version: 66.13
glider: 190
mission: 9
dive: 726
start: 3 24 117 16 34 45
data:
$ID,190
$MISSION,9
$DIVE,726
$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,10000
$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,39
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$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
$DEVICE1,134
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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
$GPS1,240317,162751,1004.2533,-12518.5127,55,0.7,56,9.2,0.5,313.4,11,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-64.0
$GPS2,240317,163420,1004.2827,-12518.5791,17,0.7,22,9.2,0.0,268.1,11,8.6
$SPEED_LIMITS,0.127,0.213
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,126.2,54993,-15.8,-7.333,-19.03,2447
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,8,-0.68,-116.8,200,2312,749,655,0.0,0.0,0,100,0.00,0.00,-90.05,0.000,16386,0.000,0.000,197,2311,3085,3144,3027,0,0,0,0,0,0,14.59,28.83,14.60
$GC,104,-0.68,-116.8,198,2311,3147,3028,4.3,-5.9,3,129,8.80,2.83,-2.15,0.000,18948,0.391,2.045,1980,875,3221,3306,3137,0,0,0,0,0,0,13.93,12.58,14.19
$GC,192,-0.50,-116.8,1980,875,3313,3134,37.5,-24.9,15,197,0.28,2.53,0.00,0.000,3206,0.272,0.058,2033,2266,3222,3312,3133,0,0,0,0,0,0,13.65,14.09,14.00
$GC,531,-0.50,-116.8,2034,2267,3318,3133,78.6,-8.5,30,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2266,3224,3317,3132,0,0,0,0,0,0,14.76,14.78,14.77
$GC,867,-0.50,-116.8,2034,2267,3321,3132,104.7,-7.7,41,872,0.00,2.58,0.00,0.000,260,0.000,0.074,2023,3702,3225,3319,3132,0,0,0,0,0,0,14.76,13.95,14.78
$GC,950,-0.50,-116.8,2023,3702,3321,3132,111.6,-7.9,53,955,0.00,2.45,0.00,0.000,1030,0.000,0.036,2023,2252,3226,3320,3132,0,0,0,0,0,0,14.19,14.13,14.22
$GC,1319,-0.50,-116.8,2024,2253,3320,3132,142.3,-8.4,63,1323,0.00,2.42,0.00,0.000,516,0.000,0.048,2023,896,3225,3320,3131,0,0,0,0,0,0,14.78,13.92,14.79
$GC,1365,-0.50,-116.8,2024,896,3320,3131,146.8,-8.6,70,1378,0.00,2.58,0.00,0.000,1030,0.000,0.052,2023,2286,3225,3320,3130,0,0,0,0,0,0,14.02,13.96,14.07
$GC,1715,-0.50,-116.8,2024,2286,3320,3129,177.3,-9.1,77,1720,0.00,2.58,0.00,0.000,260,0.000,0.076,2016,3699,3224,3320,3128,0,0,0,0,0,0,14.77,13.89,14.79
$GC,1817,-0.50,-116.8,2017,3699,3318,3127,187.5,-9.2,92,1829,0.00,2.47,0.00,0.000,1030,0.000,0.037,2016,2283,3222,3319,3126,0,0,0,0,0,0,14.03,14.00,14.07
$GC,2166,-0.50,-116.8,2017,2282,3320,3124,219.7,-9.3,99,2171,0.00,2.53,0.00,0.000,516,0.000,0.050,2016,893,3221,3319,3123,0,0,0,0,0,0,14.78,13.86,14.80
$GC,2235,-0.50,-116.8,2016,894,3320,3123,226.1,-8.4,109,2240,0.00,2.55,0.00,0.000,1030,0.000,0.054,2015,2289,3220,3319,3122,0,0,0,0,0,0,14.07,13.95,14.12
$GC,2561,-0.50,-116.8,2016,2289,3320,3119,253.5,-8.5,120,2566,0.00,2.60,0.00,0.000,260,0.000,0.080,2012,3691,3219,3319,3119,0,0,0,0,0,0,14.79,13.83,14.81
$GC,2657,-0.50,-116.8,2012,3692,3320,3117,262.2,-8.4,134,2663,0.00,2.45,0.00,0.000,1030,0.000,0.039,2012,2276,3218,3319,3117,0,0,0,0,0,0,14.12,14.04,14.14
$GC,3016,-0.50,-116.8,2013,2277,3320,3114,294.2,-9.2,142,3021,0.00,2.53,0.00,0.000,516,0.000,0.050,2012,885,3216,3319,3113,0,0,0,0,0,0,14.73,13.83,14.78
$GC,3056,-0.50,-116.8,2012,885,3320,3113,298.7,-9.1,148,3061,0.00,2.58,0.00,0.000,1030,0.000,0.054,2012,2282,3216,3319,3113,0,0,0,0,0,0,14.05,13.93,14.10
$GC,3412,-0.50,-116.8,2012,2283,3320,3110,331.5,-9.5,156,3416,0.00,2.62,0.00,0.000,260,0.000,0.080,2011,3699,3214,3319,3110,0,0,0,0,0,0,14.79,13.80,14.81
$GC,3488,-0.50,-116.8,2012,3699,3319,3110,339.0,-9.5,167,3493,0.00,2.45,0.00,0.000,1030,0.000,0.038,2011,2280,3213,3317,3110,0,0,0,0,0,0,14.13,14.06,14.16
$GC,3807,-0.50,-116.8,2011,2280,3319,3108,369.3,-9.7,177,3812,0.00,2.55,0.00,0.000,516,0.000,0.050,2011,890,3212,3318,3107,0,0,0,0,0,0,14.78,13.82,14.80
$GC,3839,-0.50,-116.8,2011,890,3318,3108,372.9,-9.9,182,3846,0.00,2.58,0.00,0.000,1030,0.000,0.054,2011,2284,3211,3316,3107,0,0,0,0,0,0,14.06,13.93,14.10
$GC,4204,-0.50,-116.8,2011,2285,3317,3106,405.0,-8.9,191,4208,0.00,2.62,0.00,0.000,260,0.000,0.083,2011,3691,3210,3316,3105,0,0,0,0,0,0,14.77,13.79,14.78
$GC,4286,-0.50,-116.8,2012,3692,3315,3106,412.9,-8.4,203,4291,0.00,2.45,0.00,0.000,1030,0.000,0.041,2011,2281,3209,3314,3105,0,0,0,0,0,0,14.11,14.02,14.12
$GC,4655,-0.50,-116.8,2012,2281,3314,3102,446.7,-9.3,213,4660,0.00,2.55,0.00,0.000,516,0.000,0.051,2011,889,3208,3314,3102,0,0,0,0,0,0,14.78,13.81,14.80
$GC,4695,-0.50,-116.8,2012,890,3314,3102,450.8,-9.4,219,4700,0.00,2.60,0.00,0.000,1030,0.000,0.055,2011,2291,3207,3314,3101,0,0,0,0,0,0,14.04,13.91,14.09
$GC,5050,-0.50,-116.8,2012,2291,3313,3100,482.1,-8.9,227,5055,0.00,2.62,0.00,0.000,260,0.000,0.083,2006,3698,3205,3312,3099,0,0,0,0,0,0,14.78,13.80,14.80
$GC,5132,-0.50,-116.8,2007,3698,3312,3100,489.8,-8.5,239,5138,0.12,2.47,0.00,0.000,3078,0.209,0.041,2036,2280,3205,3311,3100,0,0,0,0,0,0,13.64,13.93,13.84
$GC,5503,-0.55,-116.8,2037,2280,3311,3097,518.3,-7.8,249,5508,0.00,2.58,0.00,0.000,644,0.000,0.052,2036,889,3203,3310,3097,0,0,0,0,0,0,14.78,13.79,14.79
$GC,5585,-0.61,-116.8,2036,890,3311,3097,525.3,-7.5,261,5590,0.00,2.60,0.00,0.000,1158,0.000,0.054,2036,2287,3203,3310,3096,0,0,0,0,0,0,14.02,13.90,14.07
$GC,5956,-0.66,-116.8,2036,2288,3310,3096,552.4,-7.4,271,5961,0.12,2.65,0.00,0.000,4484,0.138,0.081,1973,3693,3201,3308,3095,0,0,0,0,0,0,14.23,13.78,14.21
$GC,6045,-0.66,-116.8,1974,3694,3309,3096,561.7,-10.1,284,6050,0.00,2.45,0.00,0.000,1030,0.000,0.044,1973,2297,3202,3308,3096,0,0,0,0,0,0,14.08,14.00,14.12
$GC,6407,-0.66,-116.8,1974,2297,3309,3095,598.6,-10.3,293,6412,0.00,2.62,0.00,0.000,516,0.000,0.054,1973,877,3200,3307,3094,0,0,0,0,0,0,14.78,13.76,14.81
$GC,6491,-0.66,-116.8,1974,877,3307,3094,607.4,-9.7,305,6495,0.00,2.62,0.00,0.000,1030,0.000,0.060,1973,2278,3200,3307,3094,0,0,0,0,0,0,14.02,13.88,14.07
$GC,6859,-0.66,-116.8,1974,2279,3306,3093,645.2,-10.4,315,6864,0.00,2.67,0.00,0.000,260,0.000,0.085,1971,3701,3199,3306,3092,0,0,0,0,0,0,14.78,13.76,14.80
$GC,6948,-0.66,-116.8,1971,3701,3304,3092,654.8,-10.1,328,6953,0.00,2.53,0.00,0.000,1030,0.000,0.042,1971,2262,3198,3304,3092,0,0,0,0,0,0,14.07,13.98,14.10
$GC,7312,-0.66,-116.8,1971,2263,3305,3090,693.0,-10.8,337,7317,0.00,2.55,0.00,0.000,516,0.000,0.055,1971,888,3197,3304,3090,0,0,0,0,0,0,14.77,13.74,14.78
$GC,7371,-0.66,-116.8,1971,888,3305,3090,699.6,-11.2,345,7376,0.00,2.62,0.00,0.000,1030,0.000,0.059,1971,2280,3196,3303,3090,0,0,0,0,0,0,14.03,13.90,14.09
$GC,7710,-0.66,-116.8,1971,2281,3303,3088,735.5,-10.6,358,7716,0.00,2.67,0.00,0.000,260,0.000,0.088,1971,3691,3195,3303,3088,0,0,0,0,0,0,14.79,13.78,14.80
$GC,7808,-0.66,-116.8,1971,3692,3304,3088,745.7,-10.2,372,7813,0.00,2.47,0.00,0.000,1030,0.000,0.044,1971,2292,3195,3303,3088,0,0,0,0,0,0,14.08,14.00,14.12
$GC,8162,-0.66,-116.8,1972,2293,3303,3087,784.3,-11.0,380,8167,0.00,2.60,0.00,0.000,516,0.000,0.057,1971,885,3194,3302,3086,0,0,0,0,0,0,14.77,13.75,14.79
$GC,8232,-0.66,-116.8,1971,885,3303,3087,791.9,-10.6,390,8237,0.00,2.62,0.00,0.000,1030,0.000,0.060,1971,2281,3193,3301,3086,0,0,0,0,0,0,14.04,13.89,14.09
$GC,8558,-0.66,-116.8,1971,2281,3302,3086,828.2,-11.2,401,8563,0.00,2.67,0.00,0.000,260,0.000,0.086,1962,3699,3193,3301,3085,0,0,0,0,0,0,14.78,13.82,14.80
$GC,8633,-0.66,-116.8,1963,3699,3300,3086,836.6,-10.2,412,8638,0.00,2.53,0.00,0.000,1030,0.000,0.044,1962,2268,3192,3299,3085,0,0,0,0,0,0,14.09,14.00,14.12
$GC,8954,-0.66,-116.8,1962,2269,3300,3084,872.4,-11.2,422,8960,0.00,2.58,0.00,0.000,516,0.000,0.057,1962,886,3191,3299,3084,0,0,0,0,0,0,14.76,13.77,14.78
$GC,9014,-0.66,-116.8,1963,886,3300,3085,879.1,-12.8,430,9019,0.00,2.65,0.00,0.000,1030,0.000,0.060,1960,2288,3191,3299,3084,0,0,0,0,0,0,14.05,13.90,14.10
$GC,9354,-0.66,-116.8,1960,2288,3299,3082,914.9,-10.4,443,9358,0.00,2.67,0.00,0.000,260,0.000,0.090,1955,3701,3190,3298,3082,0,0,0,0,0,0,14.78,13.81,14.79
$GC,9414,-0.66,-116.8,1956,3701,3299,3082,920.9,-12.3,451,9419,0.12,2.53,0.00,0.000,3078,0.239,0.045,1981,2277,3189,3297,3081,0,0,0,0,0,0,13.59,14.01,13.82
$GC,9753,-0.66,-116.8,1982,2278,3298,3081,952.2,-9.2,464,9757,0.00,2.58,0.00,0.000,516,0.000,0.057,1981,886,3188,3297,3080,0,0,0,0,0,0,14.78,13.76,14.79
$GC,9834,-0.66,-116.8,1981,886,3298,3080,959.4,-5.8,476,9840,0.00,2.65,0.00,0.000,1062,0.000,0.059,1973,2287,3188,3297,3080,0,0,0,0,0,0,14.04,13.90,14.09
$STATE,10200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10200,begin apogee
$GC,10210,-0.19,0.0,1974,2190,3298,3079,995.0,-9.6,486,10409,0.60,0.00,196.07,1.579,10244,0.206,0.000,2128,2189,2741,2869,2614,0,0,0,0,0,0,13.51,13.77,13.09
$STATE,10409,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10413,0.68,116.8,2130,2190,2862,2610,1001.6,0.0,489,10579,0.98,2.60,153.57,1.813,10756,0.134,0.058,2417,808,2257,2386,2129,0,0,0,0,0,0,13.71,13.78,12.36
$GC,10664,0.68,116.8,2417,809,2355,2121,991.9,8.1,531,10669,0.00,2.78,0.00,0.000,1030,0.000,0.057,2417,2207,2237,2354,2120,0,0,0,0,0,0,13.31,13.19,13.35
$GC,10992,0.62,116.8,2418,2205,2343,2119,962.9,9.5,542,10997,0.00,2.62,0.00,0.000,388,0.000,0.089,2417,3611,2230,2343,2118,0,0,0,0,0,0,14.62,13.95,14.63
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$STATE,22590,end climb,SURFACE_DEPTH_REACHED
$STATE,22590,begin surface coast
$FINISH,0.8,1.022100
$STATE,22609,end surface coast,CONTROL_FINISHED_OK
$STATE,22609,begin surface
$SM_CCo,22631,55.10,0.135,0,0,699,500.17
$SM_GC,0.79,6.95,2.40,55.10,0.059,0.047,0.135,215,2275,699,-6.15,0.82,500.17,0,0,0,0,0,0,14.07,14.05,14.20
$IRIDIUM_FIX,1000.45,-12433.67,240317,095207
$TT8_MAMPS,0.038948,0.290612
$HUMID,62.36
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,17.40
$XPDR_PINGS,18
$24V_AH,12.36,277.958
$10V_AH,11.84,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.275,269.050,618.825,55.100,0.000,0.000,0.000,233.200,4.500,0.000,23.320,0.000,16767.424,895.381,4763.917,628.887,0.000,2265.266,0.000,4012.760,0.000,0.830,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,2880.836,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,25.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334164
$DATA_FILE_SIZE,50018,1160
$CAP_FILE_SIZE,172216,0
$CFSIZE,260034560,171909120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11394.54,0x233bae,1,24
$CURRENT,0.078,266.88,1
$GPS,240317,225403,1002.788,-12518.472,40,0.8,41,9.2,0.4,357.0,10,8.3