version: 66.13
glider: 191
mission: 8
dive: 353
start: 12 4 116 4 22 51
data:
$ID,191
$MISSION,8
$DIVE,353
$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,1830
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$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
$GPS1,041216,040728,1000.2348,-12509.9785,36,0.9,37,9.2,0.6,124.3,9,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.6
$GPS2,041216,042229,1000.2720,-12509.7715,16,1.1,17,9.2,0.7,120.3,7,8.1
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,194.8,26499,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-0.84,-116.8,148,1842,893,517,0.0,0.0,0,114,0.00,0.00,-80.60,0.000,16390,0.000,0.000,148,1846,3272,3322,3222,0,0,0,0,0,0,14.69,12.86,14.71
$GC,118,-0.84,-116.8,148,1846,3322,3221,8.2,-12.4,3,136,12.15,2.47,0.00,0.000,2820,0.380,0.050,2660,422,3276,3324,3229,0,0,0,0,0,0,14.11,14.51,14.47
$GC,367,-0.56,-116.8,2663,422,3326,3224,72.6,-11.5,39,373,0.38,2.28,0.00,0.000,3206,0.263,0.031,2741,1808,3274,3325,3224,0,0,0,0,0,0,14.14,14.54,14.42
$GC,703,-0.56,-116.8,2741,1808,3335,3219,101.1,-9.0,54,709,0.00,2.38,0.00,0.000,260,0.000,0.052,2733,3220,3276,3334,3219,0,0,0,0,0,0,14.83,14.51,14.85
$GC,786,-0.56,-116.8,2732,3226,3335,3219,108.7,-9.3,66,793,0.00,2.30,0.00,0.000,1030,0.000,0.035,2733,1831,3276,3334,3219,0,0,0,0,0,0,14.63,14.57,14.66
$GC,1151,-0.56,-116.8,2734,1825,3334,3225,142.6,-9.5,76,1157,0.00,2.40,0.00,0.000,516,0.000,0.057,2733,426,3276,3333,3219,0,0,0,0,0,0,14.84,14.52,14.86
$GC,1283,-0.56,-116.8,2733,426,3335,3218,156.1,-10.3,95,1289,0.00,2.30,0.00,0.000,1030,0.000,0.030,2724,1834,3275,3334,3217,0,0,0,0,0,0,14.66,14.61,14.68
$GC,1600,-0.56,-116.8,2724,1833,3334,3213,187.2,-9.9,105,1607,0.00,2.33,0.00,0.000,260,0.000,0.051,2714,3215,3273,3334,3212,0,0,0,0,0,0,14.84,14.52,14.87
$GC,1669,-0.56,-116.8,2713,3216,3334,3211,194.4,-10.0,115,1676,0.15,2.33,0.00,0.000,3078,0.228,0.037,2746,1823,3272,3334,3211,0,0,0,0,0,0,14.27,14.57,14.51
$GC,1993,-0.56,-116.8,2747,1823,3334,3206,223.3,-9.0,126,1999,0.00,2.40,0.00,0.000,516,0.000,0.060,2747,431,3270,3333,3208,0,0,0,0,0,0,14.84,14.51,14.86
$GC,2117,-0.56,-116.8,2747,429,3335,3206,235.3,-9.6,144,2124,0.00,2.30,0.00,0.000,1030,0.000,0.031,2740,1821,3269,3334,3205,0,0,0,0,0,0,14.59,14.54,14.61
$GC,2440,-0.56,-116.8,2740,1822,3334,3198,265.2,-9.3,155,2453,0.00,2.40,0.00,0.000,260,0.000,0.054,2728,3229,3266,3334,3199,0,0,0,0,0,0,14.90,14.55,14.95
$GC,2544,-0.56,-116.8,2729,3227,3335,3197,274.5,-8.6,169,2558,0.00,2.33,0.00,0.000,1030,0.000,0.035,2729,1827,3265,3334,3197,0,0,0,0,0,0,14.65,14.58,14.67
$GC,2902,-0.56,-116.8,2729,1827,3334,3193,306.5,-9.0,177,2915,0.00,2.42,0.00,0.000,516,0.000,0.058,2729,427,3264,3334,3194,0,0,0,0,0,0,14.93,14.56,14.95
$GC,3027,-0.56,-116.8,2729,427,3333,3190,318.5,-9.3,194,3040,0.00,2.35,0.00,0.000,1030,0.000,0.032,2725,1845,3261,3334,3189,0,0,0,0,0,0,14.73,14.68,14.76
$GC,3362,-0.56,-116.8,2720,1846,3334,3185,348.6,-9.1,206,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1845,3259,3333,3185,0,0,0,0,0,0,14.93,14.96,14.95
$GC,3699,-0.56,-116.8,2720,1846,3336,3181,378.3,-8.7,212,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1845,3257,3334,3181,0,0,0,0,0,0,14.93,14.96,14.95
$GC,4035,-0.56,-116.8,2720,1845,3334,3178,408.1,-8.9,218,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1845,3255,3333,3177,0,0,0,0,0,0,14.93,14.96,14.96
$GC,4371,-0.56,-116.8,2720,1846,3335,3175,439.1,-9.3,224,4384,0.00,2.45,0.00,0.000,516,0.000,0.057,2719,432,3254,3334,3175,0,0,0,0,0,0,14.94,14.55,14.96
$GC,4439,-0.56,-116.8,2720,433,3334,3175,446.2,-10.3,233,4453,0.15,2.33,0.00,0.000,3078,0.248,0.034,2742,1834,3252,3333,3172,0,0,0,0,0,0,14.23,14.65,14.48
$GC,4776,-0.56,-116.8,2743,1835,3334,3169,476.0,-8.9,245,4789,0.00,2.38,0.00,0.000,260,0.000,0.054,2734,3228,3251,3334,3169,0,0,0,0,0,0,14.95,14.54,14.97
$GC,4823,-0.56,-116.8,2735,3228,3334,3170,480.5,-9.0,251,4836,0.00,2.33,0.00,0.000,1030,0.000,0.038,2734,1832,3251,3334,3169,0,0,0,0,0,0,14.68,14.60,14.70
$GC,5179,-0.56,-116.8,2734,1832,3335,3167,514.5,-9.6,259,5192,0.00,2.45,0.00,0.000,516,0.000,0.062,2734,427,3250,3334,3166,0,0,0,0,0,0,14.93,14.49,14.95
$GC,5342,-0.56,-116.8,2735,426,3334,3165,530.1,-9.4,281,5355,0.00,2.35,0.00,0.000,1030,0.000,0.033,2725,1831,3248,3333,3164,0,0,0,0,0,0,14.68,14.62,14.71
$GC,5698,-0.56,-116.8,2725,1831,3334,3162,560.7,-8.3,289,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1831,3247,3333,3161,0,0,0,0,0,0,14.95,14.97,14.97
$GC,6036,-0.56,-116.8,2725,1831,3334,3159,586.7,-7.6,295,6049,0.00,0.00,0.00,0.000,38,0.000,0.000,2724,1831,3245,3333,3158,0,0,0,0,0,0,14.94,14.96,14.95
$GC,6371,-0.56,-116.8,2725,1831,3334,3157,611.5,-7.4,301,6383,0.00,0.00,0.00,0.000,38,0.000,0.000,2725,1831,3244,3333,3155,0,0,0,0,0,0,14.95,14.97,14.97
$GC,6707,-0.56,-116.8,2725,1831,3334,3155,638.9,-8.5,307,6720,0.00,2.47,0.00,0.000,516,0.000,0.060,2725,424,3243,3333,3154,0,0,0,0,0,0,14.95,14.47,14.97
$GC,6741,-0.56,-116.8,2725,425,3334,3155,642.2,-9.3,311,6755,0.12,2.35,0.00,0.000,3078,0.254,0.036,2741,1830,3243,3333,3153,0,0,0,0,0,0,14.20,14.59,14.45
$GC,7112,-0.56,-116.8,2741,1829,3334,3152,675.3,-9.2,321,7125,0.00,2.40,0.00,0.000,260,0.000,0.057,2733,3224,3242,3333,3151,0,0,0,0,0,0,14.91,14.48,14.93
$GC,7180,-0.56,-116.8,2733,3225,3334,3150,681.9,-9.6,330,7193,0.00,2.35,0.00,0.000,1030,0.000,0.039,2732,1828,3241,3333,3150,0,0,0,0,0,0,14.62,14.54,14.64
$GC,7516,-0.56,-116.8,2733,1825,3334,3150,714.6,-9.8,342,7529,0.00,2.45,0.00,0.000,516,0.000,0.061,2733,428,3240,3333,3148,0,0,0,0,0,0,14.92,14.44,14.95
$GC,7612,-0.56,-116.8,2733,429,3334,3147,724.7,-10.3,355,7626,0.00,2.38,0.00,0.000,1030,0.000,0.034,2723,1834,3240,3337,3144,0,0,0,0,0,0,14.63,14.57,14.65
$GC,7977,-0.56,-116.8,2724,1834,3334,3144,759.2,-9.5,364,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1835,3238,3333,3144,0,0,0,0,0,0,14.92,14.95,14.94
$GC,8312,-0.56,-116.8,2723,1836,3334,3142,788.5,-8.6,370,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1835,3237,3333,3142,0,0,0,0,0,0,14.92,14.95,14.95
$GC,8648,-0.56,-116.8,2723,1835,3334,3141,814.9,-7.6,376,8661,0.00,2.42,0.00,0.000,292,0.000,0.058,2713,3225,3236,3333,3140,0,0,0,0,0,0,14.92,14.42,14.95
$GC,8703,-0.56,-116.8,2713,3226,3334,3140,819.1,-7.7,383,8718,0.15,2.38,0.00,0.000,3110,0.233,0.039,2746,1824,3234,3329,3140,0,0,0,0,0,0,14.11,14.48,14.35
$GC,9046,-0.66,-116.8,2746,1825,3334,3139,840.1,-5.9,390,9060,0.00,2.45,0.00,0.000,676,0.000,0.063,2745,432,3234,3330,3139,0,0,0,0,0,0,14.90,14.39,14.91
$GC,9144,-0.66,-116.8,2746,433,3334,3137,846.9,-6.5,403,9157,0.00,2.35,0.00,0.000,1062,0.000,0.035,2739,1830,3235,3334,3137,0,0,0,0,0,0,14.56,14.47,14.56
$GC,9507,-0.66,-116.8,2739,1831,3335,3134,868.8,-6.1,412,9520,0.00,2.40,0.00,0.000,292,0.000,0.057,2728,3219,3234,3334,3135,0,0,0,0,0,0,14.91,14.39,14.93
$GC,9541,-0.66,-116.8,2729,3219,3334,3136,871.0,-6.0,416,9554,0.00,2.35,0.00,0.000,1062,0.000,0.040,2729,1831,3233,3333,3134,0,0,0,0,0,0,14.55,14.47,14.59
$GC,9912,-0.66,-116.8,2729,1831,3334,3133,896.7,-7.0,426,9925,0.00,2.47,0.00,0.000,548,0.000,0.063,2728,431,3233,3333,3133,0,0,0,0,0,0,14.87,14.38,14.89
$GC,10031,-0.66,-116.8,2729,430,3334,3133,905.6,-7.7,442,10044,0.00,2.38,0.00,0.000,1062,0.000,0.034,2720,1833,3232,3333,3132,0,0,0,0,0,0,14.57,14.51,14.59
$GC,10374,-0.66,-116.8,2719,1835,3334,3132,931.6,-7.6,455,10387,0.00,2.50,0.00,0.000,548,0.000,0.063,2719,434,3232,3333,3131,0,0,0,0,0,0,14.86,14.26,14.88
$GC,10407,-0.66,-116.8,2719,434,3334,3131,934.5,-7.7,459,10421,0.00,2.38,0.00,0.000,1062,0.000,0.037,2709,1835,3232,3333,3131,0,0,0,0,0,0,14.57,14.50,14.59
$GC,10778,-0.66,-116.8,2711,1835,3334,3130,964.6,-8.1,469,10791,0.00,2.42,0.00,0.000,260,0.000,0.058,2699,3227,3232,3334,3130,0,0,0,0,0,0,14.90,14.35,14.92
$GC,10854,-0.66,-116.8,2700,3226,3335,3130,970.9,-8.3,479,10867,0.00,2.40,0.00,0.000,1030,0.000,0.040,2699,1824,3231,3333,3129,0,0,0,0,0,0,14.45,14.35,14.47
$STATE,11123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11123,begin apogee
$GC,11131,-0.21,0.0,2699,1672,3334,3128,993.7,-8.4,489,11261,0.62,0.00,120.65,2.176,10246,0.223,0.000,2859,1670,2795,2917,2674,0,0,0,0,0,0,13.97,13.95,13.04
$STATE,11263,end apogee,CONTROL_FINISHED_OK
$STATE,11263,begin climb
$GC,11267,0.84,116.8,2859,1671,2912,2660,998.5,0.0,491,11413,1.12,2.58,126.90,2.127,10500,0.148,0.046,3190,3079,2306,2476,2136,0,0,0,0,0,0,13.93,13.52,12.81
$GC,11462,0.84,116.8,3190,3078,2474,2122,987.5,8.9,522,11476,0.00,2.50,0.00,0.000,1030,0.000,0.043,3199,1685,2297,2474,2121,0,0,0,0,0,0,14.07,14.00,14.09
$GC,11805,0.84,116.8,3200,1685,2474,2115,955.9,9.3,529,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1685,2296,2474,2118,0,0,0,0,0,0,14.70,14.71,14.72
$GC,12141,0.84,116.8,3200,1685,2475,2114,924.1,9.5,535,12154,0.00,2.42,0.00,0.000,260,0.000,0.050,3198,3083,2293,2474,2113,0,0,0,0,0,0,14.78,14.44,14.81
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$STATE,23674,end climb,SURFACE_DEPTH_REACHED
$STATE,23674,begin surface coast
$FINISH,0.2,1.020954
$STATE,23702,end surface coast,CONTROL_FINISHED_OK
$STATE,23702,begin surface
$SM_CCo,23728,79.68,0.123,0,0,692,515.13
$SM_GC,1.02,9.55,0.17,79.68,0.070,0.073,0.123,160,1819,692,-8.60,-2.37,515.13,0,0,0,0,0,0,14.49,14.62,14.37
$IRIDIUM_FIX,958.26,-12510.11,031216,211056
$TT8_MAMPS,0.038948,0.297353
$HUMID,58.74
$INTERNAL_PRESSURE,9.12603
$TCM_TEMP,25.30
$XPDR_PINGS,2
$SC_FREEKB,7632800
$PM_FREEKB,56097408
$TM_FREEKB,4807040
$24V_AH,12.81,134.223
$10V_AH,12.59,0.000
$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
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23763.000,23706.000,3032.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.575,2.072,16.011,0.000
$MEM,311920
$DATA_FILE_SIZE,40037,1065
$CAP_FILE_SIZE,188232,0
$CFSIZE,260034560,202997760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,29.24,1
$GPS,041216,110104,958.814,-12509.821,40,0.7,41,9.2,0.6,113.6,11,7.6