version: 66.13
glider: 191
mission: 8
dive: 20
start: 8 30 116 2 21 48
data:
$ID,191
$MISSION,8
$DIVE,20
$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,37
$R_STBD_OVSHOOT,65
$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
$GPS1,300816,020309,957.9458,-12512.8223,35,1.0,42,9.2,0.9,96.6,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.4
$GPS2,300816,022126,957.9002,-12512.5547,22,1.0,32,9.2,0.8,80.4,9,9.7
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,174.9,21218,-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,-146.0,162,1764,705,416,0.0,0.0,0,96,0.00,0.00,-75.07,0.000,16386,0.000,0.000,161,1765,2776,2775,2778,0,0,0,0,0,0,14.80,28.83,14.83
$GC,100,-0.95,-146.0,161,1767,2775,2779,3.9,-3.6,5,127,12.25,0.00,-11.45,0.000,18982,0.423,0.000,2595,1764,3567,3680,3455,0,0,0,0,0,0,14.47,14.00,14.69
$GC,443,-0.82,-146.0,2596,1766,3680,3455,110.7,-18.7,28,449,0.17,2.30,0.00,0.000,2436,0.304,0.051,2632,3161,3567,3679,3456,0,0,0,0,0,0,14.69,14.77,14.77
$GC,569,-0.73,-146.0,2631,3161,3685,3458,129.6,-15.1,52,575,0.17,2.22,0.00,0.000,3206,0.278,0.039,2669,1779,3567,3677,3457,0,0,0,0,0,0,14.70,14.80,14.84
$GC,902,-0.68,-146.0,2669,1779,3680,3457,176.7,-13.6,68,908,0.00,2.35,0.00,0.000,644,0.000,0.060,2669,373,3568,3679,3458,0,0,0,0,0,0,15.01,14.84,15.03
$GC,954,-0.62,-146.0,2669,373,3680,3459,184.2,-14.3,78,962,0.17,2.22,0.00,0.000,3206,0.271,0.037,2702,1757,3568,3679,3458,0,0,0,0,0,0,14.76,14.87,14.90
$GC,1269,-0.60,-146.0,2702,1758,3680,3456,223.1,-12.4,90,1276,0.00,2.33,0.00,0.000,388,0.000,0.056,2691,3178,3566,3678,3455,0,0,0,0,0,0,15.04,14.91,15.06
$GC,1317,-0.58,-146.0,2694,3179,3680,3454,229.0,-11.9,99,1324,0.00,2.28,0.00,0.000,1158,0.000,0.041,2694,1769,3566,3679,3454,0,0,0,0,0,0,14.95,14.92,14.96
$GC,1636,-0.56,-146.0,2694,1769,3680,3451,269.9,-13.0,112,1642,0.12,2.33,0.00,0.000,2692,0.270,0.059,2726,378,3564,3679,3449,0,0,0,0,0,0,14.81,14.89,14.90
$GC,1703,-0.56,-146.0,2727,378,3680,3449,278.3,-11.8,125,1710,0.00,2.25,0.00,0.000,1030,0.000,0.037,2719,1779,3563,3679,3447,0,0,0,0,0,0,14.95,14.91,14.97
$GC,2031,-0.56,-146.0,2719,1780,3680,3443,316.4,-11.6,140,2038,0.00,2.30,0.00,0.000,260,0.000,0.057,2708,3177,3560,3680,3441,0,0,0,0,0,0,15.07,14.90,15.09
$GC,2104,-0.56,-146.0,2709,3177,3680,3439,324.6,-11.1,154,2111,0.00,2.28,0.00,0.000,1030,0.000,0.041,2709,1769,3559,3679,3439,0,0,0,0,0,0,14.97,14.92,14.98
$GC,2428,-0.54,-146.0,2708,1769,3680,3433,362.0,-11.4,168,2434,0.00,2.35,0.00,0.000,644,0.000,0.063,2709,368,3555,3679,3432,0,0,0,0,0,0,15.07,14.90,15.09
$GC,2505,-0.53,-146.0,2709,369,3679,3432,371.3,-11.6,183,2512,0.15,2.25,0.00,0.000,3206,0.264,0.037,2733,1765,3555,3679,3431,0,0,0,0,0,0,14.83,14.93,14.95
$GC,2824,-0.53,-146.0,2733,1766,3674,3424,402.5,-9.7,196,2830,0.00,2.33,0.00,0.000,260,0.000,0.057,2724,3185,3551,3679,3424,0,0,0,0,0,0,15.07,14.91,15.09
$GC,2931,-0.54,-146.0,2724,3181,3680,3423,412.7,-9.2,217,2938,0.00,2.28,0.00,0.000,1158,0.000,0.039,2724,1771,3551,3679,3423,0,0,0,0,0,0,14.97,14.92,14.99
$GC,3249,-0.54,-146.0,2725,1770,3679,3419,444.1,-10.0,230,3256,0.00,2.35,0.00,0.000,516,0.000,0.063,2724,375,3548,3678,3418,0,0,0,0,0,0,15.07,14.90,15.09
$GC,3327,-0.54,-146.0,2725,376,3680,3417,452.4,-10.4,245,3334,0.00,2.25,0.00,0.000,1030,0.000,0.038,2715,1769,3547,3679,3416,0,0,0,0,0,0,14.98,14.93,14.99
$GC,3646,-0.54,-146.0,2715,1771,3679,3411,485.4,-10.4,258,3653,0.00,2.30,0.00,0.000,260,0.000,0.057,2704,3173,3545,3678,3412,0,0,0,0,0,0,15.07,14.91,15.09
$GC,3729,-0.54,-146.0,2705,3173,3680,3411,493.8,-10.1,274,3736,0.00,2.28,0.00,0.000,1030,0.000,0.041,2704,1773,3544,3679,3409,0,0,0,0,0,0,14.98,14.92,14.99
$GC,4043,-0.54,-146.0,2705,1773,3679,3408,526.7,-10.4,286,4057,0.00,2.35,0.00,0.000,516,0.000,0.065,2705,378,3543,3679,3407,0,0,0,0,0,0,15.08,14.91,15.11
$GC,4138,-0.53,-146.0,2705,382,3680,3405,537.1,-10.8,303,4152,0.17,2.25,0.00,0.000,3206,0.262,0.039,2736,1769,3542,3679,3405,0,0,0,0,0,0,14.84,14.95,14.97
$GC,4444,-0.55,-146.0,2737,1770,3679,3402,563.3,-8.6,314,4458,0.00,2.33,0.00,0.000,420,0.000,0.058,2728,3179,3540,3679,3401,0,0,0,0,0,0,15.09,14.93,15.11
$GC,4499,-0.57,-146.0,2728,3179,3680,3400,568.1,-8.6,323,4512,0.00,2.30,0.00,0.000,1190,0.000,0.042,2728,1760,3539,3679,3400,0,0,0,0,0,0,15.00,14.94,15.02
$GC,4825,-0.59,-146.0,2728,1761,3680,3396,597.3,-9.1,336,4838,0.00,2.33,0.00,0.000,676,0.000,0.066,2728,381,3537,3679,3395,0,0,0,0,0,0,15.09,14.92,15.11
$GC,4869,-0.59,-146.0,2729,381,3680,3395,601.7,-9.7,343,4882,0.00,2.22,0.00,0.000,1030,0.000,0.039,2719,1760,3537,3679,3395,0,0,0,0,0,0,15.01,14.95,15.02
$GC,5204,-0.59,-146.0,2719,1762,3680,3390,633.7,-9.7,358,5218,0.00,2.35,0.00,0.000,260,0.000,0.060,2708,3179,3534,3678,3390,0,0,0,0,0,0,15.10,14.94,15.12
$GC,5275,-0.60,-146.0,2708,3179,3680,3391,640.5,-9.4,370,5288,0.00,2.33,0.00,0.000,1158,0.000,0.042,2708,1757,3535,3679,3391,0,0,0,0,0,0,15.00,14.94,15.02
$GC,5615,-0.60,-146.0,2708,1760,3680,3387,675.3,-10.5,386,5628,0.00,2.35,0.00,0.000,516,0.000,0.067,2708,372,3533,3679,3387,0,0,0,0,0,0,15.10,14.92,15.12
$GC,5679,-0.60,-146.0,2708,372,3678,3388,682.6,-11.4,397,5693,0.00,2.28,0.00,0.000,1030,0.000,0.041,2699,1763,3533,3679,3387,0,0,0,0,0,0,15.01,14.95,15.02
$GC,5985,-0.60,-146.0,2699,1764,3679,3383,717.8,-11.7,408,5998,0.00,2.33,0.00,0.000,260,0.000,0.060,2689,3173,3530,3678,3383,0,0,0,0,0,0,15.10,14.94,15.12
$GC,6059,-0.60,-146.0,2688,3173,3680,3382,726.6,-11.6,421,6073,0.10,2.30,0.00,0.000,3078,0.282,0.044,2704,1760,3530,3679,3382,0,0,0,0,0,0,14.85,14.95,14.95
$GC,6397,-0.60,-146.0,2708,1761,3679,3380,764.0,-11.3,436,6410,0.00,2.35,0.00,0.000,516,0.000,0.068,2709,375,3528,3678,3379,0,0,0,0,0,0,15.09,14.92,15.12
$GC,6482,-0.60,-146.0,2709,376,3680,3379,773.6,-10.2,451,6495,0.00,2.25,0.00,0.000,1030,0.000,0.041,2701,1761,3528,3678,3379,0,0,0,0,0,0,15.00,14.95,15.02
$GC,6807,-0.60,-146.0,2701,1763,3679,3376,809.4,-10.9,464,6820,0.00,2.35,0.00,0.000,260,0.000,0.062,2691,3178,3527,3679,3376,0,0,0,0,0,0,15.09,14.93,15.11
$GC,6886,-0.60,-146.0,2691,3179,3680,3377,818.0,-10.3,478,6900,0.00,2.33,0.00,0.000,1030,0.000,0.044,2691,1756,3527,3679,3375,0,0,0,0,0,0,15.00,14.92,15.01
$GC,7217,-0.60,-146.0,2691,1756,3680,3374,854.6,-11.0,492,7230,0.00,2.33,0.00,0.000,516,0.000,0.067,2690,381,3526,3679,3373,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7266,-0.59,-146.0,2691,382,3679,3372,859.8,-12.6,500,7279,0.15,2.25,0.00,0.000,3206,0.278,0.041,2715,1767,3525,3678,3372,0,0,0,0,0,0,14.86,14.94,14.97
$GC,7599,-0.60,-146.0,2715,1768,3680,3370,892.3,-9.9,514,7613,0.00,2.35,0.00,0.000,388,0.000,0.062,2706,3179,3524,3680,3369,0,0,0,0,0,0,15.08,14.92,15.09
$GC,7689,-0.62,-146.0,2707,3179,3679,3369,901.5,-10.9,530,7702,0.00,2.30,0.00,0.000,1158,0.000,0.044,2706,1769,3524,3679,3369,0,0,0,0,0,0,14.99,14.92,15.00
$GC,8009,-0.62,-146.0,2706,1769,3679,3367,933.8,-10.1,542,8022,0.00,2.38,0.00,0.000,516,0.000,0.070,2706,375,3523,3679,3367,0,0,0,0,0,0,15.09,14.91,15.10
$GC,8043,-0.62,-146.0,2707,375,3679,3368,938.1,-10.5,547,8057,0.00,2.28,0.00,0.000,1030,0.000,0.042,2697,1770,3525,3684,3367,0,0,0,0,0,0,14.99,14.94,15.00
$GC,8349,-0.62,-146.0,2697,1771,3679,3366,968.7,-10.0,558,8362,0.00,2.33,0.00,0.000,260,0.000,0.062,2687,3173,3522,3679,3366,0,0,0,0,0,0,15.11,14.92,15.09
$GC,8439,-0.63,-146.0,2687,3173,3679,3366,977.6,-11.2,574,8452,0.00,2.30,0.00,0.000,1158,0.000,0.046,2686,1769,3522,3679,3365,0,0,0,0,0,0,14.99,14.92,15.00
$STATE,8576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8576,begin apogee
$GC,8583,-0.24,0.0,2687,1717,3680,3365,991.6,-9.6,580,8793,0.52,0.00,197.10,1.855,10244,0.234,0.000,2830,1716,2962,3141,2783,0,0,0,0,0,0,14.82,14.02,13.40
$STATE,8795,end apogee,CONTROL_FINISHED_OK
$STATE,8795,begin climb
$GC,8799,0.95,146.0,2830,1717,3141,2778,1000.8,0.0,587,8964,1.38,2.53,149.35,2.107,10500,0.184,0.058,3205,3119,2370,2550,2190,0,0,0,0,0,0,14.02,14.08,13.26
$GC,9150,0.92,169.1,3206,3119,2532,2157,973.2,8.2,658,9188,0.00,2.38,23.00,1.924,9382,0.000,0.044,3215,1721,2273,2457,2089,0,0,0,0,0,0,14.50,14.44,13.70
$GC,9500,0.87,169.1,3215,1721,2451,2069,931.4,11.9,675,9513,0.00,2.45,0.00,0.000,644,0.000,0.070,3225,320,2261,2454,2068,0,0,0,0,0,0,14.76,14.59,14.77
$GC,9740,0.81,169.1,3226,321,2455,2068,901.3,14.5,721,9753,0.22,2.30,0.00,0.000,5254,0.280,0.034,3176,1733,2261,2454,2068,0,0,0,0,0,0,14.56,14.71,14.73
$GC,10063,0.78,169.1,3176,1734,2454,2068,870.1,9.5,733,10076,0.00,2.30,0.00,0.000,388,0.000,0.054,3171,3108,2261,2455,2067,0,0,0,0,0,0,14.91,14.75,14.93
$GC,10133,0.76,169.1,3176,3109,2455,2065,862.8,10.0,745,10146,0.00,2.30,0.00,0.000,1158,0.000,0.044,3182,1727,2259,2454,2065,0,0,0,0,0,0,14.83,14.76,14.84
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$STATE,19154,end climb,SURFACE_DEPTH_REACHED
$STATE,19157,begin surface coast
$FINISH,0.4,1.020524
$STATE,19169,end surface coast,CONTROL_FINISHED_OK
$STATE,19169,begin surface
$SM_CCo,19197,35.40,0.412,1,0,538,595.59
$SM_GC,1.14,9.23,0.00,35.40,0.063,0.000,0.412,158,1812,538,-8.55,0.90,595.59,0,0,0,0,1,0,14.70,14.90,14.28
$IRIDIUM_FIX,956.07,-12513.16,290816,203352
$TT8_MAMPS,0.039697,0.385735
$HUMID,54.68
$INTERNAL_PRESSURE,9.08696
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,7761632
$PM_FREEKB,61666688
$TM_FREEKB,7582432
$24V_AH,13.26,11.097
$10V_AH,13.08,0.000
$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,25.750,203.875,748.650,35.400,0.000,0.000,0.000,574.525,0.000,0.000,33.859,0.000,14433.654,943.132,4294.134,640.361,0.000,3146.364,0.000,2426.842,0.000,0.548,0.000
$DEVICE_MAMPS,423.045,213.435,2106.810,411.570,0.000,0.000,0.000,185.895,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19255.000,19176.000,9797.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.208,2.715,11.821,0.000
$MEM,311932
$DATA_FILE_SIZE,49989,1348
$CAP_FILE_SIZE,198725,0
$CFSIZE,260034560,254357504
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,5,0
$INTR,0,9165.74,0x213dda,1,24
$INTR,1,10845.34,0x233bac,1,24
$CURRENT,0.080,176.90,1
$GPS,300816,074335,954.891,-12512.665,24,0.8,27,9.2,0.5,147.0,11,8.8