version: 66.13
glider: 191
mission: 8
dive: 77
start: 9 14 116 13 39 14
data:
$ID,191
$MISSION,8
$DIVE,77
$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,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,1870
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$R_STBD_OVSHOOT,50
$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
$GPS1,140916,132004,947.3493,-12513.4922,34,0.9,34,9.2,0.0,0.0,9,9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.4
$GPS2,140916,133853,947.3799,-12513.3896,16,0.8,17,9.2,0.0,0.0,10,6.8
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SE
$TGT_LATLONG,946.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,87.3,49487,-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,-116.8,153,1841,894,516,0.0,0.0,0,114,0.00,0.00,-79.47,0.000,16390,0.000,0.000,152,1842,3271,3317,3225,0,0,0,0,0,0,14.86,14.12,14.88
$GC,118,-0.84,-116.8,153,1844,3318,3225,9.3,-14.3,3,136,11.95,2.42,0.00,0.000,2308,0.396,0.051,2645,3267,3272,3318,3226,0,0,0,0,0,0,14.47,14.67,14.69
$GC,352,-0.69,-116.8,2642,3268,3322,3226,83.4,-18.7,37,359,0.22,2.20,0.00,0.000,3206,0.290,0.036,2702,1906,3273,3320,3226,0,0,0,0,0,0,14.62,14.77,14.79
$GC,675,-0.63,-116.8,2702,1908,3330,3220,119.1,-10.7,47,681,0.00,2.40,0.00,0.000,644,0.000,0.059,2706,473,3274,3329,3220,0,0,0,0,0,0,14.97,14.83,15.02
$GC,904,-0.58,-116.8,2706,474,3330,3220,142.8,-11.1,80,911,0.17,2.28,0.00,0.000,3206,0.271,0.033,2739,1884,3274,3329,3220,0,0,0,0,0,0,14.73,14.87,14.89
$GC,1235,-0.58,-116.8,2738,1885,3328,3219,173.1,-9.1,92,1241,0.00,2.38,0.00,0.000,516,0.000,0.057,2738,468,3274,3329,3219,0,0,0,0,0,0,15.05,14.86,15.06
$GC,1262,-0.58,-116.8,2739,468,3330,3219,175.7,-9.4,96,1268,0.00,2.25,0.00,0.000,1030,0.000,0.035,2731,1859,3274,3329,3219,0,0,0,0,0,0,14.94,14.90,14.95
$GC,1626,-0.58,-116.8,2731,1859,3329,3213,211.1,-10.1,106,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1860,3271,3329,3213,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1962,-0.58,-116.8,2732,1860,3329,3207,245.9,-10.5,112,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1860,3267,3329,3206,0,0,0,0,0,0,15.05,15.08,15.07
$GC,2299,-0.58,-116.8,2732,1860,3329,3199,280.2,-10.1,118,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1860,3263,3328,3199,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2635,-0.58,-116.8,2732,1861,3329,3192,312.4,-9.6,124,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1860,3260,3328,3193,0,0,0,0,0,0,15.10,15.14,15.13
$GC,2970,-0.58,-116.8,2732,1860,3329,3187,343.3,-9.2,130,2984,0.00,2.35,0.00,0.000,516,0.000,0.060,2731,464,3257,3328,3186,0,0,0,0,0,0,15.11,14.94,15.14
$GC,3089,-0.58,-116.8,2731,463,3325,3185,354.9,-10.1,146,3102,0.00,2.25,0.00,0.000,1030,0.000,0.036,2722,1850,3256,3327,3185,0,0,0,0,0,0,15.02,14.97,15.03
$GC,3431,-0.58,-116.8,2722,1850,3329,3180,388.0,-9.7,159,3444,0.00,2.33,0.00,0.000,516,0.000,0.058,2722,467,3254,3329,3179,0,0,0,0,0,0,15.11,14.94,15.14
$GC,3493,-0.58,-116.8,2722,468,3330,3180,394.6,-10.7,167,3506,0.12,2.17,0.00,0.000,3078,0.278,0.036,2739,1813,3253,3329,3178,0,0,0,0,0,0,14.83,14.97,14.98
$GC,3835,-0.58,-116.8,2739,1813,3329,3173,425.2,-8.8,180,3848,0.00,2.40,0.00,0.000,260,0.000,0.057,2731,3265,3250,3328,3173,0,0,0,0,0,0,15.11,14.95,15.14
$GC,3882,-0.58,-116.8,2731,3265,3328,3172,429.4,-9.0,186,3895,0.00,2.35,0.00,0.000,1030,0.000,0.038,2731,1811,3250,3329,3172,0,0,0,0,0,0,15.02,14.96,15.03
$GC,4239,-0.58,-116.8,2731,1814,3329,3169,462.0,-9.2,194,4252,0.00,2.25,0.00,0.000,516,0.000,0.062,2731,475,3248,3328,3168,0,0,0,0,0,0,15.11,14.94,15.14
$GC,4370,-0.58,-116.8,2731,475,3329,3167,474.8,-9.7,212,4383,0.00,2.10,0.00,0.000,1030,0.000,0.036,2722,1782,3247,3328,3166,0,0,0,0,0,0,15.00,14.96,15.02
$GC,4698,-0.58,-116.8,2722,1783,3329,3162,504.3,-8.9,223,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1782,3245,3328,3162,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5034,-0.58,-116.8,2722,1783,3329,3158,535.3,-9.3,229,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1782,3243,3328,3158,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5370,-0.58,-116.8,2722,1782,3329,3156,567.4,-9.5,235,5383,0.00,2.22,0.00,0.000,516,0.000,0.061,2722,467,3240,3325,3155,0,0,0,0,0,0,15.11,14.93,15.14
$GC,5445,-0.58,-116.8,2726,466,3329,3154,575.0,-9.9,245,5458,0.12,2.08,0.00,0.000,3078,0.282,0.037,2739,1752,3241,3328,3154,0,0,0,0,0,0,14.82,14.97,14.97
$GC,5773,-0.58,-116.8,2737,1753,3336,3152,601.0,-7.6,256,5787,0.00,2.53,0.00,0.000,292,0.000,0.058,2730,3268,3240,3328,3152,0,0,0,0,0,0,15.11,14.93,15.13
$GC,5870,-0.58,-116.8,2730,3268,3329,3158,608.2,-7.4,269,5883,0.00,2.47,0.00,0.000,1062,0.000,0.039,2730,1771,3240,3329,3151,0,0,0,0,0,0,15.00,14.95,15.02
$GC,6233,-0.58,-116.8,2730,1769,3329,3155,636.0,-7.7,278,6246,0.00,2.20,0.00,0.000,548,0.000,0.064,2730,466,3238,3328,3148,0,0,0,0,0,0,15.09,14.92,15.13
$GC,6288,-0.58,-116.8,2730,465,3329,3146,640.7,-8.6,285,6307,0.00,2.12,0.00,0.000,1030,0.000,0.038,2721,1783,3238,3332,3145,0,0,0,0,0,0,15.00,14.96,15.02
$GC,6632,-0.58,-116.8,2721,1783,3329,3143,669.6,-8.5,292,6645,0.00,2.47,0.00,0.000,260,0.000,0.060,2710,3263,3235,3328,3142,0,0,0,0,0,0,15.10,14.92,15.12
$GC,6672,-0.58,-116.8,2710,3264,3329,3143,673.3,-9.5,297,6686,0.12,2.42,0.00,0.000,3078,0.261,0.041,2734,1782,3235,3329,3142,0,0,0,0,0,0,14.81,14.94,14.95
$GC,7036,-0.58,-116.8,2736,1782,3329,3140,702.7,-8.1,306,7049,0.00,2.20,0.00,0.000,516,0.000,0.063,2736,476,3234,3328,3140,0,0,0,0,0,0,15.09,14.95,15.11
$GC,7139,-0.58,-116.8,2737,476,3328,3138,711.7,-8.6,320,7153,0.00,2.10,0.00,0.000,1030,0.000,0.037,2730,1766,3233,3328,3139,0,0,0,0,0,0,15.00,14.95,15.01
$GC,7495,-0.58,-116.8,2731,1766,3329,3137,741.1,-8.3,328,7509,0.00,2.50,0.00,0.000,260,0.000,0.060,2719,3262,3232,3328,3136,0,0,0,0,0,0,15.09,14.91,15.14
$GC,7571,-0.58,-116.8,2719,3262,3329,3136,747.4,-8.4,338,7584,0.00,2.42,0.00,0.000,1030,0.000,0.041,2719,1787,3231,3328,3135,0,0,0,0,0,0,14.99,14.92,15.00
$GC,7899,-0.58,-116.8,2720,1787,3329,3133,775.2,-8.4,349,7912,0.00,2.22,0.00,0.000,516,0.000,0.065,2719,473,3230,3328,3132,0,0,0,0,0,0,15.09,14.90,15.11
$GC,7981,-0.58,-116.8,2719,474,3329,3132,782.8,-9.2,360,7995,0.12,2.12,0.00,0.000,3078,0.282,0.040,2736,1766,3234,3336,3132,0,0,0,0,0,0,14.78,14.93,14.95
$GC,8303,-0.58,-116.8,2736,1767,3329,3130,808.4,-7.9,370,8316,0.00,2.50,0.00,0.000,260,0.000,0.060,2727,3260,3232,3328,3137,0,0,0,0,0,0,15.09,14.90,15.11
$GC,8357,-0.58,-116.8,2728,3260,3329,3131,813.0,-8.3,377,8371,0.00,2.45,0.00,0.000,1030,0.000,0.042,2728,1786,3229,3328,3130,0,0,0,0,0,0,14.97,14.91,14.99
$GC,8701,-0.58,-116.8,2728,1785,3329,3126,841.5,-8.3,384,8715,0.00,2.22,0.00,0.000,516,0.000,0.066,2727,476,3226,3324,3129,0,0,0,0,0,0,15.08,14.88,15.10
$GC,8812,-0.58,-116.8,2727,477,3329,3128,851.5,-9.0,399,8826,0.00,2.08,0.00,0.000,1030,0.000,0.039,2719,1747,3228,3328,3128,0,0,0,0,0,0,14.97,14.92,14.99
$GC,9156,-0.58,-116.8,2719,1748,3329,3126,880.7,-8.7,406,9169,0.00,2.55,0.00,0.000,260,0.000,0.060,2708,3262,3230,3335,3126,0,0,0,0,0,0,15.08,14.88,15.10
$GC,9189,-0.58,-116.8,2708,3262,3329,3127,883.7,-8.7,410,9202,0.15,2.50,0.00,0.000,3078,0.258,0.043,2740,1752,3227,3329,3126,0,0,0,0,0,0,14.75,14.89,14.92
$GC,9560,-0.58,-116.8,2741,1752,3329,3124,911.1,-7.3,420,9573,0.00,2.17,0.00,0.000,548,0.000,0.066,2742,473,3226,3328,3124,0,0,0,0,0,0,15.07,14.89,15.09
$GC,9656,-0.58,-116.8,2742,474,3329,3123,918.5,-7.6,433,9669,0.00,2.03,0.00,0.000,1062,0.000,0.039,2736,1723,3225,3328,3123,0,0,0,0,0,0,14.97,14.90,14.98
$GC,10019,-0.58,-116.8,2736,1724,3329,3122,943.9,-7.0,442,10033,0.00,2.60,0.00,0.000,292,0.000,0.060,2725,3265,3225,3328,3122,0,0,0,0,0,0,15.07,14.88,15.09
$GC,10116,-0.58,-116.8,2724,3265,3330,3121,950.9,-7.2,455,10129,0.00,2.55,0.00,0.000,1062,0.000,0.042,2724,1734,3224,3328,3121,0,0,0,0,0,0,14.95,14.88,14.98
$GC,10479,-0.58,-116.8,2724,1735,3329,3120,976.8,-7.3,464,10493,0.00,2.15,0.00,0.000,548,0.000,0.067,2724,471,3223,3328,3119,0,0,0,0,0,0,15.06,14.85,15.08
$GC,10541,-0.58,-116.8,2725,471,3329,3120,982.4,-7.8,472,10555,0.00,2.05,0.00,0.000,1062,0.000,0.039,2716,1725,3223,3328,3119,0,0,0,0,0,0,14.96,14.91,14.97
$STATE,10656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10656,begin apogee
$GC,10664,-0.21,0.0,2717,1724,3328,3119,990.5,-6.4,481,10790,0.52,0.00,116.93,2.208,10244,0.236,0.000,2860,1725,2794,2928,2660,0,0,0,0,0,0,14.73,14.09,13.40
$STATE,10792,end apogee,CONTROL_FINISHED_OK
$STATE,10792,begin climb
$GC,10795,0.84,116.8,2857,1726,2926,2645,994.7,0.0,483,10938,1.10,2.58,122.93,2.174,10756,0.177,0.065,3191,340,2307,2483,2132,0,0,0,0,0,0,14.10,14.15,13.29
$GC,11120,0.84,116.8,3191,340,2477,2110,966.6,9.5,532,11133,0.00,2.28,0.00,0.000,1030,0.000,0.034,3191,1694,2292,2476,2108,0,0,0,0,0,0,14.53,14.48,14.54
$GC,11455,0.84,116.8,3191,1695,2477,2105,932.7,10.4,544,11468,0.00,2.40,0.00,0.000,516,0.000,0.066,3201,335,2290,2476,2105,0,0,0,0,0,0,14.82,14.64,14.84
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$STATE,23072,end climb,SURFACE_DEPTH_REACHED
$STATE,23072,begin surface coast
$FINISH,1.2,1.020291
$STATE,23075,end surface coast,CONTROL_FINISHED_OK
$STATE,23075,begin surface
$SM_CCo,23103,52.03,0.124,0,0,692,515.13
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$IRIDIUM_FIX,940.75,-12513.69,140916,132816
$TT8_MAMPS,0.038948,0.313831
$HUMID,52.32
$INTERNAL_PRESSURE,9.15533
$TCM_TEMP,26.40
$XPDR_PINGS,1
$SC_FREEKB,7738784
$PM_FREEKB,59560640
$TM_FREEKB,7108032
$24V_AH,13.29,33.094
$10V_AH,13.18,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.050,219.025,534.275,52.025,0.000,0.000,0.000,614.175,0.250,0.000,17.851,0.000,18713.006,840.031,4048.318,664.192,0.000,3249.841,0.000,1951.522,0.000,0.550,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.509,2.096,15.691,0.000
$MEM,311944
$DATA_FILE_SIZE,40020,1134
$CAP_FILE_SIZE,200670,0
$CFSIZE,260034560,244895744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6291.84,0x233bae,0,24
$CURRENT,0.034,349.16,1
$GPS,140916,200632,947.779,-12511.219,36,0.8,40,9.2,0.6,44.5,11,5.2