version: 66.13
glider: 191
mission: 8
dive: 237
start: 10 31 116 8 30 8
data:
$ID,191
$MISSION,8
$DIVE,237
$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,2
$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,0.029999999
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1760
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,81
$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
$GPS1,311016,081504,1013.1073,-12509.5752,39,0.8,39,9.2,0.7,2.4,10,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.7
$GPS2,311016,082946,1013.2431,-12509.3203,20,0.7,20,9.2,0.8,34.4,10,7.8
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,275.4,8014,-16.6,-7.857,-20.89,1914
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.84,-116.8,149,1889,890,521,0.0,0.0,0,109,0.00,0.00,-80.53,0.000,16390,0.000,0.000,148,1890,3272,3320,3224,0,0,0,0,0,0,14.72,13.18,14.73
$GC,113,-0.84,-116.8,148,1890,3321,3224,8.5,-12.8,3,130,11.65,2.45,0.00,0.000,2820,0.370,0.042,2663,451,3273,3322,3225,0,0,0,0,0,0,14.26,14.55,14.56
$GC,361,-0.46,-116.8,2663,452,3326,3225,77.3,-16.9,39,368,0.47,2.28,0.00,0.000,3206,0.266,0.033,2772,1837,3274,3324,3225,0,0,0,0,0,0,14.31,14.61,14.56
$GC,725,-0.46,-116.8,2772,1839,3334,3219,109.6,-8.7,53,733,0.00,2.38,0.00,0.000,260,0.000,0.051,2763,3267,3276,3333,3219,0,0,0,0,0,0,14.87,14.62,14.90
$GC,942,-0.46,-116.8,2764,3267,3334,3219,126.9,-8.1,84,950,0.00,2.20,0.00,0.000,1030,0.000,0.036,2769,1947,3276,3333,3219,0,0,0,0,0,0,14.67,14.63,14.69
$GC,1286,-0.46,-116.8,2763,1946,3329,3220,156.0,-8.6,91,1293,0.00,2.53,0.00,0.000,516,0.000,0.057,2763,464,3276,3333,3219,0,0,0,0,0,0,14.90,14.64,14.92
$GC,1484,-0.46,-116.8,2763,463,3333,3217,174.5,-9.5,119,1490,0.00,2.40,0.00,0.000,1030,0.000,0.034,2754,1929,3274,3333,3216,0,0,0,0,0,0,14.76,14.69,14.78
$GC,1847,-0.46,-116.8,2753,1931,3334,3210,206.8,-8.8,129,1854,0.00,2.50,0.00,0.000,516,0.000,0.054,2754,464,3271,3333,3210,0,0,0,0,0,0,14.92,14.61,14.95
$GC,1945,-0.46,-116.8,2753,468,3333,3209,215.7,-8.8,143,1952,0.15,2.33,0.00,0.000,3078,0.241,0.034,2778,1884,3269,3332,3207,0,0,0,0,0,0,14.44,14.71,14.66
$GC,2296,-0.46,-116.8,2779,1886,3333,3204,240.5,-7.0,151,2302,0.00,2.42,0.00,0.000,548,0.000,0.056,2778,463,3267,3332,3203,0,0,0,0,0,0,14.91,14.64,14.93
$GC,2330,-0.46,-116.8,2779,466,3333,3203,243.1,-7.8,156,2336,0.00,2.33,0.00,0.000,1062,0.000,0.034,2772,1881,3267,3333,3202,0,0,0,0,0,0,14.76,14.71,14.78
$GC,2688,-0.46,-116.8,2772,1881,3334,3196,270.5,-7.8,165,2701,0.00,0.00,0.00,0.000,38,0.000,0.000,2772,1881,3264,3333,3196,0,0,0,0,0,0,14.96,14.98,14.98
$GC,3024,-0.46,-116.8,2772,1881,3333,3188,298.5,-8.4,171,3037,0.00,2.42,0.00,0.000,516,0.000,0.057,2772,466,3261,3332,3191,0,0,0,0,0,0,14.98,14.71,15.00
$GC,3086,-0.46,-116.8,2773,461,3333,3191,304.2,-9.1,179,3099,0.00,2.28,0.00,0.000,1030,0.000,0.034,2763,1853,3261,3333,3190,0,0,0,0,0,0,14.76,14.73,14.78
$GC,3428,-0.46,-116.8,2763,1853,3333,3186,334.9,-9.1,192,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1847,3258,3332,3185,0,0,0,0,0,0,14.99,15.02,15.01
$GC,3764,-0.46,-116.8,2763,1855,3332,3181,365.9,-9.2,198,3777,0.00,2.38,0.00,0.000,260,0.000,0.057,2753,3264,3256,3332,3181,0,0,0,0,0,0,15.00,14.70,15.02
$GC,3804,-0.46,-116.8,2753,3265,3333,3181,369.6,-9.2,203,3818,0.00,2.35,0.00,0.000,1030,0.000,0.037,2753,1832,3256,3332,3180,0,0,0,0,0,0,14.83,14.76,14.85
$GC,4168,-0.46,-116.8,2749,1833,3331,3176,401.6,-8.7,212,4182,0.00,2.33,0.00,0.000,516,0.000,0.059,2753,468,3254,3332,3176,0,0,0,0,0,0,14.99,14.70,15.01
$GC,4293,-0.46,-116.8,2753,468,3333,3175,412.5,-8.5,229,4306,0.15,2.20,0.00,0.000,3078,0.244,0.034,2777,1815,3253,3332,3175,0,0,0,0,0,0,14.46,14.76,14.69
$GC,4629,-0.46,-116.8,2776,1818,3333,3170,434.4,-6.4,241,4642,0.00,2.30,0.00,0.000,548,0.000,0.056,2777,470,3251,3332,3170,0,0,0,0,0,0,14.97,14.68,15.00
$GC,4662,-0.46,-116.8,2777,470,3333,3171,436.8,-6.9,245,4676,0.00,2.17,0.00,0.000,1062,0.000,0.034,2771,1803,3251,3332,3170,0,0,0,0,0,0,14.83,14.78,14.85
$GC,5033,-0.46,-116.8,2771,1803,3333,3168,462.3,-7.0,255,5046,0.00,2.47,0.00,0.000,292,0.000,0.056,2760,3263,3250,3332,3168,0,0,0,0,0,0,15.00,14.68,15.02
$GC,5102,-0.46,-116.8,2765,3261,3332,3168,467.3,-7.4,264,5115,0.00,2.42,0.00,0.000,1062,0.000,0.039,2760,1800,3249,3332,3167,0,0,0,0,0,0,14.81,14.73,14.83
$GC,5437,-0.46,-116.8,2760,1800,3333,3164,493.8,-8.0,276,5450,0.00,2.28,0.00,0.000,516,0.000,0.060,2760,470,3250,3332,3168,0,0,0,0,0,0,14.98,14.69,15.00
$GC,5540,-0.46,-116.8,2760,469,3339,3163,503.2,-8.9,290,5554,0.00,2.12,0.00,0.000,1030,0.000,0.034,2753,1771,3247,3332,3163,0,0,0,0,0,0,14.82,14.76,14.83
$GC,5897,-0.46,-116.8,2753,1772,3333,3159,532.6,-8.2,298,5910,0.00,2.53,0.00,0.000,260,0.000,0.055,2738,3265,3245,3332,3159,0,0,0,0,0,0,14.97,14.67,15.00
$GC,6001,-0.46,-116.8,2742,3265,3333,3158,541.2,-8.3,312,6014,0.15,2.47,0.00,0.000,3078,0.239,0.039,2771,1779,3244,3332,3157,0,0,0,0,0,0,14.45,14.73,14.68
$GC,6358,-0.57,-116.8,2775,1778,3333,3157,565.8,-6.8,320,6371,0.00,2.25,0.00,0.000,676,0.000,0.060,2775,465,3244,3332,3156,0,0,0,0,0,0,14.98,14.66,15.00
$GC,6440,-0.57,-116.8,2775,466,3333,3155,571.9,-7.3,331,6453,0.00,2.15,0.00,0.000,1062,0.000,0.035,2769,1773,3243,3332,3155,0,0,0,0,0,0,14.81,14.75,14.82
$GC,6762,-0.57,-116.8,2770,1773,3333,3154,594.5,-7.1,341,6775,0.00,2.55,0.00,0.000,292,0.000,0.056,2758,3268,3242,3332,3153,0,0,0,0,0,0,14.97,14.66,14.99
$GC,6859,-0.67,-116.8,2758,3269,3333,3152,601.6,-7.2,354,6872,0.15,2.50,0.00,0.000,5286,0.118,0.038,2700,1761,3242,3332,3152,0,0,0,0,0,0,14.67,14.70,14.76
$GC,7223,-0.67,-116.8,2700,1760,3333,3152,637.6,-10.1,363,7236,0.00,2.22,0.00,0.000,516,0.000,0.061,2700,464,3241,3332,3150,0,0,0,0,0,0,14.96,14.65,14.98
$GC,7341,-0.67,-116.8,2700,464,3333,3150,650.5,-11.0,379,7355,0.00,2.12,0.00,0.000,1030,0.000,0.036,2691,1751,3240,3332,3149,0,0,0,0,0,0,14.79,14.73,14.81
$GC,7684,-0.67,-116.8,2691,1752,3333,3146,686.7,-10.6,392,7697,0.00,2.58,0.00,0.000,260,0.000,0.056,2679,3264,3239,3332,3146,0,0,0,0,0,0,14.97,14.59,14.99
$GC,7766,-0.67,-116.8,2680,3263,3333,3146,695.7,-10.7,403,7780,0.12,2.53,0.00,0.000,3078,0.279,0.041,2703,1754,3242,3332,3153,0,0,0,0,0,0,14.35,14.68,14.62
$GC,8088,-0.67,-116.8,2703,1754,3333,3142,727.5,-9.8,413,8101,0.00,2.20,0.00,0.000,516,0.000,0.063,2707,474,3237,3332,3142,0,0,0,0,0,0,14.95,14.64,14.97
$GC,8178,-0.67,-116.8,2707,475,3333,3142,736.7,-10.0,425,8191,0.00,2.10,0.00,0.000,1030,0.000,0.035,2701,1741,3237,3332,3142,0,0,0,0,0,0,14.78,14.72,14.80
$GC,8548,-0.67,-116.8,2701,1742,3333,3139,772.3,-9.6,435,8561,0.00,2.60,0.00,0.000,260,0.000,0.057,2689,3262,3236,3332,3140,0,0,0,0,0,0,14.95,14.62,14.97
$GC,8666,-0.67,-116.8,2691,3262,3333,3140,783.4,-9.3,451,8680,0.00,2.53,0.00,0.000,1030,0.000,0.041,2689,1758,3235,3332,3139,0,0,0,0,0,0,14.74,14.66,14.77
$GC,9008,-0.67,-116.8,2690,1758,3332,3138,815.5,-9.3,464,9022,0.00,2.22,0.00,0.000,516,0.000,0.062,2689,470,3234,3332,3136,0,0,0,0,0,0,14.96,14.62,14.98
$GC,9098,-0.58,-116.8,2695,471,3333,3136,824.5,-10.0,476,9112,0.25,2.15,0.00,0.000,3206,0.261,0.037,2738,1767,3234,3332,3136,0,0,0,0,0,0,14.31,14.71,14.59
$GC,9469,-0.58,-116.8,2739,1768,3332,3134,851.4,-7.3,486,9482,0.00,2.58,0.00,0.000,292,0.000,0.058,2730,3270,3232,3332,3133,0,0,0,0,0,0,14.95,14.60,14.97
$GC,9618,-0.58,-116.8,2730,3270,3333,3133,862.2,-7.4,506,9631,0.00,2.47,0.00,0.000,1062,0.000,0.040,2729,1791,3232,3332,3132,0,0,0,0,0,0,14.75,14.67,14.78
$GC,9988,-0.58,-116.8,2730,1792,3333,3131,890.4,-7.5,516,10001,0.00,2.30,0.00,0.000,548,0.000,0.063,2729,470,3231,3332,3131,0,0,0,0,0,0,14.95,14.59,14.97
$GC,10091,-0.58,-116.8,2730,470,3333,3131,899.0,-8.4,530,10104,0.00,2.17,0.00,0.000,1030,0.000,0.037,2721,1785,3231,3332,3131,0,0,0,0,0,0,14.75,14.69,14.77
$GC,10448,-0.58,-116.8,2722,1785,3332,3131,927.1,-8.2,538,10461,0.00,2.47,0.00,0.000,260,0.000,0.059,2710,3261,3230,3332,3129,0,0,0,0,0,0,14.94,14.57,14.96
$GC,10510,-0.58,-116.8,2710,3262,3333,3125,932.3,-8.3,546,10524,0.12,2.50,0.00,0.000,3078,0.254,0.041,2742,1779,3229,3330,3129,0,0,0,0,0,0,14.35,14.64,14.58
$GC,10856,-0.58,-116.8,2736,1780,3333,3129,958.2,-7.5,559,10869,0.00,2.28,0.00,0.000,548,0.000,0.063,2735,469,3230,3332,3128,0,0,0,0,0,0,14.90,14.58,14.93
$GC,10938,-0.58,-116.8,2737,468,3333,3128,965.2,-9.1,570,10951,0.00,2.15,0.00,0.000,1030,0.000,0.037,2730,1767,3229,3332,3127,0,0,0,0,0,0,14.73,14.67,14.76
$STATE,11256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11256,begin apogee
$GC,11264,-0.21,0.0,2730,1768,3332,3127,990.5,-7.9,580,11435,0.50,0.00,161.12,1.895,10244,0.235,0.000,2857,1768,2793,2922,2664,0,0,0,0,0,0,14.33,13.99,13.28
$STATE,11437,end apogee,CONTROL_FINISHED_OK
$STATE,11437,begin climb
$GC,11440,0.84,116.8,2857,1768,2919,2654,997.2,0.0,583,11587,1.17,2.58,125.57,2.174,10756,0.177,0.062,3189,368,2307,2476,2138,0,0,0,0,0,0,13.96,14.06,13.00
$GC,11803,0.84,116.8,3188,367,2471,2115,970.0,9.4,636,11816,0.00,2.40,0.00,0.000,1030,0.000,0.034,3188,1776,2291,2473,2110,0,0,0,0,0,0,14.40,14.35,14.42
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$STATE,23536,end climb,SURFACE_DEPTH_REACHED
$STATE,23536,begin surface coast
$FINISH,0.1,1.008858
$STATE,23561,end surface coast,CONTROL_FINISHED_OK
$STATE,23561,begin surface
$SM_CCo,23587,84.22,0.122,0,0,691,515.13
$SM_GC,1.28,9.25,0.00,84.22,0.064,0.000,0.122,158,1841,691,-8.60,-0.82,515.13,0,0,0,0,0,0,14.64,14.92,14.51
$IRIDIUM_FIX,1007.02,-12522.32,311016,012907
$TT8_MAMPS,0.039697,0.288365
$HUMID,55.82
$INTERNAL_PRESSURE,9.12603
$TCM_TEMP,26.20
$XPDR_PINGS,1
$SC_FREEKB,7677344
$PM_FREEKB,57550272
$TM_FREEKB,5779008
$24V_AH,13.00,91.528
$10V_AH,12.80,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.375,236.325,539.725,84.225,0.000,0.000,0.000,448.025,0.250,0.000,21.169,0.000,18802.199,882.268,4135.395,709.595,0.000,3200.892,0.000,2161.994,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23616.000,23564.000,3153.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.552,2.098,16.220,0.000
$MEM,311952
$DATA_FILE_SIZE,46665,1277
$CAP_FILE_SIZE,206424,0
$CFSIZE,260034560,220491776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.124,114.29,1
$GPS,311016,150604,1013.183,-12509.901,40,0.9,41,9.2,0.8,62.7,9,7.9