version: 66.13
glider: 191
mission: 8
dive: 427
start: 12 25 116 18 34 16
data:
$ID,191
$MISSION,8
$DIVE,427
$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,1775
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,67
$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
$GPS1,251216,181834,1011.1930,-12447.0371,25,0.8,26,9.2,0.8,339.0,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.2
$GPS2,251216,183354,1011.2991,-12447.0557,14,0.8,17,9.2,1.1,60.2,10,8.5
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,NE
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,7.8,4308,-24.2,-7.857,-27.27,997
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.07,-54.2,152,1752,899,514,0.0,0.0,0,117,0.00,0.00,-77.97,0.000,16390,0.000,0.000,150,1757,3018,3042,2994,0,0,0,0,0,0,14.69,13.44,14.69
$GC,121,-1.07,-54.2,151,1757,3040,2995,6.0,-8.5,3,138,11.77,2.40,0.00,0.000,2308,0.378,0.046,2568,3159,3017,3040,2994,0,0,0,0,0,0,14.07,14.47,14.44
$GC,369,-0.84,-54.2,2568,3159,3042,2995,60.4,-7.9,39,376,0.38,2.30,0.00,0.000,3206,0.298,0.037,2650,1770,3017,3041,2994,0,0,0,0,0,0,14.02,14.49,14.35
$GC,705,-0.84,-54.2,2650,1770,3051,2991,86.5,-8.1,54,712,0.00,2.35,0.00,0.000,260,0.000,0.050,2643,3156,3020,3050,2990,0,0,0,0,0,0,14.81,14.47,14.83
$GC,898,-0.84,-54.2,2644,3155,3050,2991,104.0,-9.4,81,905,0.00,2.30,0.00,0.000,1030,0.000,0.038,2643,1771,3020,3050,2990,0,0,0,0,0,0,14.56,14.52,14.57
$GC,1212,-0.84,-54.2,2643,1769,3050,2990,133.3,-9.2,91,1219,0.00,2.42,0.00,0.000,516,0.000,0.059,2643,377,3019,3050,2989,0,0,0,0,0,0,14.83,14.46,14.85
$GC,1325,-0.84,-54.2,2643,377,3051,2992,144.8,-10.7,107,1332,0.00,2.28,0.00,0.000,1030,0.000,0.032,2636,1768,3018,3050,2987,0,0,0,0,0,0,14.62,14.57,14.64
$GC,1661,-0.84,-54.2,2635,1769,3051,2983,179.1,-10.0,120,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1768,3016,3050,2983,0,0,0,0,0,0,14.86,14.87,14.86
$GC,1997,-0.84,-54.2,2635,1768,3051,2979,213.5,-10.3,126,2003,0.00,2.42,0.00,0.000,516,0.000,0.058,2635,376,3014,3050,2978,0,0,0,0,0,0,14.85,14.45,14.87
$GC,2059,-0.84,-54.2,2636,377,3051,2977,220.7,-11.6,135,2066,0.15,2.33,0.00,0.000,3078,0.306,0.034,2654,1772,3013,3050,2976,0,0,0,0,0,0,14.07,14.55,14.37
$GC,2391,-0.84,-54.2,2654,1773,3051,2972,253.0,-9.7,147,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1772,3011,3050,2972,0,0,0,0,0,0,14.85,14.87,14.87
$GC,2725,-0.84,-54.2,2655,1771,3050,2968,285.6,-9.7,153,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1771,3008,3050,2967,0,0,0,0,0,0,14.91,14.93,14.93
$GC,3062,-0.84,-54.2,2654,1771,3050,2964,318.7,-9.8,159,3075,0.00,2.42,0.00,0.000,516,0.000,0.058,2656,377,3006,3050,2963,0,0,0,0,0,0,14.93,14.51,14.92
$GC,3116,-0.84,-54.2,2656,377,3050,2961,324.6,-10.6,166,3130,0.00,2.33,0.00,0.000,1030,0.000,0.033,2648,1779,3005,3049,2962,0,0,0,0,0,0,14.69,14.63,14.71
$GC,3461,-0.84,-54.2,2649,1780,3050,2959,359.1,-10.1,173,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1779,3002,3050,2955,0,0,0,0,0,0,14.94,14.97,14.95
$GC,3798,-0.84,-54.2,2649,1780,3051,2954,391.3,-9.5,179,3811,0.00,2.38,0.00,0.000,260,0.000,0.054,2638,3171,3002,3050,2954,0,0,0,0,0,0,14.94,14.52,14.96
$GC,3852,-0.84,-54.2,2639,3170,3050,2954,396.7,-9.7,186,3866,0.00,2.33,0.00,0.000,1030,0.000,0.038,2638,1775,3002,3050,2954,0,0,0,0,0,0,14.64,14.57,14.67
$GC,4196,-0.84,-54.2,2638,1775,3051,2951,430.0,-9.6,193,4209,0.00,2.42,0.00,0.000,516,0.000,0.060,2638,378,2998,3045,2951,0,0,0,0,0,0,14.92,14.50,14.94
$GC,4374,-0.84,-54.2,2638,378,3051,2949,447.7,-10.0,217,4388,0.00,2.33,0.00,0.000,1030,0.000,0.034,2629,1775,2999,3049,2949,0,0,0,0,0,0,14.69,14.63,14.71
$GC,4717,-0.84,-54.2,2628,1775,3050,2947,482.1,-10.1,230,4730,0.00,2.45,0.00,0.000,516,0.000,0.058,2629,373,2998,3050,2946,0,0,0,0,0,0,14.92,14.50,14.94
$GC,4807,-0.84,-54.2,2629,374,3051,2944,491.5,-10.4,242,4820,0.17,2.33,0.00,0.000,3078,0.292,0.034,2653,1771,2996,3049,2944,0,0,0,0,0,0,14.04,14.60,14.36
$GC,5177,-0.84,-54.2,2653,1770,3050,2943,525.2,-9.2,252,5191,0.00,2.40,0.00,0.000,260,0.000,0.053,2643,3173,2996,3050,2942,0,0,0,0,0,0,14.92,14.50,14.94
$GC,5240,-0.84,-54.2,2646,3174,3050,2940,531.1,-9.6,260,5253,0.00,2.35,0.00,0.000,1030,0.000,0.039,2645,1769,2995,3049,2941,0,0,0,0,0,0,14.64,14.56,14.66
$GC,5583,-0.84,-54.2,2646,1769,3052,2946,564.4,-9.7,273,5596,0.00,2.42,0.00,0.000,516,0.000,0.062,2645,379,2994,3049,2939,0,0,0,0,0,0,14.90,14.46,14.92
$GC,5701,-0.84,-54.2,2646,379,3050,2938,577.0,-10.6,289,5714,0.00,2.33,0.00,0.000,1030,0.000,0.034,2637,1781,2993,3050,2937,0,0,0,0,0,0,14.63,14.59,14.66
$GC,6044,-0.84,-54.2,2637,1781,3049,2936,612.3,-10.3,302,6058,0.00,2.38,0.00,0.000,260,0.000,0.054,2627,3162,2992,3049,2935,0,0,0,0,0,0,14.90,14.46,14.92
$GC,6128,-0.84,-54.2,2627,3162,3050,2935,621.1,-10.2,313,6142,0.12,2.33,0.00,0.000,3078,0.277,0.039,2650,1774,2991,3049,2934,0,0,0,0,0,0,14.09,14.51,14.35
$GC,6450,-0.84,-54.2,2650,1774,3050,2933,649.9,-8.8,323,6463,0.00,2.45,0.00,0.000,516,0.000,0.063,2650,379,2991,3049,2933,0,0,0,0,0,0,14.93,14.41,14.95
$GC,6606,-0.84,-54.2,2650,378,3049,2932,664.3,-9.4,344,6619,0.00,2.33,0.00,0.000,1030,0.000,0.034,2643,1771,2990,3049,2931,0,0,0,0,0,0,14.64,14.57,14.66
$GC,6969,-0.84,-54.2,2639,1772,3051,2929,695.5,-8.4,353,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1771,2989,3049,2929,0,0,0,0,0,0,14.92,14.94,14.93
$GC,7306,-0.84,-54.2,2643,1772,3050,2928,722.8,-8.0,359,7320,0.00,2.45,0.00,0.000,516,0.000,0.060,2643,378,2988,3049,2927,0,0,0,0,0,0,14.90,14.32,14.92
$GC,7375,-0.84,-54.2,2644,376,3049,2927,729.1,-8.9,368,7388,0.00,2.35,0.00,0.000,1030,0.000,0.035,2634,1773,2987,3049,2926,0,0,0,0,0,0,14.58,14.52,14.60
$GC,7710,-0.84,-54.2,2634,1774,3051,2924,758.2,-8.8,380,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1773,2986,3049,2924,0,0,0,0,0,0,14.90,14.92,14.91
$GC,8048,-0.84,-54.2,2635,1773,3050,2923,789.8,-9.5,386,8061,0.00,2.47,0.00,0.000,516,0.000,0.060,2634,375,2986,3049,2923,0,0,0,0,0,0,14.89,14.38,14.90
$GC,8137,-0.84,-54.2,2634,376,3050,2918,799.6,-10.8,398,8150,0.15,2.38,0.00,0.000,3078,0.296,0.035,2651,1788,2985,3049,2921,0,0,0,0,0,0,13.95,14.53,14.26
$GC,8509,-0.94,-54.2,2652,1788,3050,2920,834.4,-9.4,408,8522,0.00,0.00,0.00,0.000,134,0.000,0.000,2651,1788,2984,3049,2920,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8844,-1.03,-54.2,2652,1788,3050,2918,863.9,-8.8,414,8858,0.15,2.53,0.00,0.000,4740,0.137,0.061,2599,375,2983,3049,2918,0,0,0,0,0,0,14.40,14.26,14.47
$GC,8927,-1.03,-54.2,2599,376,3049,2917,872.7,-10.6,425,8940,0.00,2.38,0.00,0.000,1030,0.000,0.037,2590,1782,2983,3049,2917,0,0,0,0,0,0,14.58,14.51,14.60
$GC,9249,-1.03,-54.2,2590,1781,3050,2917,904.2,-9.9,435,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1781,2982,3049,2916,0,0,0,0,0,0,14.86,14.89,14.88
$GC,9584,-1.03,-54.2,2590,1781,3050,2917,935.7,-9.4,441,9598,0.00,2.50,0.00,0.000,516,0.000,0.063,2589,379,2982,3049,2915,0,0,0,0,0,0,14.87,14.33,14.88
$GC,9632,-1.04,-61.4,2590,379,3050,2915,940.5,-7.1,447,9645,0.00,2.35,0.00,0.000,1062,0.000,0.037,2580,1774,2981,3048,2914,0,0,0,0,0,0,14.57,14.50,14.59
$GC,9989,-1.04,-61.4,2581,1774,3050,2913,974.7,-9.6,455,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1774,2982,3049,2916,0,0,0,0,0,0,14.88,14.90,14.90
$STATE,10152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10152,begin apogee
$GC,10160,-0.21,0.0,2581,1661,3050,2913,991.4,-9.9,458,10229,1.15,0.00,57.88,2.216,10246,0.276,0.000,2852,1660,2792,2895,2689,0,0,0,0,0,0,13.70,14.16,13.04
$STATE,10230,end apogee,CONTROL_FINISHED_OK
$STATE,10230,begin climb
$GC,10235,1.08,61.4,2853,1660,2892,2679,994.9,0.0,459,10316,1.42,0.00,69.97,2.220,10502,0.145,0.000,3272,1660,2541,2655,2428,0,0,0,0,0,0,14.14,13.92,12.90
$GC,10666,1.09,65.9,3273,1660,2651,2404,967.1,7.4,474,10680,0.00,2.42,0.00,0.000,292,0.000,0.049,3272,3069,2527,2651,2403,0,0,0,0,0,0,14.73,14.42,14.76
$GC,10743,1.09,70.1,3272,3066,2652,2402,961.5,7.4,484,10761,0.00,2.35,3.45,1.227,9254,0.000,0.040,3281,1690,2506,2628,2384,0,0,0,0,0,0,14.57,14.49,13.07
$GC,11069,1.10,76.6,3281,1690,2629,2390,937.9,7.2,495,11087,0.00,2.45,6.38,1.869,8740,0.000,0.063,3292,324,2482,2604,2361,0,0,0,0,0,0,14.81,14.53,13.28
$GC,11129,1.01,76.6,3292,323,2604,2368,933.3,8.1,503,11142,0.17,2.25,0.00,0.000,5254,0.304,0.031,3258,1708,2486,2604,2368,0,0,0,0,0,0,14.13,14.59,14.45
$GC,11465,1.02,86.9,3259,1708,2604,2369,910.4,6.8,515,11500,0.00,2.35,19.95,2.117,8484,0.000,0.050,3258,3046,2431,2557,2305,0,0,0,0,0,0,14.83,14.47,13.40
$GC,11562,1.02,86.9,3259,3047,2555,2299,902.5,8.2,529,11576,0.00,2.33,0.00,0.000,1030,0.000,0.039,3265,1677,2429,2555,2304,0,0,0,0,0,0,14.57,14.46,14.57
$GC,11920,1.02,86.9,3265,1675,2555,2297,871.0,9.1,537,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1675,2425,2555,2296,0,0,0,0,0,0,14.78,14.81,14.81
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$STATE,22876,end climb,SURFACE_DEPTH_REACHED
$STATE,22876,begin surface coast
$FINISH,0.1,1.021746
$STATE,22882,end surface coast,CONTROL_FINISHED_OK
$STATE,22882,begin surface
$SM_CCo,22915,127.18,0.123,0,0,691,515.13
$SM_GC,1.01,9.68,2.17,127.18,0.063,0.040,0.123,163,1761,691,-8.60,0.96,515.13,0,0,0,0,0,0,14.45,14.54,14.30
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$TT8_MAMPS,0.039697,0.317576
$HUMID,58.38
$INTERNAL_PRESSURE,9.09673
$TCM_TEMP,24.40
$XPDR_PINGS,7
$SC_FREEKB,7604384
$PM_FREEKB,55172480
$TM_FREEKB,4175968
$24V_AH,12.90,161.364
$10V_AH,12.72,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.645,2.158,16.108,0.000
$MEM,311948
$DATA_FILE_SIZE,36669,1016
$CAP_FILE_SIZE,179643,0
$CFSIZE,260034560,191954944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,33.61,1
$GPS,261216,005934,1013.380,-12446.593,28,0.8,29,9.2,1.2,357.5,12,9.3