version: 66.13
glider: 191
mission: 8
dive: 76
start: 9 14 116 7 28 2
data:
$ID,191
$MISSION,8
$DIVE,76
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,120
$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,420
$T_MISSION,440
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,120
$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,0.0031999999
$HD_B,0.0087299999
$HD_C,7.1299997e-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,515
$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,1870
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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,2793
$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,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,140916,070933,948.6998,-12512.9434,24,0.9,24,9.2,0.0,0.0,9,9.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.8
$GPS2,140916,072740,948.6851,-12512.8057,16,0.8,16,9.2,0.6,350.8,10,9.9
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,193.5,4371,-22.0,-7.857,-25.39,1189
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.00,-65.6,155,1832,884,530,0.0,0.0,0,103,0.00,0.00,-74.88,0.000,16390,0.000,0.000,154,1832,3063,3090,3036,0,0,0,0,0,0,14.88,13.87,14.90
$GC,107,-1.00,-65.6,155,1834,3091,3036,2.3,-3.5,2,124,11.73,0.00,0.00,0.000,2566,0.400,0.000,2598,1831,3064,3091,3038,0,0,0,0,0,0,14.50,14.76,14.73
$GC,439,-0.90,-65.6,2598,1831,3096,3037,89.1,-9.9,17,445,0.12,2.38,0.00,0.000,2436,0.348,0.050,2618,3266,3065,3095,3036,0,0,0,0,0,0,14.64,14.79,14.80
$GC,676,-0.83,-65.6,2618,3268,3104,3032,108.3,-10.0,51,683,0.15,2.28,0.00,0.000,3206,0.305,0.037,2655,1859,3067,3103,3032,0,0,0,0,0,0,14.69,14.83,14.85
$GC,999,-0.79,-65.6,2656,1855,3103,3033,136.1,-8.5,62,1005,0.00,2.33,0.00,0.000,388,0.000,0.055,2648,3265,3070,3109,3032,0,0,0,0,0,0,15.02,14.85,15.04
$GC,1111,-0.76,-65.6,2648,3265,3103,3028,147.7,-9.9,78,1118,0.12,2.28,0.00,0.000,3206,0.299,0.040,2678,1873,3067,3102,3032,0,0,0,0,0,0,14.73,14.87,14.89
$GC,1447,-0.76,-65.6,2678,1873,3103,3030,180.9,-9.9,91,1454,0.00,2.38,0.00,0.000,516,0.000,0.057,2676,460,3068,3102,3034,0,0,0,0,0,0,15.06,14.87,15.06
$GC,1586,-0.76,-65.6,2679,461,3100,3026,195.5,-10.4,111,1592,0.00,2.28,0.00,0.000,1030,0.000,0.035,2672,1871,3064,3102,3027,0,0,0,0,0,0,14.94,14.89,14.95
$GC,1951,-0.76,-65.6,2672,1867,3103,3019,231.2,-9.8,121,1957,0.00,2.35,0.00,0.000,516,0.000,0.055,2672,462,3060,3102,3019,0,0,0,0,0,0,15.04,14.88,15.07
$GC,1999,-0.76,-65.6,2673,462,3103,3019,236.2,-10.2,128,2008,0.00,2.25,0.00,0.000,1030,0.000,0.036,2663,1847,3060,3102,3019,0,0,0,0,0,0,14.95,14.92,14.96
$GC,2343,-0.76,-65.6,2663,1847,3103,3012,269.9,-9.9,135,2356,0.00,2.33,0.00,0.000,516,0.000,0.057,2663,461,3056,3102,3011,0,0,0,0,0,0,15.07,14.90,15.09
$GC,2397,-0.73,-65.6,2663,462,3103,3010,275.6,-10.5,142,2411,0.17,2.28,0.00,0.000,3206,0.294,0.036,2690,1857,3055,3102,3009,0,0,0,0,0,0,14.78,14.93,14.94
$GC,2741,-0.73,-65.6,2691,1857,3103,3006,304.8,-8.4,149,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1857,3053,3102,3005,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3076,-0.73,-65.6,2691,1857,3103,3001,333.6,-8.5,155,3090,0.00,2.35,0.00,0.000,516,0.000,0.058,2692,460,3051,3102,3000,0,0,0,0,0,0,15.11,14.94,15.13
$GC,3124,-0.73,-65.6,2692,461,3103,2999,338.0,-9.6,161,3137,0.00,2.30,0.00,0.000,1030,0.000,0.037,2686,1871,3050,3102,2999,0,0,0,0,0,0,15.01,14.95,15.02
$GC,3480,-0.73,-65.6,2685,1872,3103,2994,370.2,-9.1,169,3493,0.00,2.35,0.00,0.000,516,0.000,0.058,2685,468,3048,3102,2994,0,0,0,0,0,0,15.11,14.95,15.13
$GC,3513,-0.73,-65.6,2685,468,3103,2995,373.6,-9.7,173,3526,0.00,2.22,0.00,0.000,1030,0.000,0.036,2676,1844,3048,3102,2994,0,0,0,0,0,0,15.01,14.97,15.03
$GC,3884,-0.73,-65.6,2676,1845,3103,2988,409.7,-9.9,183,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1844,3042,3097,2988,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4219,-0.73,-65.6,2674,1845,3102,2985,442.4,-9.8,189,4233,0.00,2.33,0.00,0.000,516,0.000,0.059,2676,464,3043,3102,2984,0,0,0,0,0,0,15.11,14.95,15.14
$GC,4323,-0.73,-65.6,2676,464,3103,2983,452.8,-9.8,203,4336,0.00,2.22,0.00,0.000,1030,0.000,0.037,2667,1828,3042,3102,2982,0,0,0,0,0,0,15.02,14.97,15.03
$GC,4679,-0.73,-65.6,2667,1829,3103,2978,485.3,-9.0,211,4692,0.00,2.38,0.00,0.000,260,0.000,0.058,2656,3262,3040,3102,2978,0,0,0,0,0,0,15.11,14.94,15.14
$GC,4775,-0.73,-65.6,2657,3262,3103,2977,493.9,-9.0,224,4789,0.15,2.30,0.00,0.000,3078,0.285,0.040,2689,1842,3039,3102,2977,0,0,0,0,0,0,14.80,14.95,14.97
$GC,5139,-0.74,-73.1,2689,1844,3102,2975,520.6,-7.2,233,5152,0.00,2.33,0.00,0.000,548,0.000,0.061,2690,471,3038,3102,2974,0,0,0,0,0,0,15.11,14.93,15.13
$GC,5277,-0.74,-73.1,2693,471,3103,2973,532.0,-8.1,252,5290,0.00,2.20,0.00,0.000,1030,0.000,0.036,2686,1828,3036,3101,2971,0,0,0,0,0,0,15.02,14.97,15.02
$GC,5598,-0.74,-73.1,2686,1829,3103,2968,558.0,-8.2,262,5611,0.00,2.38,0.00,0.000,260,0.000,0.059,2675,3260,3035,3102,2969,0,0,0,0,0,0,15.10,14.93,15.13
$GC,5694,-0.74,-73.1,2675,3261,3103,2968,566.8,-9.1,275,5707,0.00,2.30,0.00,0.000,1030,0.000,0.040,2675,1847,3035,3102,2968,0,0,0,0,0,0,15.02,14.96,15.02
$GC,6057,-0.74,-73.1,2674,1848,3102,2965,599.1,-9.0,284,6071,0.00,2.33,0.00,0.000,516,0.000,0.061,2675,467,3033,3102,2965,0,0,0,0,0,0,15.10,14.93,15.13
$GC,6196,-0.74,-73.1,2681,467,3106,2965,612.1,-9.1,303,6209,0.00,2.20,0.00,0.000,1030,0.000,0.037,2666,1822,3033,3102,2964,0,0,0,0,0,0,15.00,14.95,15.02
$GC,6517,-0.74,-73.1,2666,1823,3102,2961,639.3,-8.4,313,6530,0.00,2.30,0.00,0.000,516,0.000,0.061,2666,467,3031,3102,2961,0,0,0,0,0,0,15.10,14.92,15.13
$GC,6557,-0.74,-73.1,2666,468,3103,2960,643.0,-9.1,318,6570,0.00,2.20,0.00,0.000,1030,0.000,0.038,2656,1819,3032,3102,2962,0,0,0,0,0,0,15.00,14.95,15.02
$GC,6921,-0.74,-73.1,2657,1819,3098,2960,674.2,-8.6,327,6934,0.12,2.30,0.00,0.000,2564,0.318,0.059,2692,465,3030,3102,2959,0,0,0,0,0,0,14.78,14.92,14.90
$GC,7010,-0.74,-73.1,2692,466,3103,2958,681.7,-8.0,339,7023,0.00,2.17,0.00,0.000,1030,0.000,0.039,2686,1800,3030,3102,2958,0,0,0,0,0,0,14.99,14.93,15.00
$GC,7380,-0.74,-76.3,2686,1801,3103,2956,709.8,-7.6,349,7394,0.00,2.45,0.00,0.000,292,0.000,0.060,2675,3261,3030,3108,2953,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7434,-0.74,-76.3,2675,3262,3103,2955,714.1,-7.9,356,7449,0.00,2.40,0.00,0.000,1030,0.000,0.041,2674,1805,3028,3102,2955,0,0,0,0,0,0,14.99,14.93,14.99
$GC,7779,-0.74,-76.3,2675,1806,3103,2952,740.8,-7.9,363,7792,0.00,2.25,0.00,0.000,516,0.000,0.063,2675,474,3028,3102,2955,0,0,0,0,0,0,15.09,14.91,15.11
$GC,7910,-0.74,-76.3,2675,474,3102,2953,752.2,-8.4,381,7923,0.00,2.12,0.00,0.000,1030,0.000,0.038,2666,1782,3027,3102,2952,0,0,0,0,0,0,15.00,14.94,15.00
$GC,8238,-0.74,-76.3,2666,1782,3102,2950,780.2,-8.6,392,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1782,3026,3102,2950,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8575,-0.74,-76.3,2666,1782,3102,2950,808.6,-8.4,398,8588,0.00,2.47,0.00,0.000,260,0.000,0.061,2655,3260,3024,3101,2948,0,0,0,0,0,0,15.09,14.93,15.11
$GC,8650,-0.74,-76.3,2655,3260,3102,2949,815.4,-10.1,408,8663,0.15,2.40,0.00,0.000,3078,0.287,0.042,2685,1795,3024,3101,2947,0,0,0,0,0,0,14.76,14.92,14.94
$GC,8978,-0.74,-77.1,2686,1795,3102,2947,841.1,-7.8,419,8992,0.00,2.25,0.00,0.000,548,0.000,0.066,2698,471,3024,3102,2946,0,0,0,0,0,0,15.08,14.92,15.10
$GC,9097,-0.74,-77.1,2693,471,3102,2946,851.4,-8.4,435,9110,0.00,2.15,0.00,0.000,1030,0.000,0.039,2686,1785,3023,3102,2945,0,0,0,0,0,0,14.98,14.91,14.99
$GC,9439,-0.74,-78.4,2686,1785,3102,2944,877.5,-7.7,448,9452,0.00,2.47,0.00,0.000,292,0.000,0.061,2675,3260,3023,3102,2944,0,0,0,0,0,0,15.07,14.88,15.09
$GC,9480,-0.77,-102.5,2672,3260,3102,2945,880.7,-5.8,453,9493,0.00,2.42,0.00,0.000,1062,0.000,0.043,2675,1786,3023,3102,2944,0,0,0,0,0,0,14.98,14.91,14.99
$GC,9843,-0.78,-107.6,2675,1786,3102,2943,908.0,-7.4,462,9857,0.00,2.22,0.00,0.000,548,0.000,0.066,2675,476,3022,3101,2943,0,0,0,0,0,0,15.07,14.89,15.09
$GC,9918,-0.78,-107.6,2675,476,3102,2943,914.0,-8.0,472,9932,0.00,2.12,0.00,0.000,1030,0.000,0.040,2666,1776,3021,3101,2942,0,0,0,0,0,0,14.97,14.92,14.98
$GC,10247,-0.79,-113.4,2666,1776,3103,2940,938.2,-7.4,483,10260,0.00,2.50,0.00,0.000,292,0.000,0.061,2655,3263,3020,3100,2941,0,0,0,0,0,0,15.07,14.88,15.09
$GC,10294,-0.79,-116.8,2655,3262,3102,2941,941.9,-5.8,489,10308,0.00,2.45,0.00,0.000,1062,0.000,0.044,2655,1780,3021,3102,2940,0,0,0,0,0,0,14.96,14.90,14.98
$GC,10651,-0.79,-116.8,2655,1781,3103,2939,968.5,-7.3,497,10664,0.00,2.22,0.00,0.000,548,0.000,0.065,2655,473,3020,3101,2940,0,0,0,0,0,0,15.07,14.88,15.09
$GC,10761,-0.79,-116.8,2655,474,3099,2939,977.5,-8.2,512,10776,0.00,2.12,0.00,0.000,1030,0.000,0.040,2646,1764,3020,3102,2939,0,0,0,0,0,0,14.96,14.91,14.97
$STATE,10934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10934,begin apogee
$GC,10941,-0.21,0.0,2646,1670,3102,2939,991.1,-7.5,516,11037,0.80,0.00,85.95,1.918,10244,0.266,0.000,2855,1670,2794,2912,2676,0,0,0,0,0,0,14.71,14.26,13.63
$STATE,11039,end apogee,CONTROL_FINISHED_OK
$STATE,11039,begin climb
$GC,11043,1.06,116.8,2856,1670,2912,2666,993.9,0.0,517,11188,1.35,2.42,126.43,2.194,10756,0.181,0.067,3256,346,2308,2474,2143,0,0,0,0,0,0,14.21,14.27,13.31
$GC,11391,1.03,116.8,3261,347,2475,2113,954.7,14.1,573,11404,0.00,2.25,0.00,0.000,1158,0.000,0.034,3260,1688,2294,2475,2113,0,0,0,0,0,0,14.56,14.51,14.57
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$STATE,20883,end climb,SURFACE_DEPTH_REACHED
$STATE,20883,begin surface coast
$FINISH,0.2,1.000979
$STATE,20911,end surface coast,CONTROL_FINISHED_OK
$STATE,20911,begin surface
$SM_CCo,20940,105.85,0.122,0,0,691,515.13
$SM_GC,1.19,9.25,0.25,105.85,0.066,0.066,0.122,157,1843,691,-8.61,1.75,515.13,0,0,0,0,0,0,14.81,14.87,14.71
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$TT8_MAMPS,0.038199,0.311584
$HUMID,49.84
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$TCM_TEMP,27.60
$XPDR_PINGS,1
$SC_FREEKB,7739168
$PM_FREEKB,59572608
$TM_FREEKB,7114528
$24V_AH,13.31,32.742
$10V_AH,13.24,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.655,2.115,16.202,0.000
$MEM,311980
$DATA_FILE_SIZE,39975,1087
$CAP_FILE_SIZE,181966,0
$CFSIZE,260034560,245051392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.016,358.45,1
$GPS,140916,132004,947.349,-12513.492,34,0.9,34,9.2,0.0,0.0,9,9.0