version: 66.13
glider: 191
mission: 8
dive: 16
start: 8 29 116 3 5 35
data:
$ID,191
$MISSION,8
$DIVE,16
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$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,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,150
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,595.40039
$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,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,21
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1780
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$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,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,290816,024711,1009.8454,-12513.5977,45,1.0,52,9.2,0.6,72.4,9,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.7
$GPS2,290816,030511,1010.0694,-12513.5371,22,0.7,26,9.2,1.1,8.5,11,8.7
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,167.3,43652,-16.1,-9.167,-19.98,2424
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.95,-146.0,157,1750,728,398,0.0,0.0,0,96,0.00,0.00,-74.65,0.000,16386,0.000,0.000,156,1751,2773,2778,2769,0,0,0,0,0,0,14.78,28.83,14.82
$GC,100,-0.95,-146.0,157,1750,2773,2771,4.0,-4.1,5,133,11.98,2.55,-11.57,0.000,18724,0.407,2.129,2586,3154,3568,3684,3453,0,0,0,0,0,0,14.47,13.95,14.69
$GC,154,-0.76,-146.0,2586,3155,3683,3453,27.2,-35.6,15,161,0.32,2.28,0.00,0.000,3206,0.301,0.047,2658,1782,3567,3682,3453,0,0,0,0,0,0,14.47,14.60,14.66
$GC,470,-0.67,-146.0,2658,1782,3684,3454,100.3,-16.8,37,478,0.12,2.28,0.00,0.000,2436,0.287,0.054,2678,3164,3568,3682,3454,0,0,0,0,0,0,14.66,14.76,14.80
$GC,656,-0.63,-146.0,2678,3164,3688,3457,125.3,-12.3,73,663,0.00,2.17,0.00,0.000,1158,0.000,0.042,2678,1824,3569,3682,3456,0,0,0,0,0,0,14.86,14.80,14.87
$GC,990,-0.58,-146.0,2678,1824,3683,3455,170.2,-13.8,89,997,0.15,2.42,0.00,0.000,2692,0.268,0.060,2721,374,3568,3682,3455,0,0,0,0,0,0,14.76,14.84,14.84
$GC,1078,-0.56,-146.0,2721,373,3684,3457,181.1,-11.7,106,1086,0.00,2.33,0.00,0.000,1158,0.000,0.037,2713,1802,3569,3682,3456,0,0,0,0,0,0,14.92,14.87,14.92
$GC,1384,-0.54,-146.0,2714,1803,3683,3452,217.7,-12.3,117,1392,0.00,2.25,0.00,0.000,388,0.000,0.058,2703,3181,3567,3682,3452,0,0,0,0,0,0,15.06,14.88,15.06
$GC,1428,-0.54,-146.0,2703,3181,3683,3452,223.1,-11.8,125,1435,0.12,2.17,0.00,0.000,3078,0.252,0.041,2730,1825,3566,3681,3451,0,0,0,0,0,0,14.80,14.88,14.92
$GC,1752,-0.54,-146.0,2731,1825,3686,3446,258.6,-10.8,139,1759,0.00,2.42,0.00,0.000,516,0.000,0.062,2730,374,3564,3682,3446,0,0,0,0,0,0,15.05,14.89,15.07
$GC,1859,-0.54,-146.0,2734,374,3682,3445,270.9,-11.1,160,1866,0.00,2.35,0.00,0.000,1030,0.000,0.040,2727,1823,3562,3682,3443,0,0,0,0,0,0,14.96,14.91,14.97
$GC,2178,-0.54,-146.0,2723,1824,3683,3437,306.2,-11.0,173,2185,0.00,2.22,0.00,0.000,260,0.000,0.060,2713,3180,3559,3682,3437,0,0,0,0,0,0,15.07,14.91,15.09
$GC,2215,-0.54,-146.0,2713,3181,3678,3437,310.3,-10.7,180,2222,0.00,2.20,0.00,0.000,1030,0.000,0.041,2712,1814,3559,3682,3436,0,0,0,0,0,0,14.96,14.92,14.98
$GC,2544,-0.54,-146.0,2712,1814,3683,3431,346.8,-11.1,195,2550,0.00,2.40,0.00,0.000,516,0.000,0.064,2712,379,3555,3682,3429,0,0,0,0,0,0,15.07,14.90,15.09
$GC,2626,-0.53,-146.0,2713,380,3683,3428,356.6,-11.7,211,2632,0.15,2.33,0.00,0.000,3206,0.262,0.040,2735,1816,3555,3682,3428,0,0,0,0,0,0,14.83,14.92,14.95
$GC,2939,-0.53,-146.0,2736,1816,3683,3423,387.2,-9.9,223,2946,0.00,2.25,0.00,0.000,260,0.000,0.059,2728,3186,3553,3683,3423,0,0,0,0,0,0,15.07,14.94,15.09
$GC,2997,-0.55,-146.0,2729,3187,3684,3422,392.9,-9.8,234,3004,0.00,2.25,0.00,0.000,1158,0.000,0.041,2728,1809,3552,3682,3422,0,0,0,0,0,0,14.97,14.91,14.96
$GC,3302,-0.55,-146.0,2725,1810,3683,3415,424.0,-10.3,245,3309,0.00,2.40,0.00,0.000,516,0.000,0.066,2728,379,3549,3682,3417,0,0,0,0,0,0,15.07,14.90,15.09
$GC,3385,-0.55,-146.0,2728,379,3683,3417,433.2,-11.0,261,3393,0.00,2.33,0.00,0.000,1030,0.000,0.040,2719,1803,3548,3682,3415,0,0,0,0,0,0,14.97,14.92,15.02
$GC,3699,-0.55,-146.0,2718,1804,3683,3409,467.4,-11.1,273,3707,0.00,2.28,0.00,0.000,260,0.000,0.061,2708,3183,3545,3682,3409,0,0,0,0,0,0,15.07,14.91,15.09
$GC,3747,-0.55,-146.0,2708,3184,3683,3410,472.8,-10.8,282,3754,0.00,2.22,0.00,0.000,1030,0.000,0.043,2708,1807,3545,3682,3409,0,0,0,0,0,0,14.97,14.92,14.98
$GC,4066,-0.55,-146.0,2708,1807,3683,3406,509.7,-11.8,295,4079,0.00,2.40,0.00,0.000,516,0.000,0.066,2708,378,3544,3682,3406,0,0,0,0,0,0,15.07,14.91,15.10
$GC,4168,-0.53,-146.0,2708,379,3683,3405,522.1,-12.1,313,4182,0.15,2.33,0.00,0.000,3206,0.269,0.041,2737,1803,3543,3682,3405,0,0,0,0,0,0,14.83,14.94,14.96
$GC,4511,-0.55,-146.0,2731,1805,3683,3401,558.0,-10.2,329,4525,0.00,2.28,0.00,0.000,388,0.000,0.062,2730,3177,3541,3682,3400,0,0,0,0,0,0,15.11,14.92,15.11
$GC,4566,-0.57,-146.0,2724,3178,3683,3400,563.8,-9.8,338,4579,0.00,2.22,0.00,0.000,1158,0.000,0.043,2724,1799,3540,3682,3399,0,0,0,0,0,0,15.00,14.94,15.01
$GC,4891,-0.57,-146.0,2723,1799,3682,3396,595.6,-9.5,351,4904,0.00,2.40,0.00,0.000,516,0.000,0.067,2724,373,3538,3682,3395,0,0,0,0,0,0,15.09,14.92,15.10
$GC,4991,-0.57,-146.0,2724,373,3682,3395,605.3,-9.3,369,5004,0.00,2.30,0.00,0.000,1030,0.000,0.041,2714,1789,3538,3682,3394,0,0,0,0,0,0,15.03,14.95,15.02
$GC,5332,-0.57,-146.0,2714,1791,3683,3390,636.0,-8.9,385,5345,0.00,2.30,0.00,0.000,292,0.000,0.062,2704,3176,3536,3682,3391,0,0,0,0,0,0,15.10,14.94,15.12
$GC,5396,-0.57,-146.0,2704,3177,3684,3390,641.5,-8.6,396,5410,0.00,2.28,0.00,0.000,1062,0.000,0.044,2704,1781,3534,3679,3390,0,0,0,0,0,0,15.00,14.94,15.02
$GC,5702,-0.57,-146.0,2704,1782,3682,3388,668.8,-9.0,407,5715,0.00,2.35,0.00,0.000,548,0.000,0.068,2704,384,3534,3682,3387,0,0,0,0,0,0,15.09,14.93,15.12
$GC,5819,-0.57,-146.0,2704,384,3682,3386,680.1,-10.3,428,5832,0.12,2.25,0.00,0.000,3078,0.280,0.041,2721,1778,3533,3682,3385,0,0,0,0,0,0,14.85,14.95,14.98
$GC,6144,-0.57,-146.0,2721,1775,3682,3382,709.3,-9.2,441,6157,0.00,2.33,0.00,0.000,260,0.000,0.063,2713,3179,3532,3682,3382,0,0,0,0,0,0,15.09,14.93,15.12
$GC,6203,-0.59,-146.0,2713,3179,3682,3383,714.9,-9.2,451,6216,0.00,2.28,0.00,0.000,1158,0.000,0.044,2713,1776,3531,3681,3382,0,0,0,0,0,0,14.98,14.92,15.00
$GC,6523,-0.59,-146.0,2713,1776,3683,3377,747.0,-10.2,463,6536,0.00,2.35,0.00,0.000,516,0.000,0.069,2713,378,3530,3682,3379,0,0,0,0,0,0,15.09,14.92,15.11
$GC,6623,-0.59,-146.0,2713,378,3682,3379,757.8,-11.1,481,6636,0.00,2.25,0.00,0.000,1030,0.000,0.042,2704,1763,3530,3682,3378,0,0,0,0,0,0,15.00,14.95,15.01
$GC,6963,-0.59,-146.0,2704,1760,3683,3375,794.1,-10.7,497,6976,0.00,2.35,0.00,0.000,260,0.000,0.064,2693,3171,3528,3682,3374,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7042,-0.59,-146.0,2693,3171,3682,3376,802.6,-10.4,511,7055,0.00,2.30,0.00,0.000,1030,0.000,0.046,2693,1758,3528,3682,3375,0,0,0,0,0,0,14.98,14.93,15.02
$GC,7372,-0.59,-146.0,2693,1759,3682,3371,838.5,-10.9,525,7385,0.00,2.33,0.00,0.000,516,0.000,0.070,2690,381,3524,3677,3371,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7422,-0.58,-146.0,2693,381,3682,3372,844.3,-11.5,533,7435,0.15,2.22,0.00,0.000,3206,0.279,0.043,2717,1750,3527,3683,3371,0,0,0,0,0,0,14.83,14.95,14.97
$GC,7755,-0.59,-146.0,2717,1750,3682,3370,875.7,-9.6,547,7768,0.00,2.40,0.00,0.000,388,0.000,0.064,2709,3183,3525,3681,3369,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7839,-0.61,-146.0,2709,3184,3682,3368,884.0,-9.3,562,7852,0.00,2.30,0.00,0.000,1158,0.000,0.045,2708,1773,3525,3682,3368,0,0,0,0,0,0,15.00,14.92,15.00
$GC,8164,-0.61,-146.0,2709,1772,3682,3367,915.0,-9.5,575,8177,0.00,2.38,0.00,0.000,516,0.000,0.070,2708,374,3524,3681,3367,0,0,0,0,0,0,15.08,14.92,15.11
$GC,8234,-0.61,-146.0,2708,374,3682,3366,922.1,-10.0,587,8247,0.00,2.30,0.00,0.000,1030,0.000,0.044,2699,1770,3524,3682,3366,0,0,0,0,0,0,14.99,14.94,15.00
$GC,8574,-0.61,-146.0,2700,1771,3682,3365,954.8,-9.5,603,8587,0.00,2.35,0.00,0.000,260,0.000,0.065,2689,3181,3523,3682,3365,0,0,0,0,0,0,15.08,14.92,15.11
$GC,8653,-0.62,-146.0,2689,3181,3682,3365,962.4,-9.3,617,8667,0.00,2.33,0.00,0.000,1158,0.000,0.045,2685,1762,3522,3681,3364,0,0,0,0,0,0,14.98,14.92,15.00
$STATE,8950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8950,begin apogee
$GC,8958,-0.24,0.0,2689,1763,3683,3362,991.8,-9.9,630,9114,0.50,0.00,146.40,2.132,10244,0.230,0.000,2825,1763,2968,3145,2791,0,0,0,0,0,0,14.83,13.98,13.28
$STATE,9116,end apogee,CONTROL_FINISHED_OK
$STATE,9116,begin climb
$GC,9119,0.95,146.0,2826,1762,3138,2777,999.1,0.0,635,9286,1.38,2.42,148.50,2.111,10500,0.185,0.062,3202,3118,2368,2548,2189,0,0,0,0,0,0,14.00,14.06,13.26
$GC,9317,0.89,146.0,3202,3118,2539,2164,988.2,9.7,673,9331,0.00,2.42,0.00,0.000,1158,0.000,0.044,3211,1717,2350,2538,2162,0,0,0,0,0,0,14.21,14.15,14.22
$GC,9648,0.84,146.0,3212,1715,2538,2155,954.6,10.7,687,9661,0.12,2.42,0.00,0.000,4740,0.317,0.069,3193,325,2346,2538,2154,0,0,0,0,0,0,14.46,14.57,14.59
$GC,9702,0.80,146.0,3193,325,2538,2155,949.2,9.9,696,9716,0.00,2.33,0.00,0.000,1158,0.000,0.037,3193,1733,2346,2538,2154,0,0,0,0,0,0,14.69,14.64,14.71
$GC,10028,0.75,146.0,3194,1734,2538,2154,918.3,9.5,709,10041,0.15,2.30,0.00,0.000,4484,0.291,0.055,3157,3111,2345,2538,2153,0,0,0,0,0,0,14.62,14.71,14.72
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$STATE,19359,end climb,SURFACE_DEPTH_REACHED
$STATE,19360,begin surface coast
$FINISH,0.2,1.020648
$STATE,19378,end surface coast,CONTROL_FINISHED_OK
$STATE,19378,begin surface
$SM_CCo,19405,19.08,0.128,0,0,539,595.59
$SM_GC,1.45,9.18,0.00,19.08,0.057,0.000,0.128,154,1713,539,-8.55,-1.75,595.59,0,0,0,0,0,0,14.71,14.90,14.66
$IRIDIUM_FIX,1007.02,-12511.37,280816,211408
$TT8_MAMPS,0.038948,0.372253
$HUMID,55.43
$INTERNAL_PRESSURE,9.09673
$TCM_TEMP,26.10
$XPDR_PINGS,0
$SC_FREEKB,7763296
$PM_FREEKB,61827840
$TM_FREEKB,7643232
$24V_AH,13.26,9.225
$10V_AH,13.06,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.075,214.200,716.175,19.075,0.000,0.000,0.000,571.850,0.000,0.000,27.956,0.000,14493.138,911.864,4424.405,653.628,0.000,3172.431,0.000,2532.120,0.000,0.549,0.000
$DEVICE_MAMPS,406.980,2128.995,2132.055,127.755,0.000,0.000,0.000,184.365,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.203,2.660,11.678,0.000
$MEM,311912
$DATA_FILE_SIZE,53230,1419
$CAP_FILE_SIZE,204663,0
$CFSIZE,260034560,255123456
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$INTR,0,10143.22,0x233bae,1,24
$INTR,1,12529.07,0x233bac,1,24
$CURRENT,0.101,176.27,1
$GPS,290816,083033,1007.029,-12513.101,31,0.8,31,9.2,0.9,74.3,10,7.0