version: 66.13
glider: 191
mission: 8
dive: 448
start: 12 31 116 20 53 57
data:
$ID,191
$MISSION,8
$DIVE,448
$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,1775
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,95
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$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
$GPS1,311216,203802,952.0784,-12512.0547,37,0.9,40,9.2,0.0,14.8,6,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.8
$GPS2,311216,205336,952.2589,-12512.0088,12,0.7,13,9.2,0.7,41.5,12,6.2
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,196.0,11108,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.84,-116.8,141,1800,898,510,0.0,0.0,0,111,0.00,0.00,-84.18,0.000,16386,0.000,0.000,140,1799,3256,3306,3207,0,0,0,0,0,0,14.69,28.83,14.70
$GC,115,-0.84,-116.8,141,1799,3307,3208,5.4,-7.5,3,138,12.55,2.80,-0.20,0.000,18948,0.379,2.021,2652,377,3272,3329,3216,0,0,0,0,0,0,14.00,13.09,14.40
$GC,261,-0.48,-116.8,2653,377,3330,3217,46.4,-17.7,24,267,0.50,2.25,0.00,0.000,3206,0.240,0.032,2769,1737,3273,3330,3216,0,0,0,0,0,0,14.12,14.50,14.39
$GC,589,-0.48,-116.8,2770,1735,3330,3219,76.5,-9.8,38,595,0.00,2.42,0.00,0.000,260,0.000,0.052,2761,3172,3276,3333,3219,0,0,0,0,0,0,14.80,14.50,14.81
$GC,688,-0.48,-116.8,2761,3173,3330,3219,84.9,-8.2,52,694,0.00,2.33,0.00,0.000,1030,0.000,0.037,2761,1770,3274,3330,3219,0,0,0,0,0,0,14.55,14.48,14.57
$GC,1010,-0.48,-116.8,2761,1771,3330,3224,109.8,-7.4,63,1016,0.00,2.40,0.00,0.000,548,0.000,0.057,2761,375,3274,3329,3219,0,0,0,0,0,0,14.84,14.46,14.86
$GC,1127,-0.48,-116.8,2761,377,3330,3219,119.3,-7.9,80,1134,0.00,2.33,0.00,0.000,1030,0.000,0.031,2753,1788,3274,3329,3219,0,0,0,0,0,0,14.64,14.60,14.66
$GC,1458,-0.48,-116.8,2752,1788,3330,3216,144.7,-7.9,92,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1788,3272,3329,3216,0,0,0,0,0,0,14.83,14.85,14.85
$GC,1793,-0.48,-116.8,2752,1789,3330,3211,172.7,-8.5,98,1800,0.00,2.35,0.00,0.000,260,0.000,0.054,2742,3160,3269,3329,3210,0,0,0,0,0,0,14.84,14.47,14.86
$GC,1862,-0.48,-116.8,2743,3158,3330,3209,179.1,-9.2,108,1869,0.12,2.33,0.00,0.000,3078,0.222,0.037,2768,1775,3268,3329,3208,0,0,0,0,0,0,14.18,14.43,14.38
$GC,2186,-0.57,-116.8,2768,1776,3330,3204,208.1,-9.0,119,2193,0.00,2.45,0.00,0.000,644,0.000,0.060,2768,368,3270,3335,3206,0,0,0,0,0,0,14.86,14.44,14.87
$GC,2262,-0.57,-116.8,2769,368,3330,3204,215.1,-8.7,130,2268,0.00,2.33,0.00,0.000,1030,0.000,0.031,2762,1772,3266,3329,3203,0,0,0,0,0,0,14.61,14.55,14.63
$GC,2578,-0.57,-116.8,2762,1772,3330,3200,238.1,-7.1,140,2584,0.00,2.38,0.00,0.000,292,0.000,0.053,2748,3168,3263,3329,3198,0,0,0,0,0,0,14.81,14.48,14.83
$GC,2676,-0.67,-116.8,2753,3169,3330,3201,244.8,-6.9,154,2683,0.12,2.33,0.00,0.000,5286,0.119,0.036,2698,1772,3263,3329,3197,0,0,0,0,0,0,14.49,14.52,14.59
$GC,3026,-0.67,-116.8,2699,1771,3330,3193,279.3,-10.1,162,3039,0.00,2.42,0.00,0.000,516,0.000,0.059,2698,377,3260,3329,3192,0,0,0,0,0,0,14.92,14.49,14.95
$GC,3164,-0.67,-116.8,2699,377,3333,3191,294.3,-10.6,181,3178,0.00,2.33,0.00,0.000,1030,0.000,0.033,2688,1778,3259,3329,3190,0,0,0,0,0,0,14.69,14.63,14.71
$GC,3486,-0.67,-116.8,2689,1778,3330,3187,328.5,-10.8,191,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1778,3257,3329,3186,0,0,0,0,0,0,14.92,14.91,14.93
$GC,3823,-0.67,-116.8,2689,1780,3329,3188,366.1,-11.2,197,3837,0.00,2.35,0.00,0.000,260,0.000,0.054,2678,3163,3255,3329,3181,0,0,0,0,0,0,14.91,14.53,14.93
$GC,3871,-0.67,-116.8,2678,3164,3330,3181,371.6,-11.0,203,3884,0.15,2.30,0.00,0.000,3078,0.243,0.039,2711,1778,3255,3329,3181,0,0,0,0,0,0,14.22,14.58,14.47
$GC,4227,-0.67,-116.8,2710,1778,3330,3178,405.4,-9.4,211,4240,0.00,2.45,0.00,0.000,516,0.000,0.061,2711,372,3252,3328,3177,0,0,0,0,0,0,14.95,14.47,14.97
$GC,4304,-0.67,-116.8,2711,372,3329,3177,412.7,-9.3,221,4317,0.00,2.35,0.00,0.000,1030,0.000,0.033,2704,1789,3252,3329,3176,0,0,0,0,0,0,14.66,14.61,14.69
$GC,4632,-0.67,-116.8,2704,1788,3330,3173,440.7,-8.5,232,4645,0.00,2.47,0.00,0.000,516,0.000,0.060,2704,375,3251,3329,3173,0,0,0,0,0,0,14.92,14.47,14.94
$GC,4789,-0.67,-116.8,2704,374,3329,3172,454.0,-8.6,253,4802,0.00,2.33,0.00,0.000,1030,0.000,0.034,2694,1781,3250,3329,3171,0,0,0,0,0,0,14.66,14.61,14.69
$GC,5152,-0.67,-116.8,2694,1782,3330,3168,484.5,-8.4,262,5165,0.00,2.47,0.00,0.000,516,0.000,0.060,2694,372,3248,3329,3168,0,0,0,0,0,0,14.93,14.45,14.95
$GC,5297,-0.67,-116.8,2694,371,3329,3169,497.6,-9.0,282,5311,0.00,2.33,0.00,0.000,1030,0.000,0.034,2685,1771,3247,3328,3167,0,0,0,0,0,0,14.67,14.61,14.69
$GC,5669,-0.67,-116.8,2684,1772,3330,3164,530.0,-8.8,292,5682,0.00,2.45,0.00,0.000,516,0.000,0.059,2685,375,3249,3336,3163,0,0,0,0,0,0,14.93,14.44,14.95
$GC,5832,-0.67,-116.8,2685,375,3329,3163,545.5,-9.7,314,5846,0.15,2.33,0.00,0.000,3078,0.259,0.034,2707,1772,3245,3328,3162,0,0,0,0,0,0,14.12,14.58,14.38
$GC,6190,-0.67,-116.8,2707,1772,3329,3160,575.7,-8.4,322,6203,0.00,2.38,0.00,0.000,260,0.000,0.054,2699,3166,3242,3327,3158,0,0,0,0,0,0,14.90,14.47,14.91
$GC,6216,-0.67,-116.8,2699,3167,3330,3158,578.1,-8.4,325,6229,0.00,2.33,0.00,0.000,1030,0.000,0.038,2699,1775,3243,3328,3158,0,0,0,0,0,0,14.62,14.53,14.64
$GC,6538,-0.67,-116.8,2699,1777,3330,3156,606.5,-8.8,335,6551,0.00,2.45,0.00,0.000,516,0.000,0.063,2699,378,3242,3329,3156,0,0,0,0,0,0,14.90,14.42,14.92
$GC,6670,-0.67,-116.8,2699,379,3325,3155,619.5,-9.7,353,6683,0.00,2.35,0.00,0.000,1030,0.000,0.034,2689,1784,3242,3329,3156,0,0,0,0,0,0,14.61,14.55,14.63
$GC,6998,-0.67,-116.8,2690,1784,3329,3155,650.5,-9.5,364,7012,0.00,2.38,0.00,0.000,260,0.000,0.055,2679,3166,3241,3329,3153,0,0,0,0,0,0,14.90,14.42,14.92
$GC,7242,-0.67,-116.8,2680,3167,3330,3152,673.8,-9.6,398,7255,0.15,2.35,0.00,0.000,3078,0.248,0.040,2715,1769,3240,3329,3152,0,0,0,0,0,0,14.09,14.50,14.35
$GC,7570,-0.67,-116.8,2710,1769,3330,3150,701.1,-8.2,409,7583,0.00,2.42,0.00,0.000,260,0.000,0.056,2704,3169,3239,3329,3149,0,0,0,0,0,0,14.90,14.42,14.92
$GC,7779,-0.67,-116.8,2704,3170,3329,3148,718.6,-8.2,438,7792,0.00,2.35,0.00,0.000,1030,0.000,0.040,2703,1776,3238,3329,3148,0,0,0,0,0,0,14.57,14.48,14.59
$GC,8142,-0.67,-116.8,2704,1777,3329,3145,750.3,-8.8,447,8155,0.00,2.40,0.00,0.000,260,0.000,0.054,2694,3163,3237,3329,3145,0,0,0,0,0,0,14.91,14.38,14.92
$GC,8211,-0.67,-116.8,2691,3165,3329,3144,756.6,-9.1,456,8224,0.00,2.35,0.00,0.000,1030,0.000,0.039,2694,1774,3236,3329,3144,0,0,0,0,0,0,14.53,14.45,14.56
$GC,8546,-0.67,-116.8,2695,1773,3329,3143,787.3,-9.1,468,8560,0.00,2.42,0.00,0.000,260,0.000,0.056,2685,3170,3235,3328,3142,0,0,0,0,0,0,14.87,14.38,14.90
$GC,8587,-0.67,-116.8,2685,3171,3328,3143,791.0,-9.9,473,8600,0.00,2.38,0.00,0.000,1030,0.000,0.041,2686,1769,3235,3329,3142,0,0,0,0,0,0,14.53,14.45,14.57
$GC,8951,-0.67,-116.8,2685,1768,3329,3141,824.7,-9.3,482,8964,0.00,2.47,0.00,0.000,516,0.000,0.063,2685,375,3234,3329,3140,0,0,0,0,0,0,14.89,14.32,14.91
$GC,9076,-0.67,-116.8,2685,380,3330,3139,837.0,-9.6,499,9089,0.15,2.38,0.00,0.000,3078,0.253,0.035,2706,1782,3233,3328,3139,0,0,0,0,0,0,14.00,14.48,14.26
$GC,9412,-0.67,-116.8,2707,1783,3330,3136,862.9,-7.7,511,9426,0.00,2.40,0.00,0.000,292,0.000,0.057,2698,3163,3233,3329,3137,0,0,0,0,0,0,14.88,14.33,14.90
$GC,9516,-0.67,-116.8,2699,3164,3329,3136,871.2,-7.9,525,9529,0.00,2.38,0.00,0.000,1030,0.000,0.040,2698,1776,3232,3329,3136,0,0,0,0,0,0,14.49,14.40,14.52
$GC,9873,-0.67,-116.8,2699,1777,3329,3134,900.3,-8.3,533,9886,0.00,2.50,0.00,0.000,516,0.000,0.064,2698,373,3231,3328,3134,0,0,0,0,0,0,14.88,14.28,14.90
$GC,9963,-0.67,-116.8,2699,375,3329,3133,908.8,-9.4,545,9976,0.00,2.38,0.00,0.000,1030,0.000,0.035,2689,1778,3230,3328,3133,0,0,0,0,0,0,14.51,14.45,14.53
$GC,10333,-0.67,-116.8,2693,1778,3329,3133,944.1,-9.8,555,10346,0.00,2.42,0.00,0.000,260,0.000,0.057,2678,3168,3230,3329,3132,0,0,0,0,0,0,14.89,14.30,14.91
$GC,10423,-0.67,-116.8,2679,3168,3329,3133,952.2,-9.6,567,10437,0.15,2.40,0.00,0.000,3078,0.245,0.041,2709,1770,3229,3328,3131,0,0,0,0,0,0,13.95,14.36,14.21
$GC,10794,-0.67,-116.8,2710,1774,3329,3132,985.1,-8.9,577,10808,0.00,2.53,0.00,0.000,516,0.000,0.065,2709,372,3229,3328,3130,0,0,0,0,0,0,14.89,14.23,14.91
$STATE,10845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10845,begin apogee
$GC,10856,-0.21,0.0,2704,1683,3329,3130,990.4,-9.6,584,10988,0.60,0.00,121.88,2.245,10246,0.220,0.000,2854,1682,2794,2920,2668,0,0,0,0,0,0,13.81,13.92,12.84
$STATE,10990,end apogee,CONTROL_FINISHED_OK
$STATE,10990,begin climb
$GC,10993,0.84,116.8,2855,1682,2916,2659,996.5,0.0,586,11138,1.17,0.00,126.90,2.190,10758,0.155,0.000,3191,1683,2310,2478,2142,0,0,0,0,0,0,13.92,13.71,12.71
$GC,11466,0.84,122.8,3191,1683,2476,2120,968.2,7.5,616,11479,0.00,2.38,0.00,0.000,292,0.000,0.049,3191,3068,2297,2475,2119,0,0,0,0,0,0,14.71,14.43,14.73
$GC,11556,0.86,132.2,3191,3069,2476,2116,960.7,7.4,628,11582,0.00,2.38,14.10,2.070,9254,0.000,0.041,3200,1669,2254,2426,2082,0,0,0,0,0,0,14.57,14.47,13.31
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$STATE,23240,end climb,SURFACE_DEPTH_REACHED
$STATE,23240,begin surface coast
$FINISH,0.1,1.022023
$STATE,23268,end surface coast,CONTROL_FINISHED_OK
$STATE,23268,begin surface
$SM_CCo,23296,82.80,0.123,0,0,692,515.13
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$TT8_MAMPS,0.038948,0.409703
$HUMID,62.32
$INTERNAL_PRESSURE,9.09673
$TCM_TEMP,23.70
$XPDR_PINGS,2
$SC_FREEKB,7596448
$PM_FREEKB,54911168
$TM_FREEKB,3998208
$24V_AH,12.71,169.296
$10V_AH,12.06,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.598,2.096,16.554,0.000
$MEM,311952
$DATA_FILE_SIZE,40016,1116
$CAP_FILE_SIZE,191336,0
$CFSIZE,260034560,188850176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,25217.79,0x213b74,7,24
$INTR,1,18036.76,0x233bae,1,24
$CURRENT,0.026,124.07,1
$GPS,010117,032458,950.160,-12512.334,39,0.7,40,9.2,0.5,14.5,11,8.1