version: 66.13
glider: 191
mission: 8
dive: 29
start: 9 1 116 6 54 20
data:
$ID,191
$MISSION,8
$DIVE,29
$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,0.0029500001
$HD_B,0.0092399996
$HD_C,6.5400003e-05
$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,550
$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,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,3
$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,38
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2798
$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,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,010916,063003,946.0510,-12503.6426,24,0.7,24,9.2,0.0,0.0,11,8.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.6
$GPS2,010916,065359,946.0162,-12503.5518,17,0.8,17,9.2,0.0,0.0,10,7.9
$SPEED_LIMITS,0.159,0.233
$TGT_NAME,SE
$TGT_LATLONG,946.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,64.2,31517,-17.0,-9.167,-21.49,2043
$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,-0.89,-146.0,160,1808,737,412,0.0,0.0,0,96,0.00,0.00,-74.70,0.000,16386,0.000,0.000,159,1808,2779,2778,2780,0,0,0,0,0,0,14.84,28.83,14.88
$GC,100,-0.89,-146.0,159,1807,2779,2781,3.9,-3.9,5,127,12.07,2.65,-9.15,0.000,18980,0.407,2.127,2645,378,3399,3480,3318,0,0,0,0,0,0,14.52,13.98,14.73
$GC,211,-0.74,-146.0,2646,377,3481,3320,44.9,-31.4,26,218,0.22,2.28,0.00,0.000,3206,0.309,0.037,2688,1771,3399,3480,3319,0,0,0,0,0,0,14.59,14.72,14.78
$GC,548,-0.67,-146.0,2686,1772,3480,3319,105.0,-14.0,49,554,0.00,2.35,0.00,0.000,644,0.000,0.057,2686,371,3399,3479,3319,0,0,0,0,0,0,14.97,14.81,15.00
$GC,674,-0.60,-146.0,2686,371,3488,3322,121.5,-11.6,73,680,0.22,2.53,0.00,0.000,3206,0.270,0.035,2731,1929,3398,3479,3318,0,0,0,0,0,0,14.73,14.85,14.87
$GC,1007,-0.60,-146.0,2727,1930,3482,3322,155.3,-10.5,89,1013,0.00,2.03,0.00,0.000,260,0.000,0.054,2723,3180,3400,3480,3321,0,0,0,0,0,0,15.03,14.86,15.05
$GC,1119,-0.60,-146.0,2723,3183,3487,3321,167.5,-10.8,111,1126,0.00,1.95,0.00,0.000,1030,0.000,0.035,2723,1950,3400,3479,3321,0,0,0,0,0,0,14.95,14.89,14.95
$GC,1433,-0.60,-146.0,2724,1950,3481,3318,201.0,-10.9,123,1440,0.00,2.62,0.00,0.000,516,0.000,0.059,2729,380,3398,3479,3317,0,0,0,0,0,0,15.06,14.89,15.07
$GC,1579,-0.60,-146.0,2723,380,3480,3313,218.0,-11.7,151,1586,0.00,2.50,0.00,0.000,1030,0.000,0.035,2713,1930,3396,3479,3314,0,0,0,0,0,0,14.97,14.92,14.98
$GC,1893,-0.60,-146.0,2713,1931,3480,3308,254.4,-11.4,163,1906,0.00,2.60,0.00,0.000,516,0.000,0.057,2713,378,3394,3480,3308,0,0,0,0,0,0,15.07,14.91,15.10
$GC,1912,-0.60,-146.0,2713,379,3480,3307,256.7,-11.5,165,1925,0.12,2.53,0.00,0.000,3078,0.272,0.037,2728,1932,3394,3481,3307,0,0,0,0,0,0,14.83,14.93,14.96
$GC,2243,-0.60,-146.0,2728,1933,3480,3302,290.4,-9.8,179,2256,0.00,2.62,0.00,0.000,516,0.000,0.059,2728,371,3389,3479,3300,0,0,0,0,0,0,15.09,14.93,15.11
$GC,2297,-0.60,-146.0,2729,370,3480,3301,296.1,-10.5,188,2310,0.00,2.50,0.00,0.000,1030,0.000,0.037,2720,1912,3389,3479,3300,0,0,0,0,0,0,15.00,14.95,15.02
$GC,2622,-0.60,-146.0,2717,1914,3480,3294,328.6,-10.2,201,2635,0.00,2.58,0.00,0.000,516,0.000,0.059,2720,379,3387,3479,3295,0,0,0,0,0,0,15.11,14.94,15.13
$GC,2671,-0.60,-146.0,2720,379,3480,3295,334.0,-10.9,209,2684,0.00,2.45,0.00,0.000,1030,0.000,0.037,2710,1894,3386,3479,3293,0,0,0,0,0,0,15.02,14.96,15.03
$GC,3001,-0.60,-146.0,2710,1897,3480,3288,369.8,-10.9,223,3014,0.00,2.55,0.00,0.000,516,0.000,0.060,2710,379,3383,3479,3288,0,0,0,0,0,0,15.11,14.95,15.14
$GC,3060,-0.60,-146.0,2710,379,3480,3288,376.8,-11.9,233,3074,0.15,2.40,0.00,0.000,3078,0.268,0.037,2733,1867,3382,3478,3287,0,0,0,0,0,0,14.86,14.97,15.00
$GC,3380,-0.60,-146.0,2732,1869,3482,3282,407.8,-9.6,245,3394,0.00,2.15,0.00,0.000,260,0.000,0.057,2725,3179,3380,3479,3282,0,0,0,0,0,0,15.11,14.95,15.14
$GC,3404,-0.60,-146.0,2725,3180,3480,3281,410.2,-9.6,248,3418,0.00,2.12,0.00,0.000,1030,0.000,0.040,2726,1860,3380,3479,3281,0,0,0,0,0,0,15.07,14.97,15.02
$GC,3730,-0.60,-146.0,2725,1860,3479,3276,441.9,-9.9,261,3743,0.00,2.50,0.00,0.000,516,0.000,0.063,2725,375,3377,3479,3276,0,0,0,0,0,0,15.11,14.95,15.14
$GC,3846,-0.60,-146.0,2726,375,3480,3276,454.0,-10.5,282,3859,0.00,2.35,0.00,0.000,1030,0.000,0.037,2712,1829,3376,3479,3274,0,0,0,0,0,0,15.02,14.97,15.03
$GC,4171,-0.60,-146.0,2716,1827,3480,3271,488.1,-10.5,295,4185,0.00,2.22,0.00,0.000,260,0.000,0.059,2705,3177,3375,3479,3271,0,0,0,0,0,0,15.11,14.96,15.14
$GC,4211,-0.60,-146.0,2705,3176,3480,3272,492.2,-10.6,301,4225,0.00,2.22,0.00,0.000,1030,0.000,0.041,2706,1811,3375,3481,3270,0,0,0,0,0,0,15.02,14.97,15.03
$GC,4551,-0.60,-146.0,2706,1812,3480,3266,528.6,-10.8,317,4565,0.00,2.42,0.00,0.000,516,0.000,0.064,2705,375,3372,3479,3265,0,0,0,0,0,0,15.11,14.95,15.14
$GC,4622,-0.60,-146.0,2705,376,3480,3265,536.5,-11.4,329,4635,0.15,2.33,0.00,0.000,3078,0.270,0.039,2729,1801,3372,3479,3265,0,0,0,0,0,0,14.86,14.97,15.00
$GC,4962,-0.60,-146.0,2729,1802,3480,3260,569.3,-9.5,345,4975,0.00,2.28,0.00,0.000,260,0.000,0.060,2721,3172,3370,3479,3261,0,0,0,0,0,0,15.11,14.95,15.16
$GC,5002,-0.60,-146.0,2721,3173,3478,3260,573.1,-9.8,351,5015,0.00,2.25,0.00,0.000,1030,0.000,0.041,2721,1797,3369,3479,3260,0,0,0,0,0,0,15.02,14.97,15.03
$GC,5342,-0.60,-146.0,2721,1798,3480,3257,605.3,-9.2,367,5355,0.00,2.40,0.00,0.000,516,0.000,0.064,2721,377,3367,3479,3256,0,0,0,0,0,0,15.11,14.94,15.14
$GC,5382,-0.60,-146.0,2721,377,3480,3256,609.2,-10.0,373,5395,0.00,2.33,0.00,0.000,1030,0.000,0.039,2712,1803,3367,3479,3256,0,0,0,0,0,0,15.02,14.97,15.03
$GC,5722,-0.60,-146.0,2709,1800,3487,3254,641.4,-9.4,389,5735,0.00,2.28,0.00,0.000,260,0.000,0.060,2701,3172,3365,3479,3252,0,0,0,0,0,0,15.11,14.95,15.13
$GC,5762,-0.60,-146.0,2701,3174,3480,3252,645.3,-9.3,395,5776,0.12,2.28,0.00,0.000,3078,0.262,0.043,2729,1795,3365,3479,3252,0,0,0,0,0,0,14.86,14.96,14.99
$GC,6105,-0.60,-146.0,2729,1795,3480,3250,674.9,-8.8,411,6119,0.00,2.40,0.00,0.000,548,0.000,0.066,2729,380,3364,3479,3249,0,0,0,0,0,0,15.11,14.94,15.13
$GC,6200,-0.60,-146.0,2729,380,3480,3249,684.4,-9.7,428,6213,0.00,2.30,0.00,0.000,1030,0.000,0.039,2722,1786,3363,3479,3247,0,0,0,0,0,0,15.01,14.97,15.02
$GC,6506,-0.60,-146.0,2722,1787,3479,3246,713.2,-9.5,439,6519,0.00,2.30,0.00,0.000,260,0.000,0.060,2711,3174,3362,3479,3245,0,0,0,0,0,0,15.10,14.94,15.12
$GC,6565,-0.60,-146.0,2712,3172,3479,3245,719.0,-9.9,449,6578,0.00,2.28,0.00,0.000,1030,0.000,0.042,2711,1779,3361,3479,3244,0,0,0,0,0,0,15.01,14.94,15.02
$GC,6885,-0.60,-146.0,2716,1780,3480,3242,750.0,-9.9,461,6898,0.00,2.38,0.00,0.000,516,0.000,0.066,2712,378,3360,3479,3242,0,0,0,0,0,0,15.10,14.92,15.11
$GC,6985,-0.60,-146.0,2712,379,3480,3241,760.4,-10.2,479,6998,0.12,2.22,0.00,0.000,3078,0.276,0.039,2728,1746,3360,3479,3241,0,0,0,0,0,0,14.84,14.95,14.97
$GC,7328,-0.60,-146.0,2729,1747,3480,3239,791.2,-8.9,495,7341,0.00,2.38,0.00,0.000,292,0.000,0.060,2720,3173,3358,3479,3238,0,0,0,0,0,0,15.09,14.93,15.11
$GC,7422,-0.60,-146.0,2720,3174,3479,3238,799.9,-9.1,512,7436,0.00,2.33,0.00,0.000,1062,0.000,0.043,2720,1761,3358,3479,3237,0,0,0,0,0,0,15.00,14.94,15.01
$GC,7728,-0.60,-146.0,2716,1761,3480,3236,828.6,-9.5,523,7741,0.00,2.35,0.00,0.000,516,0.000,0.068,2720,381,3357,3479,3235,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7799,-0.60,-146.0,2720,380,3480,3235,835.3,-8.4,535,7812,0.00,2.22,0.00,0.000,1062,0.000,0.040,2711,1739,3356,3479,3234,0,0,0,0,0,0,15.00,14.95,15.01
$GC,8139,-0.60,-146.0,2712,1740,3480,3239,869.0,-9.8,551,8152,0.00,2.40,0.00,0.000,260,0.000,0.062,2701,3179,3356,3479,3233,0,0,0,0,0,0,15.09,14.92,15.14
$GC,8272,-0.60,-146.0,2700,3181,3478,3232,881.8,-8.3,575,8285,0.15,2.33,0.00,0.000,3110,0.252,0.043,2734,1776,3356,3479,3233,0,0,0,0,0,0,14.83,14.92,14.97
$GC,8615,-0.60,-146.0,2734,1777,3480,3234,910.0,-8.0,591,8628,0.00,2.38,0.00,0.000,548,0.000,0.068,2731,381,3354,3479,3230,0,0,0,0,0,0,15.07,14.91,15.10
$GC,8689,-0.60,-146.0,2735,382,3480,3229,916.5,-8.4,604,8703,0.00,2.28,0.00,0.000,1062,0.000,0.041,2727,1770,3354,3479,3229,0,0,0,0,0,0,14.99,14.94,15.00
$GC,9025,-0.60,-146.0,2727,1770,3480,3228,943.0,-7.9,619,9038,0.00,2.35,0.00,0.000,292,0.000,0.062,2718,3179,3353,3479,3227,0,0,0,0,0,0,15.08,14.95,15.10
$GC,9109,-0.60,-146.0,2717,3179,3480,3227,949.7,-7.8,634,9122,0.00,2.30,0.00,0.000,1062,0.000,0.042,2717,1781,3353,3479,3227,0,0,0,0,0,0,14.98,14.92,15.00
$GC,9435,-0.60,-146.0,2717,1780,3480,3226,974.9,-7.6,647,9448,0.00,2.40,0.00,0.000,548,0.000,0.069,2717,375,3352,3479,3225,0,0,0,0,0,0,15.08,14.90,15.10
$GC,9505,-0.60,-146.0,2717,376,3479,3225,980.8,-8.4,659,9518,0.00,2.30,0.00,0.000,1062,0.000,0.041,2708,1771,3352,3479,3225,0,0,0,0,0,0,14.98,14.93,15.01
$STATE,9632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9632,begin apogee
$GC,9640,-0.21,0.0,2709,1705,3480,3225,991.1,-7.9,668,9809,0.55,0.00,154.90,2.287,10244,0.236,0.000,2857,1705,2799,2960,2638,0,0,0,0,1,0,14.82,13.95,13.17
$STATE,9811,end apogee,CONTROL_FINISHED_OK
$STATE,9811,begin climb
$GC,9815,0.89,146.0,2858,1705,2960,2639,996.3,0.0,673,9987,1.15,2.55,156.48,2.134,10756,0.178,0.069,3203,342,2197,2371,2024,0,0,0,0,0,0,13.98,14.03,13.24
$GC,10139,0.86,146.0,3203,341,2361,1993,966.9,11.9,736,10152,0.00,2.33,0.00,0.000,1158,0.000,0.034,3203,1727,2176,2361,1992,0,0,0,0,0,0,14.45,14.41,14.47
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$STATE,20154,end climb,SURFACE_DEPTH_REACHED
$STATE,20154,begin surface coast
$FINISH,0.2,1.007754
$STATE,20169,end surface coast,CONTROL_FINISHED_OK
$STATE,20169,begin surface
$SM_CCo,20197,34.42,0.126,0,0,552,550.21
$SM_GC,1.36,9.38,0.20,34.42,0.075,0.073,0.126,163,1766,552,-8.60,1.36,550.21,0,0,0,0,0,0,14.71,14.75,14.66
$IRIDIUM_FIX,940.75,-12504.54,010916,063744
$TT8_MAMPS,0.038948,0.316078
$HUMID,54.21
$INTERNAL_PRESSURE,9.1065
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,7757888
$PM_FREEKB,61298368
$TM_FREEKB,7485536
$24V_AH,13.17,14.951
$10V_AH,13.08,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.700,229.625,620.750,34.425,0.000,0.000,0.000,788.375,0.250,0.000,19.122,0.000,15239.794,860.257,4850.569,694.876,0.000,3520.966,0.000,2600.015,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.290,2.662,11.532,0.000
$MEM,311968
$DATA_FILE_SIZE,53289,1451
$CAP_FILE_SIZE,212439,0
$CFSIZE,260034560,252674048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.069,186.72,1
$GPS,010916,123252,946.071,-12501.444,38,0.7,38,9.2,0.0,0.0,9,8.0