version: 66.13
glider: 190
mission: 9
dive: 321
start: 11 27 116 18 39 43
data:
$ID,190
$MISSION,9
$DIVE,321
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,50
$D_BOOST,120
$T_BOOST,5
$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,450
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,53220
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040899999
$HD_B,0.0102
$HD_C,4.5000002e-06
$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,500
$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,225
$PITCH_MAX,3920
$C_PITCH,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.1
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2740
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,-163.98293
$PRESSURE_SLOPE,0.00010649362
$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,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043932092
$SEABIRD_T_H,0.00063312391
$SEABIRD_T_I,2.6030159e-05
$SEABIRD_T_J,3.2258831e-06
$SEABIRD_C_G,-9.8128548
$SEABIRD_C_H,1.1245126
$SEABIRD_C_I,-0.00070758193
$SEABIRD_C_J,0.00013654788
$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,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,271116,182733,1058.6376,-12458.4619,32,0.7,32,9.3,0.0,0.0,11,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.3
$GPS2,271116,183923,1058.7867,-12458.5557,13,0.7,15,9.3,0.0,0.0,11,8.3
$SPEED_LIMITS,0.127,0.213
$TGT_NAME,N
$TGT_LATLONG,1100.000,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,274.9,3456,-27.6,-7.333,-30.00,837
$D_GRID,990
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-1.09,-39.9,192,2293,740,662,0.0,0.0,0,110,0.00,0.00,-84.50,0.000,16386,0.000,0.000,191,2292,2894,2937,2851,0,0,0,0,0,0,14.68,28.83,14.69
$GC,114,-1.09,-39.9,191,2293,2941,2851,4.9,-7.0,3,130,8.12,2.45,0.00,0.000,2308,0.399,0.061,1829,3695,2897,2945,2849,0,0,0,0,0,0,13.94,14.39,14.38
$GC,362,-0.90,-39.9,1830,3696,2952,2847,69.1,-10.4,39,367,0.35,2.38,0.00,0.000,3206,0.344,0.035,1905,2236,2898,2951,2846,0,0,0,0,0,0,13.91,14.52,14.31
$GC,699,-0.84,-48.4,1906,2236,2960,2845,93.0,-6.3,54,704,0.00,2.60,0.00,0.000,420,0.000,0.075,1895,3703,2903,2959,2847,0,0,0,0,0,0,14.83,14.43,14.85
$GC,935,-0.77,-48.4,1895,3703,2960,2844,111.6,-8.9,88,941,0.17,2.35,0.00,0.000,3206,0.300,0.036,1948,2286,2901,2959,2844,0,0,0,0,0,0,14.02,14.54,14.38
$GC,1259,-0.77,-48.4,1949,2285,2959,2844,136.6,-8.2,99,1264,0.00,2.53,0.00,0.000,260,0.000,0.075,1939,3700,2901,2958,2844,0,0,0,0,0,0,14.88,14.47,14.90
$GC,1383,-0.77,-48.4,1940,3700,2959,2843,149.0,-9.6,117,1389,0.00,2.38,0.00,0.000,1030,0.000,0.037,1939,2287,2900,2958,2843,0,0,0,0,0,0,14.58,14.55,14.59
$GC,1706,-0.77,-48.4,1939,2278,2959,2839,177.1,-8.8,128,1711,0.00,2.40,0.00,0.000,516,0.000,0.050,1939,896,2899,2959,2839,0,0,0,0,0,0,14.92,14.52,14.94
$GC,1769,-0.77,-48.4,1939,896,2959,2838,183.5,-10.1,137,1775,0.00,2.42,0.00,0.000,1030,0.000,0.055,1933,2287,2898,2958,2838,0,0,0,0,0,0,14.61,14.51,14.64
$GC,2098,-0.77,-48.4,1933,2287,2959,2836,216.4,-10.1,149,2104,0.00,2.45,0.00,0.000,260,0.000,0.076,1922,3689,2896,2958,2835,0,0,0,0,0,0,14.91,14.46,14.93
$GC,2146,-0.77,-48.4,1923,3689,2959,2836,221.8,-11.2,156,2153,0.00,2.38,0.00,0.000,1030,0.000,0.037,1922,2271,2897,2959,2835,0,0,0,0,0,0,14.58,14.55,14.60
$GC,2491,-0.77,-48.4,1919,2272,2960,2831,256.7,-10.0,163,2496,0.12,2.38,0.00,0.000,2564,0.310,0.049,1953,900,2894,2958,2830,0,0,0,0,0,0,14.12,14.42,14.28
$GC,2615,-0.77,-48.4,1954,905,2959,2829,268.3,-9.2,181,2621,0.00,2.45,0.00,0.000,1030,0.000,0.057,1946,2264,2893,2958,2828,0,0,0,0,0,0,14.48,14.42,14.53
$GC,2939,-0.77,-48.4,1947,2265,2959,2826,298.7,-9.6,192,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2264,2889,2953,2825,0,0,0,0,0,0,14.96,14.95,14.95
$GC,3275,-0.77,-48.4,1947,2264,2959,2822,327.4,-8.3,198,3279,0.00,2.40,0.00,0.000,516,0.000,0.049,1947,898,2889,2958,2821,0,0,0,0,0,0,14.94,14.50,14.95
$GC,3350,-0.77,-48.4,1947,899,2959,2820,334.1,-8.7,209,3357,0.00,2.47,0.00,0.000,1030,0.000,0.058,1941,2303,2888,2958,2819,0,0,0,0,0,0,14.58,14.45,14.62
$GC,3666,-0.77,-48.4,1941,2306,2959,2817,362.2,-9.1,219,3671,0.00,2.47,0.00,0.000,516,0.000,0.050,1941,894,2887,2958,2816,0,0,0,0,0,0,14.92,14.50,14.93
$GC,3736,-0.77,-48.4,1941,895,2959,2816,369.0,-9.7,229,3742,0.00,2.42,0.00,0.000,1030,0.000,0.057,1933,2270,2886,2958,2815,0,0,0,0,0,0,14.59,14.48,14.64
$GC,4058,-0.77,-48.4,1934,2270,2959,2813,399.8,-9.5,240,4063,0.00,2.40,0.00,0.000,516,0.000,0.051,1934,901,2884,2958,2811,0,0,0,0,0,0,14.94,14.50,14.96
$GC,4128,-0.77,-48.4,1934,901,2957,2812,406.4,-9.1,250,4133,0.00,2.45,0.00,0.000,1030,0.000,0.059,1928,2283,2884,2956,2812,0,0,0,0,0,0,14.58,14.47,14.62
$GC,4450,-0.77,-48.4,1929,2279,2957,2809,435.8,-9.1,261,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2279,2882,2957,2808,0,0,0,0,0,0,14.92,14.94,14.93
$GC,4787,-0.77,-48.4,1930,2279,2956,2806,465.8,-8.7,267,4791,0.00,2.42,0.00,0.000,516,0.000,0.054,1928,902,2882,2955,2809,0,0,0,0,0,0,14.91,14.47,14.92
$GC,4884,-0.77,-48.4,1929,902,2955,2806,474.5,-8.8,281,4890,0.00,2.45,0.00,0.000,1030,0.000,0.062,1927,2270,2880,2954,2806,0,0,0,0,0,0,14.56,14.43,14.60
$GC,5235,-0.77,-48.4,1928,2270,2955,2805,505.1,-8.8,289,5240,0.00,2.55,0.00,0.000,260,0.000,0.083,1916,3689,2879,2954,2804,0,0,0,0,0,0,14.91,14.37,14.92
$GC,5282,-0.77,-48.4,1917,3690,2953,2805,509.7,-9.7,296,5290,0.10,2.42,0.00,0.000,3078,0.268,0.042,1942,2276,2878,2953,2804,0,0,0,0,0,0,13.99,14.49,14.17
$GC,5627,-0.82,-48.4,1943,2274,2953,2804,537.0,-7.8,303,5632,0.00,2.42,0.00,0.000,644,0.000,0.056,1943,893,2877,2952,2803,0,0,0,0,0,0,14.92,14.45,14.92
$GC,5724,-0.86,-48.4,1943,893,2951,2803,544.5,-7.5,317,5730,0.00,2.47,0.00,0.000,1158,0.000,0.060,1934,2278,2877,2951,2803,0,0,0,0,0,0,14.54,14.41,14.57
$GC,6074,-0.86,-48.4,1935,2278,2951,2802,571.5,-7.8,325,6080,0.00,2.47,0.00,0.000,516,0.000,0.054,1935,886,2876,2951,2801,0,0,0,0,0,0,14.90,14.42,14.92
$GC,6137,-0.86,-48.4,1935,886,2951,2801,576.7,-8.3,334,6142,0.00,2.50,0.00,0.000,1030,0.000,0.063,1933,2275,2875,2950,2801,0,0,0,0,0,0,14.54,14.41,14.58
$GC,6467,-0.86,-48.4,1934,2275,2951,2799,603.8,-8.4,346,6471,0.00,2.45,0.00,0.000,516,0.000,0.055,1933,888,2874,2950,2799,0,0,0,0,0,0,14.92,14.42,14.94
$GC,6578,-0.86,-48.4,1934,888,2948,2798,613.9,-8.9,362,6584,0.00,2.47,0.00,0.000,1030,0.000,0.064,1932,2270,2873,2948,2799,0,0,0,0,0,0,14.38,14.31,14.42
$GC,6915,-0.91,-48.4,1930,2269,2948,2797,643.8,-8.9,375,6920,0.00,2.55,0.00,0.000,388,0.000,0.087,1922,3692,2872,2948,2797,0,0,0,0,0,0,14.89,14.32,14.90
$GC,6962,-0.91,-48.4,1922,3693,2948,2797,648.6,-10.1,382,6969,0.00,2.45,0.00,0.000,1030,0.000,0.044,1922,2246,2876,2947,2805,0,0,0,0,0,0,14.50,14.43,14.50
$GC,7306,-0.91,-48.4,1922,2249,2947,2796,679.3,-8.7,389,7312,0.00,2.35,0.00,0.000,516,0.000,0.055,1922,904,2871,2946,2796,0,0,0,0,0,0,14.89,14.38,14.91
$GC,7390,-0.91,-48.4,1923,904,2945,2801,686.9,-8.8,401,7396,0.00,2.45,0.00,0.000,1030,0.000,0.063,1917,2270,2870,2945,2796,0,0,0,0,0,0,14.50,14.38,14.55
$GC,7754,-0.91,-48.4,1917,2271,2946,2794,717.2,-8.2,411,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,2270,2869,2945,2794,0,0,0,0,0,0,14.89,14.91,14.91
$GC,8090,-0.91,-48.4,1917,2270,2944,2793,742.2,-7.4,417,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,2270,2868,2944,2793,0,0,0,0,0,0,14.89,14.91,14.91
$GC,8427,-0.91,-48.4,1917,2270,2944,2793,769.3,-8.2,423,8432,0.00,2.42,0.00,0.000,516,0.000,0.056,1914,907,2867,2943,2792,0,0,0,0,0,0,14.88,14.38,14.90
$GC,8530,-0.91,-48.4,1916,908,2942,2792,778.5,-9.8,438,8538,0.00,2.50,0.00,0.000,1030,0.000,0.064,1909,2262,2866,2941,2792,0,0,0,0,0,0,14.32,14.25,14.38
$GC,8874,-0.91,-48.4,1909,2262,2943,2791,809.3,-9.1,445,8880,0.00,2.40,0.00,0.000,516,0.000,0.054,1908,906,2866,2941,2791,0,0,0,0,0,0,14.88,14.34,14.90
$GC,8916,-0.91,-48.4,1909,906,2941,2791,813.2,-8.2,451,8921,0.00,2.45,0.00,0.000,1030,0.000,0.063,1904,2261,2865,2940,2790,0,0,0,0,0,0,14.47,14.34,14.51
$GC,9266,-0.91,-48.4,1903,2261,2940,2788,847.6,-9.8,459,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,2265,2864,2939,2790,0,0,0,0,0,0,14.90,14.92,14.92
$GC,9603,-0.91,-48.4,1904,2260,2940,2789,880.2,-9.7,465,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,2260,2864,2939,2789,0,0,0,0,0,0,14.90,14.92,14.92
$GC,9938,-0.91,-48.4,1904,2261,2940,2788,910.8,-9.2,471,9943,0.00,2.40,0.00,0.000,516,0.000,0.054,1903,902,2863,2939,2787,0,0,0,0,0,0,14.90,14.33,14.92
$GC,9973,-0.91,-48.4,1904,903,2939,2787,914.0,-8.1,476,9978,0.00,2.50,0.00,0.000,1030,0.000,0.065,1903,2269,2866,2939,2793,0,0,0,0,0,0,14.44,14.31,14.45
$GC,10330,-0.91,-48.4,1902,2270,2939,2787,945.0,-8.7,485,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,2269,2862,2938,2787,0,0,0,0,0,0,14.90,14.92,14.92
$GC,10666,-0.91,-48.4,1903,2269,2939,2786,972.5,-8.1,491,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2269,2861,2938,2785,0,0,0,0,0,0,14.90,14.92,14.91
$STATE,10887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10887,begin apogee
$GC,10896,-0.19,0.0,1904,2269,2939,2785,990.3,-7.8,495,10946,0.93,0.00,42.53,2.122,10244,0.274,0.000,2131,2270,2742,2832,2653,0,0,0,0,1,0,13.89,14.28,12.97
$STATE,10948,end apogee,CONTROL_FINISHED_OK
$STATE,10948,begin climb
$GC,10952,1.09,48.4,2132,2270,2832,2656,992.8,0.0,496,11039,1.33,2.67,74.85,1.993,10756,0.141,0.065,2544,818,2540,2637,2444,0,0,0,0,0,0,14.19,14.28,13.13
$GC,11273,1.04,48.4,2545,818,2625,2435,965.9,10.3,542,11278,0.00,2.55,0.00,0.000,1158,0.000,0.070,2545,2212,2528,2623,2434,0,0,0,0,0,0,14.40,14.29,14.45
$GC,11622,0.97,48.4,2544,2212,2623,2428,928.0,10.7,550,11627,0.12,2.55,0.00,0.000,4740,0.363,0.073,2527,823,2527,2622,2432,0,0,0,0,0,0,13.92,14.28,14.14
$GC,11858,0.97,48.4,2529,824,2621,2432,903.3,9.9,584,11864,0.00,2.58,0.00,0.000,1030,0.000,0.068,2528,2213,2525,2621,2430,0,0,0,0,0,0,14.39,14.33,14.44
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$STATE,23955,end climb,SURFACE_DEPTH_REACHED
$STATE,23955,begin surface coast
$FINISH,0.3,1.021065
$STATE,23983,end surface coast,CONTROL_FINISHED_OK
$STATE,23983,begin surface
$SM_CCo,24004,134.75,0.134,0,0,699,500.17
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$TT8_MAMPS,0.038199,0.279377
$HUMID,52.24
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,22.20
$XPDR_PINGS,4
$SC_FREEKB,7644832
$PM_FREEKB,56899264
$24V_AH,12.97,128.795
$10V_AH,12.77,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.750,204.150,289.300,134.750,0.000,0.000,0.000,358.625,1.000,0.000,15.723,0.000,20354.279,731.466,3043.107,697.835,0.000,2051.299,0.000,2038.270,0.000,0.541,0.000
$DEVICE_MAMPS,398.565,92.565,2122.110,133.875,0.000,0.000,0.000,171.360,420.000,0.000,22.470,0.000,2.190,10.770,28.750,35.490,0.000,11.700,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24048.000,23993.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.160,2.332,0.000,0.000
$MEM,334952
$DATA_FILE_SIZE,43306,1171
$CAP_FILE_SIZE,174516,0
$CFSIZE,260034560,212668416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,20630.41,0x233bac,1,24
$CURRENT,0.058,359.66,1
$GPS,281116,012322,1059.765,-12500.121,39,0.9,40,9.3,0.8,318.7,10,7.3