116.8,1996,892,3316,3097,439.8,-11.1,216,4661,0.00,2.60,0.00,0.000,1030,0.000,0.057,1996,2296,3205,3314,3097,0,0,0,0,0,0,14.13,14.00,14.17
$GC,5023,-0.60,-116.8,1996,2296,3315,3096,479.4,-10.9,226,5028,0.00,2.60,0.00,0.000,260,0.000,0.083,1991,3691,3204,3313,3096,0,0,0,0,0,0,14.83,13.94,14.85
$GC,5098,-0.60,-116.8,1991,3691,3313,3096,487.4,-9.5,237,5104,0.00,2.47,0.00,0.000,1030,0.000,0.042,1991,2302,3204,3312,3096,0,0,0,0,0,0,14.02,13.97,14.05
$GC,5419,-0.60,-116.8,1991,2303,3313,3095,517.2,-9.3,247,5424,0.00,2.60,0.00,0.000,516,0.000,0.054,1991,877,3203,3312,3094,0,0,0,0,0,0,14.82,13.86,14.84
$GC,5502,-0.60,-116.8,1991,878,3312,3094,524.8,-8.1,259,5508,0.00,2.65,0.00,0.000,1030,0.000,0.057,1986,2281,3202,3311,3093,0,0,0,0,0,0,14.14,13.94,14.19
$GC,5873,-0.60,-116.8,1987,2281,3309,3094,555.8,-8.6,269,5879,0.00,2.62,0.00,0.000,260,0.000,0.083,1984,3689,3200,3308,3093,0,0,0,0,0,0,14.82,13.93,14.83
$GC,5933,-0.60,-116.8,1985,3690,3309,3093,561.0,-8.6,277,5939,0.00,2.47,0.00,0.000,1030,0.000,0.042,1984,2282,3201,3309,3093,0,0,0,0,0,0,14.13,14.05,14.15
$GC,6273,-0.60,-116.8,1985,2282,3309,3092,592.9,-9.7,290,6279,0.00,2.55,0.00,0.000,516,0.000,0.054,1984,889,3199,3308,3091,0,0,0,0,0,0,14.83,13.89,14.85
$GC,6365,-0.60,-116.8,1984,889,3309,3091,602.4,-9.4,303,6369,0.00,2.60,0.00,0.000,1030,0.000,0.057,1984,2295,3199,3307,3091,0,0,0,0,0,0,14.11,13.97,14.15
$GC,6726,-0.60,-116.8,1985,2295,3308,3089,638.5,-10.2,312,6731,0.00,2.60,0.00,0.000,260,0.000,0.084,1979,3688,3197,3307,3088,0,0,0,0,0,0,14.82,13.93,14.84
$GC,6751,-0.60,-116.8,1980,3688,3307,3089,641.5,-9.9,316,6757,0.00,2.47,0.00,0.000,1030,0.000,0.044,1979,2283,3197,3306,3088,0,0,0,0,0,0,14.12,14.03,14.15
$GC,7122,-0.60,-116.8,1979,2284,3306,3087,679.4,-10.3,326,7127,0.00,2.55,0.00,0.000,516,0.000,0.054,1979,886,3196,3305,3087,0,0,0,0,0,0,14.81,13.88,14.83
$GC,7211,-0.60,-116.8,1980,886,3305,3087,688.8,-9.4,339,7217,0.12,2.60,0.00,0.000,3078,0.256,0.057,1999,2287,3195,3304,3087,0,0,0,0,0,0,13.71,13.99,13.97
$GC,7573,-0.60,-116.8,2000,2289,3305,3085,720.6,-8.9,348,7578,0.00,2.65,0.00,0.000,260,0.000,0.087,1999,3700,3195,3305,3085,0,0,0,0,0,0,14.83,13.95,14.85
$GC,7634,-0.60,-116.8,1999,3700,3304,3085,725.7,-9.3,356,7639,0.00,2.50,0.00,0.000,1030,0.000,0.043,1999,2273,3194,3303,3085,0,0,0,0,0,0,14.12,14.07,14.14
$GC,7973,-0.60,-116.8,1999,2274,3304,3085,754.6,-8.5,369,7978,0.00,2.53,0.00,0.000,516,0.000,0.057,1999,899,3193,3303,3084,0,0,0,0,0,0,14.83,13.92,14.84
$GC,8055,-0.60,-116.8,1999,899,3304,3084,761.6,-7.7,381,8061,0.00,2.58,0.00,0.000,1030,0.000,0.059,1998,2281,3193,3302,3084,0,0,0,0,0,0,14.14,14.00,14.17
$GC,8426,-0.60,-116.8,1999,2282,3303,3081,791.5,-8.1,391,8431,0.00,2.62,0.00,0.000,260,0.000,0.087,1997,3691,3191,3302,3081,0,0,0,0,0,0,14.81,13.94,14.82
$GC,8485,-0.60,-116.8,1998,3691,3302,3081,796.2,-9.1,399,8490,0.00,2.50,0.00,0.000,1030,0.000,0.044,1997,2275,3191,3301,3081,0,0,0,0,0,0,14.12,14.04,14.14
$GC,8824,-0.60,-116.8,1997,2266,3301,3080,824.6,-8.6,412,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2266,3190,3300,3080,0,0,0,0,0,0,14.83,14.83,14.83
$GC,9161,-0.60,-116.8,1997,2266,3301,3079,854.0,-8.8,418,9166,0.00,2.70,0.00,0.000,260,0.000,0.086,1987,3691,3189,3300,3078,0,0,0,0,0,0,14.81,13.95,14.82
$GC,9194,-0.60,-116.8,1986,3691,3300,3077,856.8,-8.1,423,9199,0.00,2.53,0.00,0.000,1030,0.000,0.046,1987,2277,3188,3299,3078,0,0,0,0,0,0,14.14,14.07,14.18
$GC,9556,-0.60,-116.8,1988,2268,3298,3079,890.5,-9.2,432,9561,0.00,2.58,0.00,0.000,516,0.000,0.054,1987,878,3188,3298,3078,0,0,0,0,0,0,14.82,13.93,14.83
$GC,9583,-0.60,-116.8,1987,878,3298,3078,892.6,-6.9,436,9588,0.00,2.62,0.00,0.000,1062,0.000,0.060,1986,2282,3188,3298,3078,0,0,0,0,0,0,14.11,13.97,14.16
$GC,9951,-0.60,-116.8,1986,2282,3298,3077,925.6,-8.8,446,9956,0.00,2.65,0.00,0.000,260,0.000,0.089,1984,3689,3187,3298,3076,0,0,0,0,0,0,14.81,13.97,14.83
$GC,10033,-0.60,-116.8,1985,3689,3298,3077,932.2,-5.1,458,10038,0.00,2.53,0.00,0.000,1062,0.000,0.046,1985,2270,3186,3297,3076,0,0,0,0,0,0,14.14,14.06,14.16
$GC,10404,-0.60,-116.8,1984,2261,3297,3077,963.1,-8.3,468,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2261,3186,3296,3076,0,0,0,0,0,0,14.80,14.82,14.81
$STATE,10735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10735,begin apogee
$GC,10743,-0.19,0.0,1986,2196,3297,3074,990.2,-8.1,474,10945,0.55,0.00,199.00,1.568,10244,0.203,0.000,2129,2196,2740,2865,2616,0,0,0,0,0,0,13.66,13.90,13.16
$STATE,10945,end apogee,CONTROL_FINISHED_OK
$STATE,10945,begin climb
$GC,10949,0.68,116.8,2130,2196,2854,2611,995.6,0.0,477,11115,0.98,2.62,154.10,1.776,10756,0.134,0.058,2417,797,2263,2385,2142,0,0,0,0,0,0,13.69,13.81,12.99
$GC,11157,0.68,116.8,2418,797,2351,2122,989.7,10.6,513,11162,0.00,2.62,0.00,0.000,1030,0.000,0.054,2417,2203,2235,2349,2121,0,0,0,0,0,0,13.93,13.82,13.98
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$STATE,22983,end climb,SURFACE_DEPTH_REACHED
$STATE,22983,begin surface coast
$FINISH,-0.0,1.022100
$STATE,23011,end surface coast,CONTROL_FINISHED_OK
$STATE,23011,begin surface
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$SM_GC,0.73,7.03,0.22,36.60,0.072,0.099,0.132,205,2297,700,-6.15,-0.68,500.17,0,0,0,0,0,0,14.13,14.14,14.09
$IRIDIUM_FIX,1039.91,-12502.40,120317,173231
$TT8_MAMPS,0.038199,0.295855
$HUMID,60.71
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,19.30
$XPDR_PINGS,27
$24V_AH,12.99,262.938
$10V_AH,11.96,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.675,246.575,732.200,36.600,0.000,0.000,0.000,237.100,6.750,0.000,16.695,0.000,17104.176,954.555,4764.787,610.453,0.000,2312.256,0.000,4026.314,0.000,0.829,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,2913.857,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,25.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334368
$DATA_FILE_SIZE,50017,1153
$CAP_FILE_SIZE,170304,0
$CFSIZE,260034560,175341568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.048,294.54,1
$GPS,130317,070603,1049.735,-12503.345,39,0.8,39,9.3,0.5,24.8,10,6.6