version: 66.13
glider: 190
mission: 9
dive: 692
start: 3 15 117 5 55 43
data:
$ID,190
$MISSION,9
$DIVE,692
$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,37
$R_STBD_OVSHOOT,38
$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
$GPS1,150317,054851,1058.8339,-12500.4756,39,0.8,40,9.3,0.7,238.6,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-64.1
$GPS2,150317,055522,1058.8246,-12500.5762,18,0.8,19,9.3,0.6,256.7,10,8.8
$SPEED_LIMITS,0.127,0.213
$TGT_NAME,N
$TGT_LATLONG,1100.000,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,31.9,2416,-27.6,-7.333,-30.00,837
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,8,-1.09,-39.9,214,2308,736,666,0.0,0.0,0,97,0.00,0.00,-85.75,0.000,16390,0.000,0.000,213,2308,2905,2948,2862,0,0,0,0,0,0,14.56,12.65,14.42
$GC,102,-1.09,-39.9,213,2308,2949,2863,4.5,-6.3,3,116,8.40,2.42,0.00,0.000,2308,0.409,0.057,1830,3692,2907,2952,2862,0,0,0,0,0,0,13.79,14.21,14.06
$GC,145,-0.80,-39.9,1831,3693,2957,2861,25.6,-39.7,10,156,0.43,2.47,0.00,0.000,3206,0.331,0.042,1929,2267,2908,2958,2858,0,0,0,0,0,0,13.63,14.12,13.88
$GC,464,-0.80,-39.9,1928,2267,2964,2856,85.2,-10.9,22,468,0.00,2.45,0.00,0.000,516,0.000,0.048,1929,881,2909,2963,2855,0,0,0,0,0,0,14.75,14.01,14.77
$GC,495,-0.80,-39.9,1929,881,2965,2855,87.7,-8.4,26,499,0.00,2.50,0.00,0.000,1030,0.000,0.050,1920,2272,2909,2964,2854,0,0,0,0,0,0,14.16,14.05,14.20
$GC,863,-0.80,-39.9,1920,2272,2967,2855,120.4,-9.1,38,867,0.00,2.58,0.00,0.000,260,0.000,0.071,1909,3696,2910,2966,2854,0,0,0,0,0,0,14.79,13.96,14.81
$GC,1068,-0.80,-39.9,1909,3697,2967,2854,141.3,-10.2,67,1073,0.12,2.45,0.00,0.000,3078,0.272,0.036,1933,2259,2910,2967,2854,0,0,0,0,0,0,13.53,14.05,13.82
$GC,1428,-0.80,-39.9,1933,2260,2968,2854,175.5,-9.9,76,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2259,2910,2966,2854,0,0,0,0,0,0,14.82,14.83,14.83
$GC,1765,-0.80,-39.9,1933,2260,2966,2853,212.2,-10.9,82,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2259,2909,2965,2853,0,0,0,0,0,0,14.81,14.83,14.83
$GC,2100,-0.80,-39.9,1933,2260,2967,2850,247.0,-10.4,88,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2259,2907,2966,2849,0,0,0,0,0,0,14.83,14.85,14.85
$GC,2436,-0.80,-39.9,1933,2260,2967,2846,284.0,-11.1,94,2440,0.00,2.50,0.00,0.000,516,0.000,0.050,1933,897,2905,2966,2845,0,0,0,0,0,0,14.83,13.88,14.85
$GC,2496,-0.80,-39.9,1933,896,2966,2845,290.4,-10.7,102,2500,0.00,2.55,0.00,0.000,1030,0.000,0.054,1929,2282,2904,2965,2844,0,0,0,0,0,0,14.13,14.02,14.17
$GC,2834,-0.80,-39.9,1929,2282,2966,2842,322.9,-9.3,115,2839,0.00,2.58,0.00,0.000,260,0.000,0.073,1918,3691,2904,2966,2842,0,0,0,0,0,0,14.82,13.95,14.85
$GC,2902,-0.80,-39.9,1918,3692,2967,2842,330.0,-10.0,125,2908,0.00,2.47,0.00,0.000,1030,0.000,0.038,1918,2289,2903,2965,2841,0,0,0,0,0,0,14.01,13.96,14.04
$GC,3230,-0.80,-39.9,1919,2289,2966,2838,362.3,-10.2,136,3235,0.00,2.55,0.00,0.000,516,0.000,0.051,1918,886,2901,2965,2837,0,0,0,0,0,0,14.82,13.86,14.84
$GC,3290,-0.80,-39.9,1918,887,2967,2836,369.0,-11.2,144,3295,0.00,2.58,0.00,0.000,1030,0.000,0.054,1914,2286,2901,2966,2836,0,0,0,0,0,0,14.14,14.02,14.18
$GC,3629,-0.80,-39.9,1914,2286,2966,2835,410.3,-12.4,157,3634,0.00,2.60,0.00,0.000,260,0.000,0.076,1903,3697,2899,2965,2834,0,0,0,0,0,0,14.82,13.94,14.84
$GC,3677,-0.80,-39.9,1904,3697,2966,2835,417.2,-13.5,164,3688,0.12,2.53,0.00,0.000,3078,0.253,0.039,1935,2264,2899,2965,2834,0,0,0,0,0,0,13.52,14.02,13.71
$GC,4024,-0.85,-39.9,1935,2264,2966,2830,458.2,-11.9,171,4029,0.00,2.50,0.00,0.000,644,0.000,0.051,1935,897,2897,2965,2830,0,0,0,0,0,0,14.83,13.93,14.84
$GC,4064,-0.90,-39.9,1935,897,2966,2830,463.5,-11.9,177,4070,0.00,2.55,0.00,0.000,1158,0.000,0.056,1933,2275,2897,2965,2829,0,0,0,0,0,0,14.14,14.01,14.18
$GC,4421,-0.96,-39.9,1934,2275,2966,2827,502.4,-11.0,185,4427,0.12,2.62,0.00,0.000,4484,0.159,0.074,1877,3695,2895,2965,2826,0,0,0,0,0,0,14.15,13.94,14.13
$GC,4504,-0.96,-39.9,1877,3695,2966,2827,513.8,-13.5,197,4510,0.00,2.45,0.00,0.000,1030,0.000,0.039,1877,2288,2895,2965,2826,0,0,0,0,0,0,14.12,14.04,14.15
$GC,4874,-0.96,-39.9,1877,2289,2966,2824,559.5,-12.2,207,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2289,2894,2965,2824,0,0,0,0,0,0,14.83,14.84,14.84
$GC,5211,-0.96,-39.9,1877,2289,2966,2820,599.2,-11.6,213,5217,0.00,2.60,0.00,0.000,516,0.000,0.052,1877,886,2891,2964,2819,0,0,0,0,0,0,14.81,13.84,14.83
$GC,5301,-0.96,-39.9,1877,886,2965,2820,609.8,-10.6,226,5306,0.00,2.60,0.00,0.000,1030,0.000,0.056,1868,2283,2891,2964,2819,0,0,0,0,0,0,14.14,14.01,14.18
$GC,5663,-0.96,-39.9,1868,2283,2962,2819,650.0,-11.3,235,5668,0.00,2.62,0.00,0.000,260,0.000,0.078,1857,3698,2890,2962,2819,0,0,0,0,0,0,14.82,13.94,14.84
$GC,5780,-0.96,-39.9,1857,3698,2961,2819,663.2,-11.9,251,5785,0.15,2.53,0.00,0.000,3078,0.287,0.040,1886,2266,2889,2960,2819,0,0,0,0,0,0,13.48,14.06,13.83
$GC,6121,-0.96,-39.9,1887,2267,2961,2816,699.0,-10.5,264,6125,0.00,2.53,0.00,0.000,516,0.000,0.053,1886,891,2888,2961,2816,0,0,0,0,0,0,14.81,13.92,14.83
$GC,6218,-0.96,-39.9,1887,891,2960,2816,710.0,-11.0,278,6223,0.00,2.58,0.00,0.000,1030,0.000,0.055,1877,2282,2887,2959,2816,0,0,0,0,0,0,14.12,13.99,14.16
$GC,6572,-0.96,-39.9,1878,2282,2961,2815,752.2,-12.3,286,6577,0.00,2.62,0.00,0.000,260,0.000,0.080,1867,3691,2886,2959,2814,0,0,0,0,0,0,14.81,13.96,14.83
$GC,6654,-0.96,-39.9,1867,3691,2959,2815,763.4,-12.0,298,6659,0.00,2.47,0.00,0.000,1030,0.000,0.041,1867,2285,2886,2958,2815,0,0,0,0,0,0,14.13,14.05,14.16
$GC,7024,-0.96,-39.9,1867,2285,2957,2813,811.9,-13.2,308,7029,0.00,2.58,0.00,0.000,516,0.000,0.052,1867,889,2884,2957,2812,0,0,0,0,0,0,14.81,13.91,14.82
$GC,7084,-0.96,-39.9,1867,889,2958,2812,820.0,-14.4,316,7089,0.15,2.60,0.00,0.000,3078,0.317,0.056,1886,2281,2884,2957,2811,0,0,0,0,0,0,13.53,14.00,13.90
$GC,7423,-0.96,-39.9,1887,2281,2958,2810,860.8,-11.9,329,7429,0.00,2.62,0.00,0.000,260,0.000,0.080,1876,3693,2883,2957,2809,0,0,0,0,0,0,14.81,13.98,14.83
$GC,7556,-0.96,-39.9,1876,3693,2956,2810,877.4,-12.0,348,7561,0.00,2.50,0.00,0.000,1030,0.000,0.043,1876,2279,2882,2955,2809,0,0,0,0,0,0,14.15,14.08,14.19
$GC,7875,-0.96,-39.9,1877,2280,2955,2808,915.2,-11.7,358,7880,0.00,2.55,0.00,0.000,516,0.000,0.054,1876,887,2881,2955,2808,0,0,0,0,0,0,14.81,13.94,14.83
$GC,7952,-0.96,-39.9,1877,888,2955,2808,923.6,-9.9,369,7958,0.00,2.62,0.00,0.000,1030,0.000,0.056,1866,2284,2880,2954,2807,0,0,0,0,0,0,14.14,14.02,14.19
$GC,8272,-0.96,-39.9,1867,2285,2954,2807,959.7,-11.2,379,8277,0.00,2.62,0.00,0.000,260,0.000,0.084,1856,3690,2880,2954,2806,0,0,0,0,0,0,14.81,13.97,14.83
$GC,8331,-0.96,-39.9,1856,3690,2954,2806,966.7,-14.5,387,8336,0.15,2.50,0.00,0.000,3078,0.288,0.042,1885,2270,2879,2953,2806,0,0,0,0,0,0,13.46,14.03,13.81
$STATE,8554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8554,begin apogee
$GC,8564,-0.19,0.0,1886,2198,2952,2807,990.8,-10.8,398,8628,1.00,0.00,61.28,1.692,10244,0.267,0.000,2128,2198,2741,2830,2653,0,0,0,0,0,0,13.81,14.09,13.27
$STATE,8628,end apogee,CONTROL_FINISHED_OK
$STATE,8628,begin climb
$GC,8632,1.09,39.9,2129,2198,2828,2648,993.5,0.0,399,8693,1.33,0.00,56.08,1.916,11270,0.116,0.000,2542,2198,2575,2672,2478,0,0,0,0,0,0,13.65,14.28,13.05
$GC,9011,1.03,73.9,2544,2199,2654,2464,983.3,3.2,420,9062,0.00,2.62,44.72,1.892,8612,0.000,0.085,2544,3619,2430,2533,2327,0,0,0,0,0,0,14.64,13.92,13.26
$GC,9123,0.93,78.3,2544,3619,2520,2323,976.2,6.8,436,9128,0.25,2.53,0.00,0.000,5286,0.373,0.056,2508,2212,2420,2519,2321,0,0,0,0,0,0,13.52,14.09,13.95
$GC,9463,0.93,78.3,2508,2212,2519,2314,948.9,7.9,449,9469,0.00,2.58,0.00,0.000,516,0.000,0.066,2518,800,2415,2517,2314,0,0,0,0,0,0,14.71,14.16,14.73
$GC,9497,0.93,78.3,2518,800,2515,2315,945.0,8.8,454,9502,0.00,2.58,0.00,0.000,1030,0.000,0.057,2518,2212,2415,2516,2314,0,0,0,0,0,0,14.31,14.19,14.35
$GC,9859,0.93,78.3,2519,2212,2517,2312,918.6,7.5,463,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2212,2414,2516,2312,0,0,0,0,0,0,14.76,14.78,14.78
$GC,10195,0.93,81.7,2519,2212,2514,2311,894.9,6.9,469,10201,0.00,2.62,0.00,0.000,548,0.000,0.063,2528,796,2412,2513,2311,0,0,0,0,0,0,14.78,14.08,14.79
$GC,10265,0.94,87.5,2529,796,2514,2310,888.9,6.6,479,10276,0.00,2.58,5.25,1.591,9254,0.000,0.057,2528,2205,2382,2486,2279,0,0,0,0,0,0,14.27,14.15,13.40
$GC,10592,0.94,87.5,2528,2206,2494,2288,864.6,7.9,490,10596,0.00,2.62,0.00,0.000,516,0.000,0.063,2538,790,2390,2493,2288,0,0,0,0,0,0,14.79,14.05,14.78
$GC,10631,0.94,87.5,2539,791,2494,2288,860.2,10.2,496,10637,0.17,2.60,0.00,0.000,5126,0.332,0.058,2506,2203,2390,2493,2288,0,0,0,0,0,0,13.64,14.09,14.03
$GC,10988,0.94,87.5,2505,2203,2494,2288,832.7,8.1,504,10993,0.00,2.62,0.00,0.000,260,0.000,0.084,2504,3614,2390,2493,2287,0,0,0,0,0,0,14.76,13.96,14.78
$GC,11058,0.89,87.5,2505,3614,2494,2288,825.7,9.0,514,11063,0.00,2.53,0.00,0.000,1158,0.000,0.053,2514,2199,2391,2494,2288,0,0,0,0,0,0,14.16,14.05,14.19
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$STATE,22483,end climb,SURFACE_DEPTH_REACHED
$STATE,22483,begin surface coast
$FINISH,0.1,1.022100
$STATE,22510,end surface coast,CONTROL_FINISHED_OK
$STATE,22510,begin surface
$SM_CCo,22533,134.50,0.130,0,0,700,500.17
$SM_GC,0.77,7.22,0.22,134.50,0.067,0.099,0.130,213,2279,700,-6.14,-0.99,500.17,0,0,0,0,0,0,14.07,14.09,14.11
$IRIDIUM_FIX,1050.89,-12458.80,140317,233052
$TT8_MAMPS,0.038199,0.293608
$HUMID,56.37
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,20.30
$XPDR_PINGS,38
$24V_AH,12.65,265.631
$10V_AH,12.33,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.725,231.075,350.300,134.500,0.000,0.000,0.000,244.875,9.500,0.000,19.527,0.000,17023.369,724.638,4675.639,618.202,0.000,1991.854,0.000,3941.207,0.000,0.829,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,2913.616,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,25.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334336
$DATA_FILE_SIZE,46644,1089
$CAP_FILE_SIZE,167981,0
$CFSIZE,260034560,174694400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,275.31,1
$GPS,150317,121433,1100.002,-12500.034,27,0.7,28,9.3,0.0,297.7,12,6.2