version: 66.13
glider: 191
mission: 8
dive: 687
start: 3 11 117 6 45 51
data:
$ID,191
$MISSION,8
$DIVE,687
$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,36
$R_STBD_OVSHOOT,84
$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
$GPS1,110317,062727,956.8964,-12512.6436,57,0.8,57,9.2,0.7,208.0,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.0
$GPS2,110317,064528,956.8617,-12512.6934,10,0.8,11,9.2,0.0,0.0,10,7.0
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,163.8,19279,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,36,-0.84,-116.8,139,1785,891,516,0.0,0.0,0,122,0.00,0.00,-83.15,0.000,16386,0.000,0.000,138,1783,3221,3272,3171,0,0,0,0,0,0,14.40,28.83,14.45
$GC,127,-0.84,-116.8,139,1783,3268,3172,5.1,-7.0,3,150,12.52,2.70,-0.75,0.000,18948,0.378,2.045,2659,373,3274,3334,3214,0,0,0,0,0,0,13.93,12.81,14.35
$GC,275,-0.48,-116.8,2659,375,3335,3215,50.6,-22.2,24,282,0.50,2.30,0.00,0.000,3206,0.269,0.032,2768,1749,3274,3334,3214,0,0,0,0,0,0,13.95,14.34,14.23
$GC,605,-0.48,-116.8,2768,1748,3334,3215,90.8,-8.2,38,611,0.00,2.45,0.00,0.000,260,0.000,0.049,2759,3176,3274,3334,3214,0,0,0,0,0,0,14.56,14.21,14.59
$GC,815,-0.48,-116.8,2760,3176,3333,3217,107.5,-8.1,68,821,0.00,2.38,0.00,0.000,1030,0.000,0.036,2760,1771,3275,3334,3216,0,0,0,0,0,0,14.28,14.22,14.32
$GC,1166,-0.48,-116.8,2760,1770,3335,3222,131.2,-6.3,76,1173,0.00,2.47,0.00,0.000,548,0.000,0.055,2759,371,3274,3334,3215,0,0,0,0,0,0,14.55,14.10,14.57
$GC,1257,-0.48,-116.8,2760,372,3333,3216,138.6,-8.3,89,1264,0.00,2.38,0.00,0.000,1030,0.000,0.031,2752,1785,3275,3334,3216,0,0,0,0,0,0,14.21,14.16,14.23
$GC,1617,-0.48,-116.8,2750,1786,3335,3213,169.3,-8.6,98,1623,0.00,2.40,0.00,0.000,260,0.000,0.050,2741,3160,3275,3334,3217,0,0,0,0,0,0,14.53,14.00,14.54
$GC,1652,-0.48,-116.8,2747,3160,3335,3214,172.3,-8.4,103,1658,0.15,2.35,0.00,0.000,3078,0.220,0.035,2772,1775,3273,3333,3213,0,0,0,0,0,0,13.81,14.14,14.05
$GC,2010,-0.58,-116.8,2772,1774,3334,3209,201.3,-8.3,112,2016,0.00,2.50,0.00,0.000,644,0.000,0.057,2771,378,3270,3334,3207,0,0,0,0,0,0,14.54,14.07,14.55
$GC,2095,-0.58,-116.8,2772,379,3335,3206,209.5,-9.8,124,2101,0.00,2.38,0.00,0.000,1030,0.000,0.030,2765,1779,3270,3334,3206,0,0,0,0,0,0,14.24,14.19,14.25
$GC,2460,-0.58,-116.8,2765,1780,3334,3198,239.7,-7.8,134,2466,0.00,2.42,0.00,0.000,292,0.000,0.050,2758,3165,3267,3334,3201,0,0,0,0,0,0,14.52,14.05,14.54
$GC,2509,-0.68,-116.8,2761,3163,3335,3199,243.1,-6.9,141,2518,0.15,2.40,0.00,0.000,5286,0.105,0.036,2694,1765,3266,3334,3199,0,0,0,0,0,0,14.10,14.13,14.19
$GC,2854,-0.68,-116.8,2694,1766,3334,3196,277.3,-10.4,148,2867,0.00,2.50,0.00,0.000,516,0.000,0.057,2694,379,3264,3334,3194,0,0,0,0,0,0,14.66,13.96,14.66
$GC,2987,-0.68,-116.8,2694,379,3333,3193,292.1,-10.9,166,3000,0.00,2.40,0.00,0.000,1030,0.000,0.031,2684,1780,3262,3333,3192,0,0,0,0,0,0,14.20,14.16,14.22
$GC,3318,-0.68,-116.8,2684,1781,3335,3187,326.0,-10.2,177,3332,0.00,2.47,0.00,0.000,260,0.000,0.052,2674,3169,3260,3334,3187,0,0,0,0,0,0,14.64,14.00,14.66
$GC,3382,-0.68,-116.8,2675,3169,3335,3187,332.6,-10.0,185,3396,0.15,2.42,0.00,0.000,3078,0.246,0.035,2703,1768,3259,3333,3186,0,0,0,0,0,0,13.64,14.09,13.93
$GC,3728,-0.68,-116.8,2703,1768,3334,3182,364.1,-9.2,198,3741,0.00,2.53,0.00,0.000,516,0.000,0.059,2706,378,3257,3334,3181,0,0,0,0,0,0,14.64,14.03,14.66
$GC,3847,-0.68,-116.8,2706,378,3334,3181,375.7,-9.6,214,3860,0.00,2.40,0.00,0.000,1030,0.000,0.031,2699,1777,3256,3333,3180,0,0,0,0,0,0,14.19,14.12,14.21
$GC,4191,-0.68,-116.8,2699,1778,3335,3176,408.1,-9.5,227,4204,0.00,2.47,0.00,0.000,260,0.000,0.052,2688,3170,3255,3334,3176,0,0,0,0,0,0,14.65,13.99,14.67
$GC,4290,-0.68,-116.8,2688,3171,3335,3175,417.5,-9.6,240,4303,0.00,2.42,0.00,0.000,1030,0.000,0.037,2689,1780,3255,3334,3176,0,0,0,0,0,0,14.16,14.08,14.20
$GC,4654,-0.68,-116.8,2688,1780,3334,3170,455.0,-10.4,249,4668,0.00,2.58,0.00,0.000,516,0.000,0.058,2688,372,3251,3333,3170,0,0,0,0,0,0,14.65,14.02,14.66
$GC,4828,-0.68,-116.8,2689,372,3334,3170,473.9,-11.1,272,4842,0.00,2.45,0.00,0.000,1030,0.000,0.031,2679,1779,3251,3333,3169,0,0,0,0,0,0,14.19,14.12,14.21
$GC,5166,-0.68,-116.8,2680,1780,3334,3166,510.6,-10.7,279,5180,0.00,2.47,0.00,0.000,260,0.000,0.053,2669,3169,3249,3333,3166,0,0,0,0,0,0,14.69,14.02,14.71
$GC,5201,-0.68,-116.8,2669,3170,3334,3165,514.4,-10.6,283,5215,0.17,2.42,0.00,0.000,3078,0.251,0.037,2703,1774,3249,3333,3165,0,0,0,0,0,0,13.57,14.04,13.89
$GC,5575,-0.68,-116.8,2703,1775,3333,3161,550.0,-9.5,293,5588,0.00,2.55,0.00,0.000,516,0.000,0.060,2704,375,3247,3333,3161,0,0,0,0,0,0,14.62,14.02,14.63
$GC,5660,-0.68,-116.8,2704,376,3335,3161,558.5,-9.6,304,5673,0.00,2.45,0.00,0.000,1030,0.000,0.032,2698,1784,3246,3333,3160,0,0,0,0,0,0,14.17,14.11,14.20
$GC,5984,-0.68,-116.8,2698,1786,3334,3158,587.4,-8.9,314,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1785,3245,3333,3158,0,0,0,0,0,0,14.68,14.71,14.70
$GC,6319,-0.68,-116.8,2698,1785,3334,3157,616.3,-8.6,320,6332,0.00,2.47,0.00,0.000,260,0.000,0.054,2686,3161,3244,3334,3155,0,0,0,0,0,0,14.71,14.00,14.70
$GC,6382,-0.68,-116.8,2687,3162,3334,3156,622.0,-8.9,328,6395,0.00,2.42,0.00,0.000,1030,0.000,0.037,2686,1774,3242,3333,3151,0,0,0,0,0,0,14.12,14.03,14.15
$GC,6727,-0.68,-116.8,2686,1774,3334,3153,654.4,-9.6,341,6741,0.00,2.55,0.00,0.000,516,0.000,0.060,2686,373,3242,3333,3152,0,0,0,0,0,0,14.61,14.04,14.62
$GC,6867,-0.68,-116.8,2687,374,3334,3151,669.4,-10.5,360,6880,0.12,2.42,0.00,0.000,3078,0.274,0.032,2700,1774,3242,3334,3150,0,0,0,0,0,0,13.62,14.09,13.88
$GC,7191,-0.68,-116.8,2700,1775,3333,3148,699.7,-9.4,370,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1774,3240,3333,3148,0,0,0,0,0,0,14.59,14.61,14.61
$GC,7526,-0.68,-116.8,2700,1774,3334,3147,730.8,-9.2,376,7539,0.00,2.50,0.00,0.000,260,0.000,0.054,2692,3170,3239,3333,3145,0,0,0,0,0,0,14.59,14.02,14.62
$GC,7575,-0.68,-116.8,2692,3171,3334,3145,735.5,-9.2,382,7588,0.00,2.45,0.00,0.000,1030,0.000,0.037,2692,1773,3239,3333,3145,0,0,0,0,0,0,14.11,14.02,14.14
$GC,7934,-0.68,-116.8,2692,1774,3334,3142,769.4,-9.4,390,7947,0.00,2.55,0.00,0.000,516,0.000,0.061,2692,378,3237,3333,3142,0,0,0,0,0,0,14.65,14.04,14.67
$GC,8054,-0.68,-116.8,2692,377,3334,3142,781.0,-8.9,406,8067,0.00,2.42,0.00,0.000,1030,0.000,0.033,2682,1773,3237,3333,3141,0,0,0,0,0,0,14.13,14.08,14.17
$GC,8399,-0.68,-116.8,2682,1774,3334,3140,813.6,-9.4,419,8412,0.00,2.50,0.00,0.000,260,0.000,0.053,2672,3170,3236,3333,3139,0,0,0,0,0,0,14.58,14.03,14.60
$GC,8504,-0.68,-116.8,2673,3172,3334,3140,823.3,-9.0,433,8518,0.15,2.47,0.00,0.000,3078,0.250,0.037,2701,1768,3236,3333,3139,0,0,0,0,0,0,13.60,14.03,13.90
$GC,8862,-0.68,-116.8,2700,1769,3334,3137,850.7,-7.5,441,8876,0.00,2.55,0.00,0.000,548,0.000,0.062,2706,377,3235,3333,3137,0,0,0,0,0,0,14.59,14.05,14.61
$GC,8997,-0.68,-116.8,2706,378,3334,3137,861.3,-7.8,459,9010,0.00,2.45,0.00,0.000,1062,0.000,0.034,2705,1774,3234,3333,3135,0,0,0,0,0,0,14.15,14.08,14.18
$GC,9326,-0.68,-116.8,2699,1771,3334,3133,887.2,-7.9,470,9340,0.00,2.50,0.00,0.000,260,0.000,0.055,2688,3169,3233,3333,3133,0,0,0,0,0,0,14.58,14.05,14.60
$GC,9392,-0.68,-116.8,2688,3170,3334,3132,892.4,-8.3,478,9405,0.00,2.45,0.00,0.000,1030,0.000,0.037,2688,1779,3233,3334,3132,0,0,0,0,0,0,14.11,14.02,14.14
$GC,9735,-0.68,-116.8,2688,1779,3332,3132,922.9,-8.9,491,9749,0.00,2.58,0.00,0.000,516,0.000,0.062,2700,375,3232,3333,3131,0,0,0,0,0,0,14.56,14.05,14.59
$GC,9863,-0.68,-116.8,2688,376,3333,3130,935.4,-10.0,508,9876,0.12,2.45,0.00,0.000,3078,0.271,0.034,2701,1772,3232,3333,3131,0,0,0,0,0,0,13.61,14.07,13.89
$GC,10199,-0.68,-116.8,2701,1773,3334,3131,966.9,-9.4,520,10213,0.00,2.53,0.00,0.000,260,0.000,0.055,2692,3173,3231,3333,3129,0,0,0,0,0,0,14.57,14.05,14.59
$GC,10290,-0.68,-116.8,2693,3174,3334,3128,975.6,-9.5,532,10303,0.00,2.47,0.00,0.000,1030,0.000,0.039,2692,1775,3231,3333,3129,0,0,0,0,0,0,14.09,14.00,14.13
$STATE,10489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10489,begin apogee
$GC,10501,-0.21,0.0,2693,1670,3334,3128,995.3,-9.7,539,10632,0.68,0.00,120.78,2.220,10246,0.237,0.000,2854,1666,2793,2911,2675,0,0,0,0,0,0,13.79,13.82,12.90
$STATE,10634,end apogee,CONTROL_FINISHED_OK
$STATE,10634,begin climb
$GC,10639,0.84,116.8,2854,1667,2907,2662,1001.8,0.0,541,10786,1.23,2.62,126.70,2.173,10500,0.164,0.047,3192,3078,2309,2475,2143,0,0,0,0,0,0,13.54,13.52,12.65
$GC,10856,0.84,116.8,3193,3077,2471,2126,992.7,8.3,576,10870,0.00,2.50,0.00,0.000,1030,0.000,0.039,3200,1681,2297,2470,2124,0,0,0,0,0,0,13.97,13.88,14.01
$GC,11180,0.84,119.5,3200,1681,2471,2121,968.5,7.7,586,11193,0.00,0.00,0.00,0.000,38,0.000,0.000,3200,1681,2293,2467,2120,0,0,0,0,0,0,14.59,14.62,14.62
$GC,11515,0.84,119.5,3200,1681,2471,2120,941.0,8.3,592,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1681,2293,2467,2119,0,0,0,0,0,0,14.63,14.65,14.65
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$STATE,22976,end climb,SURFACE_DEPTH_REACHED
$STATE,22976,begin surface coast
$FINISH,0.2,1.021986
$STATE,23004,end surface coast,CONTROL_FINISHED_OK
$STATE,23004,begin surface
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$TT8_MAMPS,0.039697,0.238182
$HUMID,63.11
$INTERNAL_PRESSURE,9.13579
$TCM_TEMP,24.50
$XPDR_PINGS,1
$SC_FREEKB,7505792
$PM_FREEKB,51996160
$TM_FREEKB,1953536
$24V_AH,12.65,260.658
$10V_AH,11.83,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.665,2.066,16.470,0.000
$MEM,311908
$DATA_FILE_SIZE,40006,1110
$CAP_FILE_SIZE,188796,0
$CFSIZE,260034560,153337856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14951.36,0x233bae,1,24
$CURRENT,0.061,260.01,1
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