version: 66.13
glider: 191
mission: 8
dive: 54
start: 9 8 116 0 32 7
data:
$ID,191
$MISSION,8
$DIVE,54
$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,150
$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,1
$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,0.0099999998
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,59
$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
$GPS1,080916,001729,1012.7698,-12452.8359,37,0.8,38,9.2,0.7,10.4,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.4
$GPS2,080916,003146,1012.9166,-12452.8662,14,0.7,19,9.2,0.6,23.7,11,9.4
$SPEED_LIMITS,0.136,0.221
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,262.8,38005,-14.8,-7.857,-19.56,2167
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.80,-146.0,150,1840,886,534,0.0,0.0,0,106,0.00,0.00,-83.72,0.000,16386,0.000,0.000,149,1841,3352,3409,3295,0,0,0,0,0,0,14.82,28.83,14.85
$GC,110,-0.80,-146.0,150,1841,3411,3298,7.1,-10.4,3,133,11.93,2.55,-0.47,0.000,18948,0.395,2.117,2672,443,3393,3460,3326,0,0,0,0,0,0,14.50,13.92,14.74
$GC,301,-0.67,-146.0,2672,444,3462,3326,69.9,-19.0,31,308,0.20,2.30,0.00,0.000,3206,0.287,0.036,2709,1839,3393,3460,3326,0,0,0,0,0,0,14.58,14.71,14.73
$GC,666,-0.60,-146.0,2709,1841,3461,3328,111.1,-9.1,45,673,0.00,2.35,0.00,0.000,644,0.000,0.057,2709,442,3393,3460,3326,0,0,0,0,0,0,14.95,14.78,14.97
$GC,890,-0.54,-146.0,2709,443,3460,3326,138.7,-12.6,77,897,0.20,2.42,0.00,0.000,3206,0.256,0.035,2749,1928,3397,3460,3335,0,0,0,0,0,0,14.71,14.84,14.85
$GC,1226,-0.54,-146.0,2749,1928,3468,3328,172.1,-9.8,90,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1928,3394,3460,3328,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1562,-0.54,-146.0,2749,1929,3461,3323,204.3,-9.4,96,1569,0.00,2.50,0.00,0.000,516,0.000,0.056,2749,438,3391,3459,3323,0,0,0,0,0,0,15.02,14.87,15.04
$GC,1638,-0.54,-146.0,2749,438,3455,3323,211.9,-9.8,107,1645,0.00,2.38,0.00,0.000,1030,0.000,0.034,2741,1903,3388,3455,3321,0,0,0,0,0,0,14.92,14.88,14.94
$GC,1954,-0.54,-146.0,2741,1904,3460,3316,244.6,-10.6,117,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1904,3387,3459,3315,0,0,0,0,0,0,15.04,15.06,15.06
$GC,2290,-0.54,-146.0,2740,1905,3460,3308,278.7,-9.9,123,2303,0.00,2.47,0.00,0.000,516,0.000,0.057,2741,438,3384,3459,3309,0,0,0,0,0,0,15.07,14.91,15.09
$GC,2344,-0.54,-146.0,2745,438,3459,3310,284.2,-9.8,130,2358,0.00,2.35,0.00,0.000,1030,0.000,0.037,2729,1885,3385,3462,3308,0,0,0,0,0,0,14.98,14.93,15.00
$GC,2688,-0.54,-146.0,2732,1885,3460,3303,316.3,-9.4,137,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1885,3381,3459,3303,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3025,-0.54,-146.0,2731,1886,3460,3297,347.7,-9.2,143,3038,0.00,2.42,0.00,0.000,516,0.000,0.057,2731,439,3378,3459,3298,0,0,0,0,0,0,15.09,14.93,15.12
$GC,3100,-0.54,-146.0,2732,440,3460,3298,355.3,-10.1,153,3114,0.12,2.25,0.00,0.000,3078,0.271,0.037,2751,1831,3378,3459,3297,0,0,0,0,0,0,14.85,14.97,14.99
$GC,3429,-0.54,-146.0,2749,1832,3460,3291,382.6,-8.3,164,3442,0.00,2.35,0.00,0.000,260,0.000,0.058,2741,3250,3375,3459,3292,0,0,0,0,0,0,15.10,14.95,15.12
$GC,3483,-0.54,-146.0,2741,3250,3460,3291,387.3,-8.5,171,3496,0.00,2.30,0.00,0.000,1030,0.000,0.037,2740,1837,3375,3459,3291,0,0,0,0,0,0,15.01,14.95,15.02
$GC,3827,-0.54,-146.0,2739,1836,3461,3287,418.1,-9.1,178,3840,0.00,2.33,0.00,0.000,516,0.000,0.062,2740,448,3372,3459,3286,0,0,0,0,0,0,15.11,14.97,15.12
$GC,3931,-0.54,-146.0,2741,448,3459,3284,428.8,-10.3,192,3944,0.00,2.22,0.00,0.000,1030,0.000,0.036,2732,1824,3372,3459,3285,0,0,0,0,0,0,15.02,14.97,15.02
$GC,4287,-0.54,-146.0,2733,1824,3459,3281,465.4,-10.4,200,4300,0.00,2.33,0.00,0.000,516,0.000,0.060,2731,445,3369,3459,3280,0,0,0,0,0,0,15.11,14.94,15.13
$GC,4355,-0.54,-146.0,2731,446,3460,3279,472.9,-11.0,209,4368,0.12,2.17,0.00,0.000,3078,0.269,0.037,2754,1793,3369,3459,3279,0,0,0,0,0,0,14.85,14.97,14.99
$GC,4690,-0.54,-146.0,2749,1794,3460,3275,504.9,-9.5,221,4703,0.00,2.40,0.00,0.000,260,0.000,0.058,2740,3241,3366,3458,3275,0,0,0,0,0,0,15.11,14.94,15.13
$GC,4758,-0.54,-146.0,2740,3241,3459,3275,511.3,-9.2,230,4771,0.00,2.35,0.00,0.000,1030,0.000,0.040,2740,1796,3368,3459,3277,0,0,0,0,0,0,15.01,14.96,15.02
$GC,5094,-0.54,-146.0,2740,1797,3460,3271,542.3,-9.2,242,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1796,3365,3459,3271,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5430,-0.54,-146.0,2740,1796,3459,3269,570.8,-8.4,248,5443,0.00,2.28,0.00,0.000,516,0.000,0.063,2740,445,3363,3458,3268,0,0,0,0,0,0,15.10,14.94,15.14
$GC,5526,-0.54,-146.0,2741,445,3459,3269,578.9,-8.2,261,5539,0.00,2.12,0.00,0.000,1030,0.000,0.037,2732,1758,3363,3459,3267,0,0,0,0,0,0,15.02,15.00,15.03
$GC,5889,-0.54,-146.0,2732,1758,3459,3264,608.5,-8.3,270,5902,0.00,2.47,0.00,0.000,260,0.000,0.060,2720,3241,3361,3459,3263,0,0,0,0,0,0,15.11,14.94,15.13
$GC,5971,-0.54,-146.0,2720,3242,3459,3261,615.3,-8.2,281,5985,0.12,2.45,0.00,0.000,3078,0.262,0.041,2747,1750,3360,3459,3261,0,0,0,0,0,0,14.85,14.95,14.99
$GC,6293,-0.54,-146.0,2748,1751,3459,3260,639.9,-7.7,291,6306,0.00,0.00,0.00,0.000,38,0.000,0.000,2747,1749,3359,3459,3259,0,0,0,0,0,0,15.11,15.13,15.13
$GC,6629,-0.54,-146.0,2747,1750,3460,3257,666.9,-8.1,297,6642,0.00,2.20,0.00,0.000,516,0.000,0.064,2748,447,3357,3458,3257,0,0,0,0,0,0,15.11,14.94,15.13
$GC,6691,-0.54,-146.0,2755,448,3460,3255,672.4,-9.0,305,6704,0.00,2.10,0.00,0.000,1030,0.000,0.038,2741,1737,3357,3459,3256,0,0,0,0,0,0,15.02,14.96,15.02
$GC,7033,-0.54,-146.0,2746,1739,3459,3255,703.1,-9.0,318,7046,0.00,2.53,0.00,0.000,260,0.000,0.060,2730,3247,3356,3459,3254,0,0,0,0,0,0,15.10,14.93,15.12
$GC,7129,-0.54,-146.0,2730,3249,3459,3253,711.9,-8.7,331,7142,0.00,2.45,0.00,0.000,1030,0.000,0.040,2730,1753,3355,3459,3252,0,0,0,0,0,0,15.00,14.95,15.02
$GC,7493,-0.54,-146.0,2730,1754,3459,3250,744.1,-8.8,340,7506,0.00,2.20,0.00,0.000,516,0.000,0.065,2730,448,3354,3459,3250,0,0,0,0,0,0,15.10,14.92,15.16
$GC,7575,-0.54,-146.0,2730,449,3460,3250,751.7,-9.1,351,7588,0.12,2.12,0.00,0.000,3078,0.275,0.038,2748,1755,3354,3459,3250,0,0,0,0,0,0,14.83,14.95,14.97
$GC,7896,-0.54,-146.0,2748,1756,3459,3248,775.4,-7.3,361,7909,0.00,2.50,0.00,0.000,292,0.000,0.061,2739,3247,3352,3459,3246,0,0,0,0,0,0,15.09,14.92,15.11
$GC,8007,-0.54,-146.0,2744,3247,3460,3246,783.3,-7.0,376,8021,0.00,2.45,0.00,0.000,1062,0.000,0.041,2739,1758,3352,3459,3246,0,0,0,0,0,0,15.00,14.94,15.04
$GC,8350,-0.54,-146.0,2739,1758,3459,3246,809.7,-7.9,383,8363,0.00,2.22,0.00,0.000,516,0.000,0.065,2739,448,3352,3459,3245,0,0,0,0,0,0,15.09,14.92,15.11
$GC,8425,-0.54,-146.0,2739,447,3459,3245,816.4,-8.8,393,8439,0.00,2.10,0.00,0.000,1030,0.000,0.038,2730,1743,3351,3459,3244,0,0,0,0,0,0,15.00,14.95,15.02
$GC,8753,-0.54,-146.0,2731,1744,3459,3241,845.4,-8.9,404,8767,0.00,2.53,0.00,0.000,260,0.000,0.062,2720,3248,3350,3459,3242,0,0,0,0,0,0,15.09,14.92,15.11
$GC,8843,-0.54,-146.0,2719,3249,3459,3242,853.6,-9.2,416,8856,0.15,2.47,0.00,0.000,3078,0.252,0.042,2753,1746,3350,3458,3242,0,0,0,0,0,0,14.83,14.93,14.97
$GC,9213,-0.54,-146.0,2753,1749,3459,3241,882.8,-8.0,426,9226,0.00,2.20,0.00,0.000,516,0.000,0.067,2753,450,3349,3458,3240,0,0,0,0,0,0,15.08,14.91,15.11
$GC,9282,-0.54,-146.0,2754,450,3459,3241,888.7,-8.5,435,9295,0.00,2.10,0.00,0.000,1030,0.000,0.040,2748,1742,3348,3458,3239,0,0,0,0,0,0,15.00,14.95,15.00
$GC,9617,-0.54,-146.0,2748,1743,3459,3238,914.8,-7.7,447,9630,0.00,2.53,0.00,0.000,292,0.000,0.062,2737,3246,3348,3458,3238,0,0,0,0,0,0,15.07,14.91,15.10
$GC,9720,-0.54,-146.0,2737,3247,3459,3237,922.5,-7.3,461,9734,0.00,2.45,0.00,0.000,1062,0.000,0.043,2736,1767,3347,3458,3237,0,0,0,0,0,0,14.98,14.92,15.00
$GC,10077,-0.54,-146.0,2737,1768,3459,3236,948.0,-7.1,469,10090,0.00,2.25,0.00,0.000,548,0.000,0.068,2736,447,3346,3458,3235,0,0,0,0,0,0,15.07,14.90,15.09
$GC,10139,-0.54,-146.0,2737,448,3460,3236,952.8,-4.7,477,10152,0.00,2.15,0.00,0.000,1062,0.000,0.040,2728,1763,3346,3460,3233,0,0,0,0,0,0,14.98,14.93,15.00
$GC,10481,-0.54,-146.0,2728,1762,3459,3235,979.8,-8.1,490,10494,0.00,2.50,0.00,0.000,260,0.000,0.063,2716,3245,3345,3458,3233,0,0,0,0,0,0,15.07,14.90,15.09
$GC,10535,-0.54,-146.0,2714,3247,3459,3233,984.3,-8.4,497,10550,0.15,2.47,0.00,0.000,3078,0.247,0.044,2750,1758,3345,3458,3233,0,0,0,0,0,0,14.81,14.91,14.95
$STATE,10652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10652,begin apogee
$GC,10659,-0.21,0.0,2751,1758,3460,3234,992.5,-6.8,500,10838,0.38,0.00,169.65,2.000,10244,0.225,0.000,2855,1757,2792,2940,2645,0,0,0,0,0,0,14.81,14.02,13.33
$STATE,10840,end apogee,CONTROL_FINISHED_OK
$STATE,10840,begin climb
$GC,10844,0.80,146.0,2856,1758,2934,2630,999.5,0.0,503,11011,1.10,2.47,150.48,2.110,10500,0.171,0.058,3178,3109,2196,2370,2022,0,0,0,0,0,0,14.04,14.09,13.26
$GC,11133,0.77,146.0,3175,3109,2356,1991,979.1,9.6,546,11146,0.00,2.38,0.00,0.000,1158,0.000,0.043,3188,1724,2172,2355,1990,0,0,0,0,0,0,14.42,14.34,14.40
$GC,11503,0.73,146.0,3188,1723,2356,1988,943.1,9.7,556,11516,0.00,2.38,0.00,0.000,388,0.000,0.054,3188,3118,2171,2355,1987,0,0,0,0,0,0,14.78,14.62,14.81
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$STATE,22672,end climb,SURFACE_DEPTH_REACHED
$STATE,22672,begin surface coast
$FINISH,0.2,1.008942
$STATE,22704,end surface coast,CONTROL_FINISHED_OK
$STATE,22704,begin surface
$SM_CCo,22729,44.78,0.125,0,0,691,515.13
$SM_GC,1.15,9.05,0.28,44.78,0.067,0.057,0.125,161,1873,691,-8.60,-2.01,515.13,0,0,0,0,0,0,14.80,14.86,14.73
$IRIDIUM_FIX,1009.21,-12452.52,070916,172733
$TT8_MAMPS,0.038199,0.277879
$HUMID,52.71
$INTERNAL_PRESSURE,9.12603
$TCM_TEMP,26.70
$XPDR_PINGS,0
$SC_FREEKB,7747616
$PM_FREEKB,60177856
$TM_FREEKB,7275424
$24V_AH,13.26,24.850
$10V_AH,13.05,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.825,224.600,601.100,44.775,0.000,0.000,0.000,451.550,0.000,0.000,21.047,0.000,18211.305,897.356,3859.843,640.854,0.000,3124.350,0.000,1925.548,0.000,0.548,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.032,2.365,15.699,0.000
$MEM,311956
$DATA_FILE_SIZE,40031,1121
$CAP_FILE_SIZE,197086,0
$CFSIZE,260034560,248287232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.020,5.51,1
$GPS,080916,065303,1012.928,-12455.392,40,0.8,40,9.2,0.0,0.0,11,9.2