version: 66.13
glider: 191
mission: 8
dive: 141
start: 10 3 116 5 52 31
data:
$ID,191
$MISSION,8
$DIVE,141
$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,0.029999999
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,48
$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
$GPS1,031016,053704,946.4399,-12448.2520,36,0.8,36,9.2,0.7,48.5,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.4
$GPS2,031016,055210,946.4724,-12448.0029,20,0.8,52,9.2,0.9,78.5,10,3.0
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SE
$TGT_LATLONG,946.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,77.1,3127,-27.2,-7.857,-30.00,791
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.18,-42.3,158,1866,893,516,0.0,0.0,0,99,0.00,0.00,-73.25,0.000,16390,0.000,0.000,158,1866,2969,2980,2958,0,0,0,0,0,0,14.82,13.51,14.85
$GC,103,-1.18,-42.3,158,1866,2980,2959,2.2,-2.7,2,125,11.18,2.35,0.00,0.000,2308,0.383,0.044,2531,3273,2970,2982,2959,0,0,0,0,0,0,14.40,14.63,14.66
$GC,355,-0.90,-42.3,2531,3275,2984,2959,87.9,-14.5,39,362,0.43,2.30,0.00,0.000,3206,0.334,0.037,2631,1856,2970,2982,2959,0,0,0,0,0,0,14.46,14.73,14.71
$GC,713,-0.92,-55.4,2631,1856,2992,2955,114.7,-6.2,50,720,0.00,2.33,0.00,0.000,548,0.000,0.056,2639,473,2973,2992,2954,0,0,0,0,0,0,14.96,14.77,14.96
$GC,950,-0.92,-55.4,2639,470,2993,2954,135.7,-8.2,84,957,0.00,2.25,0.00,0.000,1030,0.000,0.031,2632,1867,2973,2992,2954,0,0,0,0,0,0,14.87,14.81,14.88
$GC,1273,-0.92,-55.4,2632,1868,2992,2954,163.5,-9.2,95,1280,0.00,2.35,0.00,0.000,516,0.000,0.054,2635,464,2972,2992,2952,0,0,0,0,0,0,15.00,14.80,15.02
$GC,1356,-0.92,-55.4,2636,467,2993,2953,171.8,-9.6,107,1363,0.00,2.20,0.00,0.000,1030,0.000,0.034,2629,1829,2972,2992,2952,0,0,0,0,0,0,14.88,14.83,14.90
$GC,1721,-0.92,-55.4,2629,1830,2992,2947,207.1,-9.8,117,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1829,2969,2992,2947,0,0,0,0,0,0,15.00,15.02,15.02
$GC,2057,-0.92,-55.4,2628,1830,2993,2942,242.3,-10.4,123,2064,0.00,2.38,0.00,0.000,260,0.000,0.054,2618,3265,2967,2992,2942,0,0,0,0,0,0,15.00,14.82,15.02
$GC,2098,-0.92,-55.4,2618,3265,2992,2942,247.0,-11.4,129,2105,0.00,2.30,0.00,0.000,1030,0.000,0.037,2619,1846,2966,2992,2941,0,0,0,0,0,0,14.90,14.84,14.91
$GC,2449,-0.92,-55.4,2619,1846,2992,2936,284.7,-10.7,137,2462,0.00,2.30,0.00,0.000,516,0.000,0.057,2619,470,2963,2992,2935,0,0,0,0,0,0,15.04,14.85,15.07
$GC,2560,-0.92,-55.4,2620,467,2997,2933,297.4,-11.4,152,2574,0.00,2.22,0.00,0.000,1030,0.000,0.033,2612,1842,2962,2992,2933,0,0,0,0,0,0,14.93,14.88,14.96
$GC,2904,-0.92,-55.4,2612,1842,2988,2929,335.0,-11.0,159,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1842,2960,2992,2928,0,0,0,0,0,0,15.07,15.09,15.08
$GC,3239,-0.92,-55.4,2612,1841,2992,2924,373.2,-11.3,165,3253,0.00,2.33,0.00,0.000,516,0.000,0.056,2611,470,2957,2992,2923,0,0,0,0,0,0,15.07,14.84,15.09
$GC,3364,-0.92,-55.4,2612,470,2992,2921,387.8,-11.6,182,3377,0.00,2.22,0.00,0.000,1030,0.000,0.034,2603,1846,2956,2992,2921,0,0,0,0,0,0,14.96,14.91,14.97
$GC,3699,-0.92,-55.4,2603,1846,2992,2917,425.5,-11.4,194,3713,0.12,2.33,0.00,0.000,2564,0.330,0.055,2639,470,2954,2992,2917,0,0,0,0,0,0,14.63,14.83,14.78
$GC,3855,-0.92,-55.4,2639,469,2992,2915,441.3,-9.8,215,3868,0.00,2.17,0.00,0.000,1030,0.000,0.035,2632,1817,2955,2996,2915,0,0,0,0,0,0,14.95,14.90,14.97
$GC,4218,-0.92,-55.4,2633,1817,2992,2911,477.7,-10.1,224,4231,0.00,2.40,0.00,0.000,260,0.000,0.054,2621,3266,2954,2991,2917,0,0,0,0,0,0,15.07,14.86,15.09
$GC,4280,-0.92,-55.4,2621,3266,2992,2910,484.3,-10.7,232,4294,0.00,2.40,0.00,0.000,1030,0.000,0.037,2621,1800,2951,2991,2911,0,0,0,0,0,0,14.94,14.88,14.96
$GC,4623,-0.92,-55.4,2622,1800,2992,2908,520.7,-10.7,245,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1801,2949,2991,2907,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4959,-0.92,-55.4,2621,1801,2993,2903,553.2,-9.4,251,4972,0.00,2.25,0.00,0.000,516,0.000,0.060,2625,466,2947,2991,2903,0,0,0,0,0,0,15.07,14.86,15.09
$GC,5090,-0.92,-55.4,2622,464,2992,2903,566.4,-10.0,269,5104,0.00,2.10,0.00,0.000,1030,0.000,0.036,2612,1769,2946,2991,2901,0,0,0,0,0,0,14.95,14.88,14.96
$GC,5418,-0.92,-55.4,2613,1769,2992,2900,597.7,-9.6,280,5432,0.00,2.20,0.00,0.000,516,0.000,0.057,2612,469,2945,2992,2899,0,0,0,0,0,0,15.07,14.85,15.08
$GC,5473,-0.92,-55.4,2613,471,2992,2898,603.4,-10.5,287,5487,0.12,2.08,0.00,0.000,3078,0.323,0.036,2626,1745,2945,2992,2898,0,0,0,0,0,0,14.60,14.90,14.85
$GC,5817,-0.92,-55.4,2626,1745,2992,2895,635.6,-9.4,294,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1745,2943,2991,2895,0,0,0,0,0,0,15.06,15.10,15.08
$GC,6153,-0.92,-55.4,2627,1745,2992,2892,667.9,-9.6,300,6166,0.00,2.17,0.00,0.000,516,0.000,0.060,2630,470,2941,2991,2892,0,0,0,0,0,0,15.06,14.84,15.08
$GC,6292,-0.92,-55.4,2630,471,2992,2898,682.0,-9.8,319,6305,0.00,2.03,0.00,0.000,1030,0.000,0.037,2624,1720,2941,2991,2891,0,0,0,0,0,0,14.94,14.89,14.96
$GC,6613,-0.92,-55.4,2621,1720,2999,2891,712.6,-9.5,329,6626,0.00,2.58,0.00,0.000,260,0.000,0.056,2612,3262,2940,2992,2889,0,0,0,0,0,0,15.06,14.83,15.07
$GC,6689,-0.92,-55.4,2612,3262,2992,2890,720.1,-9.7,339,6702,0.00,2.53,0.00,0.000,1030,0.000,0.041,2612,1731,2940,2991,2889,0,0,0,0,0,0,14.92,14.84,14.93
$GC,7017,-0.92,-55.4,2612,1732,2993,2887,751.7,-9.6,350,7030,0.00,2.15,0.00,0.000,516,0.000,0.062,2612,464,2939,2991,2887,0,0,0,0,0,0,15.05,14.82,15.07
$GC,7155,-0.92,-55.4,2613,464,2992,2886,765.4,-9.5,369,7169,0.12,2.00,0.00,0.000,3078,0.327,0.037,2627,1701,2938,2992,2885,0,0,0,0,0,0,14.56,14.88,14.83
$GC,7477,-0.92,-55.4,2626,1702,2992,2884,792.8,-8.6,379,7490,0.00,2.10,0.00,0.000,516,0.000,0.060,2631,469,2938,2992,2884,0,0,0,0,0,0,15.07,14.82,15.04
$GC,7622,-0.92,-55.4,2631,470,2992,2883,805.7,-8.6,399,7635,0.00,1.98,0.00,0.000,1030,0.000,0.037,2625,1691,2937,2991,2883,0,0,0,0,0,0,14.92,14.90,14.94
$GC,7993,-0.92,-55.4,2625,1691,2992,2882,835.8,-8.1,409,8006,0.00,2.65,0.00,0.000,260,0.000,0.057,2613,3265,2936,2991,2881,0,0,0,0,0,0,15.04,14.81,15.06
$GC,8138,-0.92,-55.4,2613,3265,2992,2882,848.6,-8.3,429,8151,0.00,2.58,0.00,0.000,1030,0.000,0.042,2613,1711,2935,2991,2880,0,0,0,0,0,0,14.90,14.83,14.92
$GC,8509,-0.92,-55.4,2613,1711,2992,2878,877.8,-8.0,439,8522,0.00,2.12,0.00,0.000,516,0.000,0.063,2618,462,2934,2991,2877,0,0,0,0,0,0,15.02,14.80,15.05
$GC,8710,-0.92,-55.4,2613,462,2992,2877,896.3,-10.4,467,8723,0.00,1.98,0.00,0.000,1030,0.000,0.039,2604,1678,2933,2991,2876,0,0,0,0,0,0,14.90,14.85,14.92
$GC,9080,-0.92,-55.4,2604,1679,2993,2875,926.3,-8.3,477,9093,0.12,0.00,0.00,0.000,2054,0.340,0.000,2627,1678,2931,2989,2874,0,0,0,0,0,0,14.50,14.85,14.79
$GC,9416,-0.92,-58.3,2627,1678,2992,2871,952.4,-7.5,483,9429,0.00,2.67,0.00,0.000,292,0.000,0.057,2617,3261,2932,2991,2874,0,0,0,0,0,0,15.02,14.78,15.04
$GC,9478,-0.92,-58.3,2617,3262,2992,2874,957.5,-8.2,491,9492,0.00,2.62,0.00,0.000,1030,0.000,0.042,2617,1695,2932,2991,2873,0,0,0,0,0,0,14.88,14.81,14.90
$GC,9821,-0.92,-58.3,2618,1689,2992,2873,985.5,-8.1,504,9834,0.00,2.08,0.00,0.000,516,0.000,0.063,2617,471,2931,2991,2872,0,0,0,0,0,0,15.02,14.78,15.04
$GC,9861,-0.94,-71.6,2618,471,2991,2872,989.1,-6.1,509,9875,0.00,2.00,0.00,0.000,1062,0.000,0.037,2609,1701,2930,2988,2872,0,0,0,0,0,0,14.90,14.84,14.91
$STATE,9877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9877,begin apogee
$GC,9886,-0.21,0.0,2608,1811,2992,2872,991.5,-9.7,511,9942,0.98,0.00,44.78,2.112,10244,0.277,0.000,2855,1810,2793,2881,2706,0,0,0,0,0,0,14.50,14.46,13.69
$STATE,9943,end apogee,CONTROL_FINISHED_OK
$STATE,9943,begin climb
$GC,9947,1.22,71.6,2855,1811,2879,2700,993.8,0.0,512,10039,1.50,0.00,81.22,2.210,11270,0.161,0.000,3311,1811,2502,2620,2384,0,0,0,0,0,0,14.38,14.64,13.36
$GC,10392,1.22,71.6,3312,1812,2619,2353,948.5,11.7,534,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1811,2485,2619,2352,0,0,0,0,0,0,14.77,14.80,14.79
$GC,10728,1.22,71.6,3311,1812,2619,2349,908.2,12.2,540,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1811,2484,2618,2350,0,0,0,0,0,0,14.88,14.92,14.90
$GC,11064,1.22,71.6,3312,1811,2619,2347,867.8,12.1,546,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1811,2483,2619,2348,0,0,0,0,0,0,14.92,14.95,14.95
$GC,11400,1.22,71.6,3311,1812,2619,2347,828.4,11.9,552,11413,0.00,2.45,0.00,0.000,516,0.000,0.062,3323,396,2482,2618,2347,0,0,0,0,0,0,14.95,14.73,14.97
$GC,11511,1.10,71.6,3325,397,2620,2347,814.6,12.3,567,11525,0.17,2.35,0.00,0.000,5254,0.335,0.034,3289,1823,2483,2619,2347,0,0,0,0,0,0,14.45,14.78,14.76
$GC,11854,1.10,71.6,3289,1824,2617,2343,777.2,10.8,574,11868,0.00,2.28,0.00,0.000,260,0.000,0.054,3288,3174,2481,2619,2343,0,0,0,0,0,0,14.97,14.76,15.00
$GC,11888,1.10,71.6,3290,3176,2620,2342,773.6,10.7,578,11901,0.00,2.25,0.00,0.000,1030,0.000,0.039,3295,1809,2481,2619,2343,0,0,0,0,0,0,14.83,14.78,14.87
$GC,12258,1.10,71.6,3295,1809,2619,2343,735.7,10.2,588,12271,0.00,2.42,0.00,0.000,516,0.000,0.063,3306,399,2481,2619,2343,0,0,0,0,0,0,15.00,14.74,15.00
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$STATE,21849,end climb,SURFACE_DEPTH_REACHED
$STATE,21849,begin surface coast
$FINISH,1.3,1.020311
$STATE,21856,end surface coast,CONTROL_FINISHED_OK
$STATE,21856,begin surface
$SM_CCo,21885,129.73,0.122,0,0,692,515.13
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$TT8_MAMPS,0.03745,0.455392
$HUMID,49.84
$INTERNAL_PRESSURE,9.19439
$TCM_TEMP,26.90
$XPDR_PINGS,3
$SC_FREEKB,7714208
$PM_FREEKB,58760064
$TM_FREEKB,6575008
$24V_AH,13.36,56.235
$10V_AH,13.26,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.612,2.067,16.141,0.000
$MEM,311928
$DATA_FILE_SIZE,40028,1091
$CAP_FILE_SIZE,175388,0
$CFSIZE,260034560,235167744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$CURRENT,0.108,93.40,1
$GPS,031016,120034,946.583,-12445.127,23,0.8,24,9.2,0.0,124.4,10,7.7