version: 66.13
glider: 191
mission: 8
dive: 154
start: 10 7 116 1 4 57
data:
$ID,191
$MISSION,8
$DIVE,154
$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,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,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,40
$R_STBD_OVSHOOT,78
$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
$GPS1,071016,005003,1011.9517,-12445.5127,28,0.8,28,9.2,0.6,347.8,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.1
$GPS2,071016,010434,1011.9580,-12445.2100,17,0.8,17,9.2,0.5,77.4,9,9.9
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,NE
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,301.3,3468,-22.0,-7.857,-25.39,1189
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.00,-65.6,149,1913,896,515,0.0,0.0,0,111,0.00,0.00,-76.93,0.000,16390,0.000,0.000,148,1915,3066,3096,3037,0,0,0,0,0,0,14.79,13.46,14.81
$GC,115,-1.00,-65.6,149,1914,3089,3039,7.6,-11.5,3,133,11.60,2.45,0.00,0.000,2564,0.386,0.045,2607,460,3065,3093,3037,0,0,0,0,0,0,14.35,14.60,14.55
$GC,175,-0.62,-65.6,2607,460,3095,3037,34.3,-26.8,12,182,0.55,2.25,0.00,0.000,3206,0.324,0.035,2723,1837,3065,3094,3037,0,0,0,0,0,0,14.40,14.64,14.63
$GC,504,-0.62,-65.6,2723,1834,3103,3032,90.3,-11.2,26,510,0.00,2.30,0.00,0.000,516,0.000,0.054,2723,472,3067,3103,3031,0,0,0,0,0,0,14.90,14.71,14.92
$GC,623,-0.53,-65.6,2723,473,3104,3031,100.7,-9.2,43,629,0.17,2.08,0.00,0.000,3206,0.269,0.032,2749,1771,3067,3103,3031,0,0,0,0,0,0,14.57,14.76,14.78
$GC,953,-0.54,-79.1,2756,1771,3103,3032,122.7,-6.7,55,959,0.00,2.17,0.00,0.000,548,0.000,0.054,2760,468,3067,3102,3032,0,0,0,0,0,0,14.97,14.75,14.99
$GC,1190,-0.54,-79.1,2755,467,3104,3032,141.3,-7.9,89,1197,0.00,2.25,0.00,0.000,1030,0.000,0.031,2748,1897,3067,3102,3032,0,0,0,0,0,0,14.83,14.81,14.85
$GC,1512,-0.64,-80.3,2748,1895,3103,3032,165.7,-7.8,100,1519,0.00,2.40,0.00,0.000,676,0.000,0.056,2748,464,3066,3102,3031,0,0,0,0,0,0,14.99,14.77,15.01
$GC,1696,-0.64,-80.3,2749,464,3103,3034,181.1,-8.8,126,1702,0.00,2.22,0.00,0.000,1030,0.000,0.034,2739,1850,3064,3102,3027,0,0,0,0,0,0,14.88,14.83,14.90
$GC,2018,-0.64,-80.3,2739,1853,3103,3021,208.9,-8.7,137,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1852,3061,3102,3021,0,0,0,0,0,0,15.00,15.02,15.02
$GC,2353,-0.73,-80.3,2739,1853,3103,3016,237.2,-8.2,143,2360,0.12,2.33,0.00,0.000,4740,0.142,0.054,2686,469,3059,3102,3016,0,0,0,0,0,0,14.78,14.80,14.83
$GC,2394,-0.73,-80.3,2686,469,3103,3016,241.3,-10.3,149,2402,0.00,2.20,0.00,0.000,1030,0.000,0.034,2677,1838,3058,3102,3015,0,0,0,0,0,0,14.90,14.84,14.91
$GC,2746,-0.73,-80.3,2678,1838,3103,3010,276.8,-10.3,157,2759,0.00,2.30,0.00,0.000,516,0.000,0.056,2682,464,3055,3102,3009,0,0,0,0,0,0,15.06,14.83,15.06
$GC,2864,-0.73,-80.3,2677,464,3103,3009,290.3,-11.4,173,2877,0.00,2.15,0.00,0.000,1030,0.000,0.034,2668,1805,3057,3102,3013,0,0,0,0,0,0,14.93,14.90,14.95
$GC,3206,-0.73,-80.3,2668,1807,3103,3002,328.3,-11.1,186,3220,0.00,2.25,0.00,0.000,516,0.000,0.058,2668,468,3055,3109,3002,0,0,0,0,0,0,15.05,14.85,15.07
$GC,3247,-0.73,-80.3,2669,468,3103,3003,333.1,-11.6,191,3260,0.15,2.12,0.00,0.000,3078,0.290,0.034,2689,1796,3051,3102,3001,0,0,0,0,0,0,14.64,14.90,14.87
$GC,3610,-0.73,-80.3,2689,1797,3102,2998,370.2,-10.2,200,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1796,3050,3102,2998,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3946,-0.73,-80.3,2690,1796,3102,2994,404.0,-10.0,206,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1796,3048,3102,2994,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4282,-0.73,-80.3,2689,1797,3103,2990,436.5,-9.5,212,4295,0.00,2.25,0.00,0.000,516,0.000,0.060,2692,463,3045,3102,2989,0,0,0,0,0,0,15.07,14.85,15.09
$GC,4400,-0.73,-80.3,2689,461,3104,2988,447.8,-9.6,228,4413,0.00,2.12,0.00,0.000,1030,0.000,0.036,2686,1777,3044,3102,2986,0,0,0,0,0,0,14.95,14.90,14.97
$GC,4742,-0.73,-80.3,2686,1778,3103,2984,478.1,-8.7,241,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1776,3043,3102,2984,0,0,0,0,0,0,15.06,15.08,15.08
$GC,5079,-0.73,-80.3,2686,1776,3102,2981,507.2,-8.6,247,5092,0.00,2.20,0.00,0.000,516,0.000,0.058,2686,468,3040,3101,2980,0,0,0,0,0,0,15.06,14.85,15.09
$GC,5154,-0.73,-80.3,2686,468,3103,2981,514.7,-10.1,257,5167,0.00,2.10,0.00,0.000,1030,0.000,0.035,2679,1777,3040,3102,2979,0,0,0,0,0,0,14.95,14.89,14.96
$GC,5482,-0.73,-80.3,2678,1777,3103,2976,546.4,-9.8,268,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1776,3039,3102,2976,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5818,-0.73,-80.3,2679,1776,3103,2974,580.3,-10.2,274,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1776,3037,3101,2973,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6154,-0.73,-80.3,2683,1777,3103,2970,615.3,-10.3,280,6168,0.00,2.22,0.00,0.000,516,0.000,0.060,2678,463,3036,3102,2970,0,0,0,0,0,0,15.06,14.83,15.08
$GC,6251,-0.73,-80.3,2680,462,3110,2970,625.7,-10.3,293,6264,0.00,2.08,0.00,0.000,1030,0.000,0.037,2670,1750,3035,3102,2969,0,0,0,0,0,0,14.93,14.88,14.95
$GC,6614,-0.73,-80.3,2672,1750,3102,2967,660.1,-9.4,302,6627,0.00,2.53,0.00,0.000,260,0.000,0.056,2659,3266,3034,3102,2966,0,0,0,0,0,0,15.05,14.83,15.07
$GC,6669,-0.73,-80.3,2659,3267,3102,2965,665.2,-9.4,309,6684,0.15,2.53,0.00,0.000,3078,0.283,0.040,2689,1735,3033,3101,2966,0,0,0,0,0,0,14.56,14.82,14.81
$GC,7013,-0.74,-84.0,2689,1736,3103,2963,692.1,-7.5,316,7026,0.00,2.15,0.00,0.000,548,0.000,0.063,2693,462,3032,3102,2963,0,0,0,0,0,0,15.04,14.81,15.07
$GC,7095,-0.74,-85.0,2693,462,3102,2964,698.6,-7.8,327,7108,0.00,2.05,0.00,0.000,1062,0.000,0.037,2686,1731,3032,3102,2962,0,0,0,0,0,0,14.92,14.88,14.94
$GC,7416,-0.74,-89.5,2686,1733,3103,2960,722.7,-7.5,337,7430,0.00,2.55,0.00,0.000,292,0.000,0.057,2672,3257,3031,3102,2960,0,0,0,0,0,0,15.04,14.81,15.06
$GC,7548,-0.74,-89.5,2675,3258,3103,2960,733.7,-8.2,355,7561,0.00,2.50,0.00,0.000,1030,0.000,0.041,2675,1736,3031,3102,2960,0,0,0,0,0,0,14.90,14.83,14.92
$GC,7876,-0.74,-89.5,2675,1735,3102,2959,761.6,-8.6,366,7889,0.00,2.15,0.00,0.000,516,0.000,0.063,2675,468,3030,3102,2959,0,0,0,0,0,0,15.03,14.79,15.05
$GC,8038,-0.74,-89.5,2675,469,3103,2957,776.2,-9.1,388,8051,0.00,2.03,0.00,0.000,1030,0.000,0.037,2667,1723,3029,3101,2958,0,0,0,0,0,0,14.90,14.85,14.92
$GC,8395,-0.74,-89.5,2667,1723,3102,2956,807.5,-8.7,396,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1723,3028,3102,2955,0,0,0,0,0,0,15.02,15.05,15.05
$GC,8730,-0.74,-89.5,2667,1724,3102,2952,836.5,-8.5,402,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1723,3027,3102,2953,0,0,0,0,0,0,15.03,15.05,15.05
$GC,9066,-0.74,-89.5,2667,1723,3102,2951,864.4,-8.1,408,9079,0.00,2.15,0.00,0.000,516,0.000,0.062,2667,470,3027,3104,2951,0,0,0,0,0,0,15.02,14.77,15.04
$GC,9114,-0.74,-89.5,2667,471,3104,2951,868.8,-9.0,414,9127,0.12,2.08,0.00,0.000,3078,0.308,0.038,2682,1736,3026,3102,2951,0,0,0,0,0,0,14.52,14.85,14.79
$GC,9470,-0.74,-89.5,2683,1736,3102,2950,896.9,-7.9,422,9484,0.00,2.58,0.00,0.000,260,0.000,0.059,2673,3265,3024,3100,2949,0,0,0,0,0,0,15.02,14.75,15.04
$GC,9525,-0.74,-89.5,2674,3265,3102,2950,901.4,-8.2,429,9540,0.00,2.55,0.00,0.000,1030,0.000,0.042,2674,1732,3025,3102,2949,0,0,0,0,0,0,14.87,14.79,14.89
$GC,9869,-0.74,-89.5,2674,1732,3102,2948,930.2,-8.4,436,9882,0.00,2.15,0.00,0.000,516,0.000,0.065,2673,473,3024,3101,2948,0,0,0,0,0,0,15.02,14.79,15.03
$GC,10007,-0.74,-89.5,2674,470,3102,2947,942.8,-8.9,455,10020,0.00,2.00,0.00,0.000,1030,0.000,0.038,2666,1701,3023,3102,2945,0,0,0,0,0,0,14.90,14.83,14.90
$GC,10329,-0.74,-89.5,2665,1701,3102,2945,969.4,-8.4,465,10342,0.00,2.62,0.00,0.000,260,0.000,0.058,2654,3262,3023,3102,2944,0,0,0,0,0,0,15.01,14.72,15.03
$GC,10397,-0.76,-106.3,2654,3258,3103,2944,975.3,-6.4,474,10410,0.00,2.58,0.00,0.000,1062,0.000,0.042,2653,1708,3022,3101,2944,0,0,0,0,0,0,14.85,14.78,14.88
$STATE,10617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10617,begin apogee
$GC,10625,-0.21,0.0,2654,1808,3102,2944,993.6,-8.0,484,10702,0.77,0.00,66.80,2.202,10244,0.257,0.000,2854,1808,2792,2904,2680,0,0,0,0,0,0,14.48,14.27,13.52
$STATE,10704,end apogee,CONTROL_FINISHED_OK
$STATE,10704,begin climb
$GC,10707,1.05,106.3,2854,1809,2902,2667,996.7,0.0,485,10836,1.35,0.00,115.05,2.174,11270,0.164,0.000,3258,1811,2358,2522,2195,0,0,0,0,0,0,14.23,14.47,13.28
$GC,11179,1.05,106.3,3258,1811,2516,2163,945.5,12.7,514,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1810,2339,2516,2162,0,0,0,0,0,0,14.73,14.76,14.76
$GC,11516,1.05,106.3,3258,1811,2517,2160,904.0,12.3,520,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1811,2335,2511,2160,0,0,0,0,0,0,14.85,14.88,14.87
$GC,11851,1.05,106.3,3258,1810,2517,2160,864.1,11.9,526,11865,0.00,2.47,0.00,0.000,516,0.000,0.064,3268,398,2337,2516,2159,0,0,0,0,0,0,14.90,14.68,14.93
$GC,11886,0.95,106.3,3269,397,2516,2158,859.9,12.4,530,11899,0.15,2.28,0.00,0.000,5254,0.298,0.035,3239,1795,2339,2520,2159,0,0,0,0,0,0,14.46,14.75,14.73
$GC,12256,0.95,106.3,3239,1796,2517,2157,820.0,10.7,540,12269,0.00,2.33,0.00,0.000,260,0.000,0.054,3239,3177,2336,2516,2157,0,0,0,0,0,0,14.94,14.73,14.97
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$STATE,21622,end climb,SURFACE_DEPTH_REACHED
$STATE,21622,begin surface coast
$FINISH,0.7,1.020715
$STATE,21630,end surface coast,CONTROL_FINISHED_OK
$STATE,21630,begin surface
$SM_CCo,21657,107.12,0.123,0,0,691,515.13
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$IRIDIUM_FIX,1007.02,-12444.62,061016,175822
$TT8_MAMPS,0.039697,0.301098
$HUMID,53.11
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,26.40
$XPDR_PINGS,2
$SC_FREEKB,7709216
$PM_FREEKB,58596160
$TM_FREEKB,6468160
$24V_AH,13.28,60.950
$10V_AH,13.16,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.850,174.375,396.875,107.125,0.000,0.000,0.000,451.825,0.500,0.000,18.857,0.000,17723.201,722.277,3543.996,623.401,0.000,2759.562,0.000,1723.843,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.621,2.100,16.417,0.000
$MEM,311956
$DATA_FILE_SIZE,36694,983
$CAP_FILE_SIZE,173107,0
$CFSIZE,260034560,233213952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,47.69,1
$GPS,071016,070903,1013.391,-12446.393,39,0.7,39,9.2,0.8,43.2,11,8.4