version: 66.13
glider: 191
mission: 8
dive: 22
start: 8 30 116 14 4 51
data:
$ID,191
$MISSION,8
$DIVE,22
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,6
$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,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54430
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,595.40039
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$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,165
$PITCH_MAX,3888
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,21
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1780
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-151.91774
$PRESSURE_SLOPE,0.00010696654
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044184052
$SEABIRD_T_H,0.00064843823
$SEABIRD_T_I,2.703744e-05
$SEABIRD_T_J,3.4046161e-06
$SEABIRD_C_G,-9.8009434
$SEABIRD_C_H,1.1236035
$SEABIRD_C_I,-0.0016777924
$SEABIRD_C_J,0.00020399806
$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,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,300816,133933,951.5300,-12513.2715,36,0.8,36,9.2,0.0,0.0,11,8.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.5
$GPS2,300816,140429,951.2360,-12513.1846,19,0.7,29,9.2,0.4,229.7,11,3.0
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,176.3,8823,-16.1,-9.167,-19.98,2424
$D_GRID,1000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.95,-146.0,155,1814,701,418,0.0,0.0,0,96,0.00,0.00,-74.62,0.000,16386,0.000,0.000,154,1815,2767,2763,2772,0,0,0,0,0,0,14.81,28.83,14.84
$GC,100,-0.95,-146.0,155,1813,2763,2779,3.9,-3.9,5,132,11.85,2.62,-11.48,0.000,18980,0.406,2.127,2603,377,3568,3680,3456,0,0,0,0,0,0,14.50,13.97,14.71
$GC,138,-0.63,-146.0,2603,377,3681,3456,22.7,-44.3,12,145,0.47,2.30,0.00,0.000,3206,0.327,0.039,2701,1774,3567,3679,3456,0,0,0,0,0,0,14.48,14.64,14.65
$GC,454,-0.57,-146.0,2698,1776,3681,3456,98.1,-13.8,34,461,0.00,2.30,0.00,0.000,388,0.000,0.054,2693,3183,3568,3680,3456,0,0,0,0,0,0,14.93,14.78,14.95
$GC,662,-0.53,-146.0,2693,3183,3681,3457,126.0,-13.7,75,670,0.17,2.28,0.00,0.000,3206,0.256,0.038,2736,1779,3568,3680,3457,0,0,0,0,0,0,14.71,14.82,14.85
$GC,967,-0.53,-146.0,2735,1780,3680,3457,161.5,-10.6,86,974,0.00,2.33,0.00,0.000,516,0.000,0.059,2735,376,3567,3680,3454,0,0,0,0,0,0,15.02,14.85,15.07
$GC,1035,-0.53,-146.0,2735,377,3680,3457,169.4,-11.2,99,1042,0.00,2.25,0.00,0.000,1030,0.000,0.036,2728,1783,3568,3679,3458,0,0,0,0,0,0,14.93,14.88,14.94
$GC,1364,-0.53,-146.0,2728,1784,3680,3454,205.4,-10.8,114,1370,0.00,2.28,0.00,0.000,260,0.000,0.055,2722,3176,3566,3679,3454,0,0,0,0,0,0,15.05,14.89,15.07
$GC,1461,-0.53,-146.0,2717,3180,3680,3452,215.5,-10.0,133,1468,0.00,2.25,0.00,0.000,1030,0.000,0.040,2717,1777,3566,3680,3452,0,0,0,0,0,0,14.95,14.90,14.97
$GC,1790,-0.52,-146.0,2717,1778,3687,3446,251.2,-11.2,148,1796,0.00,2.35,0.00,0.000,644,0.000,0.061,2718,373,3562,3679,3446,0,0,0,0,0,0,15.07,14.90,15.09
$GC,1847,-0.51,-146.0,2717,373,3680,3445,257.9,-11.5,159,1856,0.15,2.28,0.00,0.000,3206,0.259,0.037,2742,1777,3562,3679,3445,0,0,0,0,0,0,14.82,14.92,14.95
$GC,2153,-0.52,-146.0,2742,1778,3680,3438,287.7,-9.7,170,2159,0.00,2.30,0.00,0.000,388,0.000,0.057,2733,3182,3558,3679,3438,0,0,0,0,0,0,15.07,14.91,15.09
$GC,2251,-0.54,-146.0,2734,3179,3680,3438,296.8,-9.0,189,2257,0.00,2.25,0.00,0.000,1190,0.000,0.040,2733,1783,3560,3684,3437,0,0,0,0,0,0,14.97,14.91,14.98
$GC,2579,-0.54,-146.0,2733,1783,3680,3431,329.0,-9.8,204,2585,0.00,2.35,0.00,0.000,516,0.000,0.063,2734,381,3554,3679,3429,0,0,0,0,0,0,15.08,14.91,15.10
$GC,2656,-0.54,-146.0,2734,381,3680,3429,337.2,-10.6,219,2663,0.00,2.25,0.00,0.000,1030,0.000,0.037,2724,1780,3553,3679,3428,0,0,0,0,0,0,15.00,14.94,15.00
$GC,2975,-0.54,-146.0,2725,1781,3680,3424,371.0,-10.8,232,2982,0.00,2.30,0.00,0.000,260,0.000,0.057,2714,3176,3551,3679,3423,0,0,0,0,0,0,15.08,14.92,15.11
$GC,3115,-0.54,-146.0,2714,3178,3680,3420,385.8,-10.8,259,3122,0.00,2.28,0.00,0.000,1030,0.000,0.041,2713,1780,3549,3679,3420,0,0,0,0,0,0,14.98,14.92,14.99
$GC,3434,-0.54,-146.0,2714,1781,3680,3416,422.1,-11.5,272,3441,0.00,2.35,0.00,0.000,516,0.000,0.063,2713,385,3547,3679,3415,0,0,0,0,0,0,15.08,14.91,15.10
$GC,3512,-0.54,-146.0,2714,386,3680,3414,431.6,-11.9,287,3519,0.12,2.25,0.00,0.000,3078,0.270,0.037,2731,1779,3546,3679,3414,0,0,0,0,0,0,14.83,14.94,14.96
$GC,3831,-0.54,-146.0,2731,1779,3680,3410,464.2,-10.0,300,3837,0.00,2.30,0.00,0.000,260,0.000,0.059,2723,3173,3543,3679,3408,0,0,0,0,0,0,15.08,14.92,15.10
$GC,3934,-0.56,-146.0,2723,3173,3680,3409,474.1,-9.4,320,3940,0.00,2.22,0.00,0.000,1158,0.000,0.041,2722,1798,3543,3678,3408,0,0,0,0,0,0,14.98,14.93,15.00
$GC,4257,-0.56,-146.0,2723,1803,3680,3405,506.0,-9.8,334,4270,0.00,2.40,0.00,0.000,516,0.000,0.064,2723,374,3545,3686,3404,0,0,0,0,0,0,15.08,14.92,15.11
$GC,4321,-0.56,-146.0,2723,375,3680,3403,512.6,-10.1,345,4335,0.00,2.30,0.00,0.000,1030,0.000,0.038,2713,1792,3541,3679,3403,0,0,0,0,0,0,15.00,14.95,15.01
$GC,4627,-0.56,-146.0,2713,1792,3680,3399,542.7,-9.9,356,4640,0.00,2.30,0.00,0.000,260,0.000,0.058,2703,3180,3539,3679,3399,0,0,0,0,0,0,15.09,14.93,15.09
$GC,4701,-0.56,-146.0,2703,3181,3679,3398,549.9,-9.5,369,4714,0.00,2.28,0.00,0.000,1030,0.000,0.041,2703,1778,3538,3679,3398,0,0,0,0,0,0,15.00,14.96,15.02
$GC,5036,-0.56,-146.0,2703,1777,3680,3395,583.7,-10.2,384,5049,0.00,2.38,0.00,0.000,516,0.000,0.064,2703,373,3536,3679,3394,0,0,0,0,0,0,15.09,14.93,15.12
$GC,5110,-0.55,-146.0,2703,372,3680,3394,591.9,-11.1,397,5124,0.15,2.28,0.00,0.000,3206,0.268,0.039,2727,1787,3536,3679,3393,0,0,0,0,0,0,14.85,14.96,14.98
$GC,5449,-0.56,-146.0,2727,1783,3680,3389,625.1,-10.2,412,5462,0.00,2.30,0.00,0.000,388,0.000,0.060,2718,3171,3534,3679,3390,0,0,0,0,0,0,15.10,14.94,15.13
$GC,5538,-0.59,-146.0,2719,3172,3679,3388,634.9,-10.6,428,5551,0.00,2.25,0.00,0.000,1158,0.000,0.042,2718,1782,3533,3679,3388,0,0,0,0,0,0,15.00,14.95,15.02
$GC,5858,-0.59,-146.0,2719,1781,3680,3385,670.8,-11.3,440,5871,0.00,2.38,0.00,0.000,516,0.000,0.067,2718,378,3532,3679,3385,0,0,0,0,0,0,15.10,14.93,15.12
$GC,5922,-0.59,-146.0,2718,378,3679,3384,678.4,-11.5,451,5937,0.00,2.28,0.00,0.000,1030,0.000,0.039,2711,1774,3531,3679,3384,0,0,0,0,0,0,15.01,14.96,15.02
$GC,6228,-0.59,-146.0,2710,1775,3680,3381,711.6,-10.5,462,6242,0.00,2.33,0.00,0.000,260,0.000,0.060,2699,3177,3529,3678,3381,0,0,0,0,0,0,15.10,14.94,15.12
$GC,6299,-0.60,-146.0,2699,3177,3680,3381,718.7,-10.0,474,6312,0.00,2.28,0.00,0.000,1158,0.000,0.042,2699,1783,3529,3679,3380,0,0,0,0,0,0,15.00,14.95,15.02
$GC,6639,-0.60,-146.0,2700,1789,3680,3377,752.7,-9.9,490,6652,0.00,2.40,0.00,0.000,516,0.000,0.067,2699,377,3528,3679,3377,0,0,0,0,0,0,15.09,14.92,15.12
$GC,6728,-0.60,-146.0,2699,377,3680,3377,762.0,-10.3,506,6741,0.00,2.30,0.00,0.000,1030,0.000,0.041,2690,1787,3527,3679,3375,0,0,0,0,0,0,15.00,14.95,15.02
$GC,7048,-0.60,-146.0,2690,1788,3679,3374,794.4,-10.2,518,7061,0.00,2.30,0.00,0.000,260,0.000,0.061,2679,3174,3526,3679,3373,0,0,0,0,0,0,15.09,14.93,15.11
$GC,7112,-0.60,-146.0,2679,3175,3680,3374,801.1,-10.1,529,7126,0.15,2.30,0.00,0.000,3078,0.262,0.044,2713,1773,3524,3679,3370,0,0,0,0,0,0,14.84,14.94,14.97
$GC,7421,-0.61,-146.0,2713,1773,3680,3371,828.3,-8.9,540,7434,0.00,2.38,0.00,0.000,676,0.000,0.068,2713,378,3524,3679,3370,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7480,-0.61,-146.0,2713,378,3680,3370,834.4,-9.6,550,7494,0.00,2.28,0.00,0.000,1030,0.000,0.041,2706,1774,3524,3679,3370,0,0,0,0,0,0,15.00,14.95,15.02
$GC,7800,-0.61,-146.0,2706,1775,3679,3368,864.5,-9.6,562,7814,0.00,2.33,0.00,0.000,260,0.000,0.061,2696,3172,3523,3679,3368,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7871,-0.62,-146.0,2695,3173,3679,3369,871.1,-9.5,574,7884,0.00,2.33,0.00,0.000,1158,0.000,0.044,2696,1770,3523,3679,3367,0,0,0,0,0,0,15.00,14.93,15.01
$GC,8211,-0.62,-146.0,2696,1769,3679,3366,905.7,-10.2,590,8224,0.00,2.38,0.00,0.000,516,0.000,0.070,2695,375,3522,3678,3366,0,0,0,0,0,0,15.08,14.91,15.10
$GC,8285,-0.62,-146.0,2696,376,3680,3366,913.7,-11.6,603,8299,0.00,2.30,0.00,0.000,1030,0.000,0.041,2686,1778,3522,3679,3366,0,0,0,0,0,0,14.98,14.94,15.00
$GC,8621,-0.62,-146.0,2687,1779,3679,3364,949.0,-10.7,618,8634,0.00,2.33,0.00,0.000,260,0.000,0.062,2676,3173,3521,3679,3363,0,0,0,0,0,0,15.08,14.92,15.10
$GC,8705,-0.62,-146.0,2676,3174,3680,3363,957.9,-11.5,633,8718,0.12,2.30,0.00,0.000,3078,0.270,0.045,2702,1777,3520,3679,3362,0,0,0,0,0,0,14.83,14.92,14.96
$STATE,9027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9027,begin apogee
$GC,9038,-0.24,0.0,2702,1696,3679,3362,990.1,-9.7,646,9191,0.45,0.00,143.18,2.189,10244,0.226,0.000,2827,1695,2967,3144,2791,0,0,0,0,0,0,14.83,13.99,13.30
$STATE,9193,end apogee,CONTROL_FINISHED_OK
$STATE,9193,begin climb
$GC,9196,0.95,146.0,2827,1696,3136,2777,997.4,0.0,651,9364,1.38,2.55,148.07,2.134,10500,0.183,0.058,3205,3112,2364,2544,2184,0,0,0,0,0,0,14.01,14.07,13.26
$GC,9370,0.87,146.0,3205,3110,2538,2171,989.8,11.2,684,9384,0.00,2.40,0.00,0.000,1158,0.000,0.042,3214,1737,2351,2536,2167,0,0,0,0,0,0,14.11,14.03,14.12
$GC,9696,0.82,146.0,3215,1737,2537,2155,957.0,10.1,697,9710,0.15,2.47,0.00,0.000,4740,0.307,0.067,3189,325,2345,2536,2154,0,0,0,0,0,0,14.46,14.55,14.57
$GC,9756,0.81,172.6,3189,326,2538,2154,951.1,8.0,707,9793,0.00,2.30,25.70,1.968,9382,0.000,0.034,3188,1724,2265,2449,2082,0,0,0,0,0,0,14.67,14.63,13.77
$GC,10108,0.77,172.6,3190,1725,2434,2058,917.2,9.7,725,10122,0.12,2.33,0.00,0.000,4484,0.298,0.052,3160,3106,2245,2434,2056,0,0,0,0,0,0,14.54,14.64,14.64
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$STATE,20092,end climb,SURFACE_DEPTH_REACHED
$STATE,20095,begin surface coast
$FINISH,0.2,1.008165
$STATE,20107,end surface coast,CONTROL_FINISHED_OK
$STATE,20107,begin surface
$SM_CCo,20136,40.62,0.125,0,0,539,595.59
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$TT8_MAMPS,0.038948,0.387982
$HUMID,53.97
$INTERNAL_PRESSURE,9.1065
$TCM_TEMP,26.30
$XPDR_PINGS,0
$SC_FREEKB,7760800
$PM_FREEKB,61584000
$TM_FREEKB,7551648
$24V_AH,13.26,12.049
$10V_AH,13.10,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.301,2.682,11.721,0.000
$MEM,311904
$DATA_FILE_SIZE,49884,1400
$CAP_FILE_SIZE,211272,0
$CFSIZE,260034560,253947904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.087,192.17,1
$GPS,300816,194227,948.054,-12513.600,38,0.8,38,9.2,0.6,133.3,10,9.4