version: 66.13
glider: 191
mission: 8
dive: 736
start: 3 25 117 12 15 52
data:
$ID,191
$MISSION,8
$DIVE,736
$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,30
$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,27
$R_STBD_OVSHOOT,71
$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,9.6999998
$MINV_10V,9.6999998
$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,1
$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
$GPS1,250317,120327,1013.4880,-12512.2617,41,1.0,41,9.2,0.5,11.4,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.9
$GPS2,250317,121528,1013.5743,-12512.2832,18,0.8,19,9.2,0.8,37.9,10,9.6
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,237.0,2604,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-1.18,-42.3,153,1783,888,520,0.0,0.0,0,98,0.00,0.00,-77.00,0.000,16390,0.000,0.000,152,1783,2967,2992,2943,0,0,0,0,0,0,13.14,11.55,13.16
$GC,103,-1.18,-42.3,153,1782,2993,2945,5.6,-8.1,3,126,13.65,2.65,0.00,0.000,2820,0.363,0.042,2531,3155,2969,2994,2945,1,0,0,0,0,0,12.61,12.93,12.90
$GC,310,-0.98,-42.3,2531,3156,2995,2945,63.8,-13.6,33,316,0.40,2.62,0.00,0.000,3206,0.312,0.037,2605,1764,2969,2994,2945,0,0,0,0,0,0,12.54,12.95,12.86
$GC,632,-1.00,-57.2,2606,1765,2996,2948,90.9,-5.9,46,637,0.00,2.67,0.00,0.000,548,0.000,0.055,2612,376,2971,2994,2949,0,0,0,0,0,0,13.42,13.00,13.44
$GC,709,-1.00,-58.3,2612,376,2994,2950,96.7,-7.7,57,716,0.00,2.53,0.00,0.000,1062,0.000,0.028,2605,1756,2971,2994,2949,0,0,0,0,0,0,13.16,13.12,13.19
$GC,1054,-1.00,-58.3,2605,1757,2995,2952,124.4,-8.3,65,1060,0.00,2.67,0.00,0.000,516,0.000,0.053,2610,375,2971,2994,2949,0,0,0,0,0,0,13.49,13.02,13.52
$GC,1180,-1.00,-58.3,2610,377,2995,2949,137.2,-10.8,83,1184,0.00,2.58,0.00,0.000,1030,0.000,0.030,2603,1780,2971,2994,2949,0,0,0,0,0,0,13.21,13.16,13.23
$GC,1503,-1.00,-58.3,2603,1781,2994,2948,172.1,-11.0,94,1508,0.00,2.72,0.00,0.000,516,0.000,0.054,2608,375,2970,2994,2947,0,0,0,0,0,0,13.46,13.05,13.48
$GC,1607,-1.00,-58.3,2609,376,2994,2947,183.3,-10.7,109,1614,0.00,2.58,0.00,0.000,1030,0.000,0.031,2601,1773,2970,2994,2946,0,0,0,0,0,0,13.20,13.14,13.22
$GC,1950,-1.00,-58.3,2601,1773,2994,2943,217.8,-10.0,116,1955,0.00,2.65,0.00,0.000,260,0.000,0.049,2591,3172,2968,2994,2942,0,0,0,0,0,0,13.50,13.07,13.51
$GC,2000,-1.00,-58.3,2591,3172,2995,2941,222.7,-10.1,123,2006,0.00,2.62,0.00,0.000,1030,0.000,0.037,2591,1775,2968,2994,2943,0,0,0,0,0,0,13.17,13.09,13.23
$GC,2342,-1.00,-58.3,2590,1775,2994,2938,259.7,-11.1,130,2347,0.00,2.72,0.00,0.000,516,0.000,0.057,2591,372,2965,2994,2937,0,0,0,0,0,0,13.51,13.06,13.52
$GC,2496,-1.00,-58.3,2591,373,2995,2935,277.4,-11.2,152,2500,0.00,2.60,0.00,0.000,1030,0.000,0.030,2582,1775,2964,2994,2934,0,0,0,0,0,0,13.21,13.16,13.24
$GC,2848,-1.00,-58.3,2582,1776,2995,2930,314.3,-10.6,160,2853,0.00,2.65,0.00,0.000,260,0.000,0.050,2572,3166,2961,2994,2928,0,0,0,0,0,0,13.50,13.02,13.52
$GC,2958,-1.00,-58.3,2572,3167,2994,2929,326.5,-11.1,176,2963,0.17,2.62,0.00,0.000,3078,0.293,0.037,2599,1765,2961,2994,2929,0,0,0,0,0,0,12.62,13.10,12.96
$GC,3294,-1.00,-58.3,2599,1764,2994,2927,359.1,-9.5,189,3300,0.00,2.70,0.00,0.000,516,0.000,0.057,2609,376,2960,2995,2925,0,0,0,0,0,0,13.52,13.05,13.54
$GC,3489,-1.00,-58.3,2610,377,2994,2923,379.7,-11.1,216,3494,0.00,2.60,0.00,0.000,1030,0.000,0.031,2602,1774,2958,2994,2923,0,0,0,0,0,0,13.22,13.16,13.24
$GC,3803,-1.00,-58.3,2602,1775,2995,2919,415.0,-11.3,226,3808,0.00,2.72,0.00,0.000,516,0.000,0.054,2609,376,2956,2994,2919,0,0,0,0,0,0,13.52,13.05,13.54
$GC,3874,-1.00,-58.3,2609,376,2994,2918,423.3,-11.7,236,3879,0.00,2.60,0.00,0.000,1030,0.000,0.031,2602,1779,2956,2994,2918,0,0,0,0,0,0,13.23,13.16,13.25
$GC,4194,-1.00,-58.3,2602,1779,2995,2915,459.1,-11.0,247,4199,0.00,2.75,0.00,0.000,516,0.000,0.056,2605,376,2954,2993,2915,0,0,0,0,0,0,13.54,13.06,13.56
$GC,4243,-1.00,-58.3,2605,377,2994,2915,464.7,-11.5,254,4249,0.00,2.60,0.00,0.000,1030,0.000,0.032,2598,1774,2954,2994,2915,0,0,0,0,0,0,13.23,13.16,13.25
$GC,4588,-1.00,-58.3,2598,1775,2994,2912,501.4,-10.5,261,4594,0.00,2.67,0.00,0.000,260,0.000,0.051,2587,3170,2952,2994,2911,0,0,0,0,0,0,13.57,13.09,13.59
$GC,4692,-1.00,-58.3,2588,3171,2995,2911,512.4,-10.6,276,4698,0.00,2.62,0.00,0.000,1030,0.000,0.038,2588,1780,2952,2994,2911,0,0,0,0,0,0,13.21,13.12,13.24
$GC,5035,-1.00,-58.3,2588,1781,2995,2908,549.5,-11.0,283,5040,0.00,2.75,0.00,0.000,516,0.000,0.058,2587,370,2954,2994,2914,0,0,0,0,0,0,13.57,13.09,13.59
$GC,5205,-1.00,-58.3,2588,370,2994,2907,569.4,-11.7,307,5210,0.00,2.60,0.00,0.000,1030,0.000,0.031,2579,1776,2950,2994,2906,0,0,0,0,0,0,13.27,13.21,13.29
$GC,5540,-1.00,-58.3,2579,1777,2995,2904,606.0,-10.9,320,5544,0.00,2.65,0.00,0.000,260,0.000,0.053,2568,3166,2948,2993,2903,0,0,0,0,0,0,13.58,13.12,13.60
$GC,5582,-1.00,-58.3,2569,3167,2994,2904,610.6,-11.2,326,5587,0.17,2.62,0.00,0.000,3078,0.296,0.038,2596,1766,2948,2993,2903,0,0,0,0,0,0,12.66,13.17,13.00
$GC,5934,-1.00,-58.3,2596,1766,2994,2902,645.1,-9.8,334,5939,0.00,2.72,0.00,0.000,516,0.000,0.060,2604,376,2947,2993,2901,0,0,0,0,0,0,13.64,13.09,13.66
$GC,6135,-1.00,-58.3,2604,376,2994,2900,666.2,-10.2,362,6139,0.00,2.60,0.00,0.000,1030,0.000,0.032,2597,1776,2946,2993,2899,0,0,0,0,0,0,13.29,13.24,13.31
$GC,6499,-1.00,-58.3,2597,1776,2994,2898,702.1,-9.5,372,6504,0.00,2.67,0.00,0.000,260,0.000,0.053,2587,3176,2945,2993,2897,0,0,0,0,0,0,13.61,13.14,13.63
$GC,6554,-1.00,-58.3,2587,3177,2994,2896,707.2,-9.1,380,6559,0.00,2.62,0.00,0.000,1030,0.000,0.040,2587,1781,2944,2993,2896,0,0,0,0,0,0,13.29,13.20,13.32
$GC,6890,-1.00,-58.3,2587,1782,2994,2894,735.8,-8.3,393,6895,0.00,2.75,0.00,0.000,516,0.000,0.060,2588,370,2943,2993,2893,0,0,0,0,0,0,13.64,13.12,13.65
$GC,7085,-1.00,-58.3,2588,371,2994,2892,752.7,-9.0,420,7090,0.15,2.62,0.00,0.000,3078,0.322,0.033,2599,1784,2943,2994,2892,0,0,0,0,0,0,12.68,13.25,13.02
$GC,7399,-1.00,-58.3,2599,1784,2994,2891,779.4,-8.5,430,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1784,2941,2993,2890,0,0,0,0,0,0,13.64,13.67,13.66
$GC,7736,-1.00,-58.3,2598,1785,2994,2888,812.6,-10.2,436,7741,0.00,2.80,0.00,0.000,516,0.000,0.060,2608,370,2943,2993,2893,0,0,0,0,0,0,13.64,13.12,13.66
$GC,7833,-1.00,-58.3,2608,371,2991,2887,823.7,-11.8,450,7838,0.00,2.62,0.00,0.000,1030,0.000,0.034,2601,1775,2940,2993,2887,0,0,0,0,0,0,13.31,13.24,13.33
$GC,8183,-1.00,-58.3,2601,1776,2994,2886,862.4,-11.1,458,8188,0.00,2.78,0.00,0.000,516,0.000,0.059,2604,365,2939,2993,2885,0,0,0,0,0,0,13.71,13.11,13.73
$GC,8297,-1.00,-58.3,2603,364,2994,2886,875.1,-11.2,474,8302,0.00,2.62,0.00,0.000,1030,0.000,0.032,2597,1778,2938,2993,2884,0,0,0,0,0,0,13.33,13.26,13.35
$GC,8632,-1.00,-58.3,2598,1777,2994,2885,907.6,-9.4,487,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1777,2938,2993,2884,0,0,0,0,0,0,13.66,13.68,13.68
$GC,8968,-1.00,-58.3,2598,1778,2994,2884,936.4,-8.4,493,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1778,2938,2993,2883,0,0,0,0,0,0,13.66,13.69,13.68
$GC,9305,-1.00,-58.3,2597,1778,2993,2880,964.2,-8.2,499,9310,0.00,2.80,0.00,0.000,516,0.000,0.059,2597,365,2937,2993,2881,0,0,0,0,0,0,13.64,13.10,13.66
$GC,9388,-1.00,-58.3,2597,364,2994,2880,971.6,-8.8,511,9393,0.00,2.65,0.00,0.000,1030,0.000,0.033,2588,1780,2936,2993,2879,0,0,0,0,0,0,13.31,13.24,13.33
$STATE,9635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9635,begin apogee
$GC,9646,-0.21,0.0,2588,1653,2994,2879,993.8,-8.9,519,9697,1.27,0.00,48.12,2.166,10246,0.274,0.000,2854,1653,2795,2882,2709,0,0,0,0,0,0,12.81,12.78,11.83
$STATE,9698,end apogee,CONTROL_FINISHED_OK
$STATE,9698,begin climb
$GC,9705,1.20,58.3,2855,1654,2876,2700,996.9,0.0,520,9785,1.77,0.00,76.90,2.213,10246,0.157,0.000,3306,1653,2555,2654,2456,0,0,0,0,0,0,12.71,12.28,11.41
$GC,10088,1.21,61.4,3307,1653,2650,2430,972.4,7.5,527,10093,0.00,2.88,0.00,0.000,292,0.000,0.044,3306,3071,2539,2649,2429,0,0,0,0,0,0,12.86,12.52,12.88
$GC,10132,1.21,61.4,3307,3069,2650,2429,969.1,11.1,533,10137,0.00,2.70,0.00,0.000,1030,0.000,0.036,3315,1705,2538,2649,2428,0,0,0,0,0,0,12.64,12.58,12.66
$GC,10481,1.21,61.4,3315,1706,2651,2427,941.5,7.9,541,10487,0.00,2.83,0.00,0.000,516,0.000,0.060,3326,323,2538,2650,2427,0,0,0,0,0,0,12.95,12.59,12.97
$GC,10607,1.21,61.4,3327,323,2650,2428,931.0,8.4,559,10612,0.00,2.62,0.00,0.000,1030,0.000,0.026,3326,1697,2537,2649,2426,0,0,0,0,0,0,12.78,12.74,12.79
$GC,10931,1.21,61.4,3326,1698,2650,2425,905.3,7.9,570,10936,0.00,2.70,0.00,0.000,260,0.000,0.047,3326,3063,2537,2650,2424,0,0,0,0,0,0,13.07,12.68,13.09
$GC,11041,1.21,61.4,3326,3064,2651,2423,896.5,7.9,586,11046,0.00,2.72,0.00,0.000,1030,0.000,0.038,3335,1674,2536,2650,2423,0,0,0,0,0,0,12.82,12.74,12.85
$GC,11377,1.21,63.5,3335,1674,2650,2424,870.8,7.6,599,11382,0.00,2.72,0.00,0.000,548,0.000,0.059,3346,323,2537,2650,2424,0,0,0,0,0,0,13.14,12.73,13.15
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$STATE,22757,end climb,SURFACE_DEPTH_REACHED
$STATE,22757,begin surface coast
$FINISH,0.1,1.000504
$STATE,22785,end surface coast,CONTROL_FINISHED_OK
$STATE,22785,begin surface
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$HUMID,60.08
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,7487488
$24V_AH,11.41,278.532
$10V_AH,10.96,0.000
$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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$MEM,311952
$DATA_FILE_SIZE,46656,1272
$CAP_FILE_SIZE,176922,0
$CFSIZE,260034560,147095552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$CURRENT,0.112,298.17,1
$GPS,250317,184025,1013.361,-12514.821,43,1.0,46,9.2,0.5,304.5,7,6.7