version: 66.13
glider: 191
mission: 8
dive: 21
start: 8 30 116 8 2 20
data:
$ID,191
$MISSION,8
$DIVE,21
$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,36
$R_STBD_OVSHOOT,54
$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
$GPS1,300816,074335,954.8909,-12512.6650,24,0.8,27,9.2,0.5,147.0,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.8
$GPS2,300816,080159,954.7163,-12512.5996,22,0.8,24,9.2,0.3,105.7,11,5.3
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,181.9,15351,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.95,-146.0,158,1812,705,406,0.0,0.0,0,98,0.00,0.00,-74.62,0.000,16386,0.000,0.000,154,1811,2788,2786,2790,0,0,0,0,0,0,14.80,28.83,14.82
$GC,102,-0.95,-146.0,154,1813,2786,2787,3.9,-3.9,5,134,12.07,2.62,-11.27,0.000,18980,0.412,2.134,2610,377,3570,3679,3461,0,0,0,0,0,0,14.47,13.95,14.69
$GC,192,-0.75,-146.0,2609,376,3680,3456,43.3,-43.4,22,201,0.28,2.30,0.00,0.000,3206,0.329,0.037,2660,1784,3571,3687,3456,0,0,0,0,0,0,14.49,14.64,14.66
$GC,498,-0.67,-146.0,2660,1782,3685,3456,109.4,-14.4,41,505,0.12,2.30,0.00,0.000,2436,0.308,0.052,2682,3182,3567,3679,3456,0,0,0,0,0,0,14.66,14.77,14.76
$GC,581,-0.61,-146.0,2683,3181,3680,3458,120.5,-12.1,57,588,0.12,2.30,0.00,0.000,3206,0.277,0.041,2708,1756,3568,3679,3457,0,0,0,0,0,0,14.69,14.79,14.83
$GC,895,-0.58,-146.0,2708,1759,3680,3458,160.0,-12.8,69,902,0.00,2.33,0.00,0.000,388,0.000,0.053,2700,3173,3568,3679,3458,0,0,0,0,0,0,15.00,14.85,15.02
$GC,948,-0.57,-146.0,2701,3174,3676,3458,166.5,-11.7,79,955,0.00,2.28,0.00,0.000,1158,0.000,0.041,2700,1764,3568,3679,3457,0,0,0,0,0,0,14.90,14.85,14.92
$GC,1262,-0.54,-146.0,2701,1768,3680,3455,205.6,-12.9,91,1269,0.12,2.33,0.00,0.000,2692,0.266,0.060,2734,375,3567,3679,3456,0,0,0,0,0,0,14.78,14.86,14.87
$GC,1301,-0.54,-146.0,2734,376,3680,3455,210.5,-11.8,98,1307,0.00,2.22,0.00,0.000,1030,0.000,0.037,2727,1758,3567,3679,3455,0,0,0,0,0,0,14.94,14.89,14.95
$GC,1629,-0.54,-146.0,2727,1763,3679,3450,246.6,-11.0,113,1635,0.00,2.33,0.00,0.000,260,0.000,0.057,2716,3181,3564,3679,3449,0,0,0,0,0,0,15.05,14.89,15.07
$GC,1671,-0.54,-146.0,2716,3182,3680,3448,251.3,-10.6,121,1677,0.00,2.30,0.00,0.000,1030,0.000,0.040,2716,1754,3561,3679,3444,0,0,0,0,0,0,14.95,14.90,14.97
$GC,1994,-0.52,-146.0,2716,1753,3679,3443,287.4,-11.2,135,2001,0.00,2.30,0.00,0.000,644,0.000,0.063,2716,378,3560,3678,3442,0,0,0,0,0,0,15.07,14.90,15.08
$GC,2067,-0.51,-146.0,2717,378,3680,3442,296.1,-11.5,149,2074,0.15,2.22,0.00,0.000,3206,0.260,0.036,2741,1767,3559,3678,3441,0,0,0,0,0,0,14.82,14.92,14.95
$GC,2391,-0.51,-146.0,2741,1768,3680,3433,328.7,-10.2,163,2398,0.00,2.30,0.00,0.000,260,0.000,0.057,2732,3172,3556,3679,3434,0,0,0,0,0,0,15.07,14.91,15.09
$GC,2459,-0.53,-146.0,2732,3174,3680,3433,335.7,-10.1,176,2466,0.00,2.28,0.00,0.000,1158,0.000,0.041,2732,1763,3553,3674,3432,0,0,0,0,0,0,14.97,14.92,14.99
$GC,2787,-0.53,-146.0,2733,1762,3680,3427,370.4,-10.6,191,2795,0.00,2.33,0.00,0.000,516,0.000,0.063,2730,378,3552,3677,3427,0,0,0,0,0,0,15.07,14.90,15.09
$GC,2852,-0.53,-146.0,2733,378,3679,3427,377.5,-10.8,203,2859,0.00,2.25,0.00,0.000,1030,0.000,0.037,2723,1771,3552,3679,3425,0,0,0,0,0,0,14.98,14.93,14.99
$GC,3186,-0.53,-146.0,2724,1769,3680,3419,413.6,-11.0,219,3193,0.00,2.30,0.00,0.000,260,0.000,0.056,2713,3174,3549,3679,3420,0,0,0,0,0,0,15.07,14.92,15.10
$GC,3269,-0.53,-146.0,2713,3175,3680,3418,422.6,-10.8,235,3276,0.00,2.30,0.00,0.000,1030,0.000,0.041,2713,1757,3548,3679,3418,0,0,0,0,0,0,14.98,14.92,14.99
$GC,3583,-0.53,-146.0,2712,1756,3680,3414,458.8,-11.6,247,3589,0.00,2.33,0.00,0.000,516,0.000,0.063,2719,375,3546,3679,3414,0,0,0,0,0,0,15.07,14.90,15.09
$GC,3651,-0.52,-146.0,2713,376,3680,3414,467.2,-11.9,260,3657,0.15,2.22,0.00,0.000,3206,0.259,0.038,2738,1751,3546,3678,3414,0,0,0,0,0,0,14.83,14.93,14.95
$GC,3980,-0.53,-146.0,2738,1749,3680,3410,499.6,-9.7,275,3993,0.00,2.33,0.00,0.000,388,0.000,0.057,2730,3170,3544,3680,3409,0,0,0,0,0,0,15.07,14.91,15.10
$GC,4077,-0.56,-146.0,2729,3171,3680,3407,508.5,-9.0,292,4091,0.00,2.33,0.00,0.000,1190,0.000,0.042,2729,1748,3546,3679,3414,0,0,0,0,0,0,14.99,14.92,15.00
$GC,4380,-0.57,-146.0,2729,1749,3680,3403,536.8,-9.0,303,4394,0.00,2.33,0.00,0.000,676,0.000,0.065,2729,370,3541,3680,3403,0,0,0,0,0,0,15.09,14.92,15.11
$GC,4439,-0.57,-146.0,2729,369,3680,3410,542.5,-9.5,313,4453,0.00,2.22,0.00,0.000,1030,0.000,0.039,2720,1755,3541,3679,3403,0,0,0,0,0,0,15.02,14.95,15.01
$GC,4760,-0.57,-146.0,2719,1755,3679,3399,571.2,-8.9,325,4773,0.00,2.35,0.00,0.000,292,0.000,0.059,2709,3180,3538,3679,3398,0,0,0,0,0,0,15.09,14.93,15.11
$GC,4830,-0.58,-146.0,2709,3181,3680,3397,577.5,-9.0,337,4843,0.00,2.33,0.00,0.000,1190,0.000,0.042,2709,1759,3538,3679,3397,0,0,0,0,0,0,15.00,14.94,15.02
$GC,5170,-0.58,-146.0,2710,1759,3679,3394,611.1,-10.2,353,5183,0.00,2.33,0.00,0.000,516,0.000,0.067,2709,381,3536,3679,3393,0,0,0,0,0,0,15.10,14.93,15.12
$GC,5234,-0.58,-146.0,2709,382,3678,3392,618.1,-10.6,364,5249,0.00,2.22,0.00,0.000,1030,0.000,0.038,2700,1756,3535,3679,3392,0,0,0,0,0,0,15.00,14.96,15.02
$GC,5540,-0.58,-146.0,2700,1757,3679,3391,652.0,-11.2,375,5554,0.00,2.35,0.00,0.000,260,0.000,0.060,2689,3176,3534,3679,3390,0,0,0,0,0,0,15.08,14.93,15.12
$GC,5625,-0.58,-146.0,2689,3177,3680,3389,661.3,-10.9,390,5638,0.12,2.30,0.00,0.000,3078,0.262,0.044,2716,1765,3533,3679,3388,0,0,0,0,0,0,14.85,14.94,14.98
$GC,5950,-0.58,-146.0,2716,1766,3680,3385,694.0,-9.9,403,5963,0.00,2.35,0.00,0.000,516,0.000,0.067,2716,379,3532,3679,3385,0,0,0,0,0,0,15.09,14.92,15.12
$GC,6029,-0.58,-146.0,2716,379,3679,3385,702.4,-10.7,417,6042,0.00,2.25,0.00,0.000,1030,0.000,0.041,2709,1760,3531,3679,3384,0,0,0,0,0,0,15.00,14.95,15.02
$GC,6360,-0.58,-146.0,2709,1761,3680,3381,735.6,-10.1,431,6373,0.00,2.35,0.00,0.000,260,0.000,0.061,2698,3179,3529,3678,3381,0,0,0,0,0,0,15.09,14.93,15.12
$GC,6463,-0.59,-146.0,2698,3181,3680,3380,745.5,-9.5,449,6476,0.00,2.33,0.00,0.000,1158,0.000,0.044,2698,1761,3529,3678,3380,0,0,0,0,0,0,15.00,14.94,15.01
$GC,6803,-0.59,-146.0,2698,1761,3679,3378,779.5,-9.8,465,6816,0.00,2.35,0.00,0.000,516,0.000,0.068,2698,375,3528,3679,3377,0,0,0,0,0,0,15.09,14.92,15.11
$GC,6847,-0.59,-146.0,2698,376,3679,3377,784.1,-10.4,472,6860,0.00,2.25,0.00,0.000,1030,0.000,0.041,2688,1762,3527,3678,3377,0,0,0,0,0,0,15.00,14.95,15.01
$GC,7183,-0.58,-146.0,2689,1763,3680,3374,818.7,-10.5,487,7196,0.12,2.35,0.00,0.000,2436,0.288,0.060,2711,3173,3526,3679,3374,0,0,0,0,0,0,14.83,14.92,14.94
$GC,7275,-0.61,-146.0,2712,3173,3680,3373,827.2,-9.3,503,7288,0.00,2.30,0.00,0.000,1158,0.000,0.045,2711,1766,3526,3679,3373,0,0,0,0,0,0,15.00,14.93,15.01
$GC,7596,-0.61,-146.0,2712,1765,3679,3371,856.1,-9.1,515,7609,0.00,2.38,0.00,0.000,548,0.000,0.069,2711,369,3524,3679,3370,0,0,0,0,0,0,15.09,14.92,15.11
$GC,7645,-0.61,-146.0,2712,369,3679,3371,861.1,-9.9,523,7658,0.00,2.28,0.00,0.000,1030,0.000,0.041,2702,1767,3524,3678,3370,0,0,0,0,0,0,15.00,14.94,15.00
$GC,7975,-0.61,-146.0,2702,1767,3680,3369,893.6,-10.0,537,7988,0.00,2.35,0.00,0.000,260,0.000,0.062,2691,3180,3523,3678,3368,0,0,0,0,0,0,15.08,14.92,15.10
$GC,8065,-0.62,-146.0,2691,3178,3680,3367,902.3,-9.5,553,8078,0.00,2.33,0.00,0.000,1158,0.000,0.044,2691,1761,3523,3679,3368,0,0,0,0,0,0,14.99,14.92,15.00
$GC,8385,-0.62,-146.0,2692,1761,3679,3367,935.5,-10.5,565,8398,0.00,2.35,0.00,0.000,516,0.000,0.070,2691,379,3523,3679,3367,0,0,0,0,0,0,15.08,14.90,15.10
$GC,8434,-0.62,-146.0,2692,377,3678,3367,940.4,-8.3,573,8447,0.00,2.28,0.00,0.000,1062,0.000,0.041,2683,1773,3522,3679,3366,0,0,0,0,0,0,14.99,14.93,15.00
$GC,8765,-0.61,-146.0,2683,1773,3680,3365,975.3,-10.5,587,8778,0.10,2.33,0.00,0.000,2436,0.306,0.060,2698,3172,3522,3679,3365,0,0,0,0,0,0,14.82,14.91,14.95
$GC,8820,-0.63,-146.0,2699,3172,3679,3364,980.7,-7.8,596,8833,0.00,2.30,0.00,0.000,1190,0.000,0.046,2698,1773,3521,3679,3364,0,0,0,0,0,0,14.98,14.92,15.00
$STATE,8931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8931,begin apogee
$GC,8939,-0.24,0.0,2698,1714,3680,3365,991.4,-9.4,602,9106,0.47,0.00,152.40,2.258,10244,0.228,0.000,2826,1713,2968,3144,2793,0,0,0,0,1,0,14.82,13.93,13.16
$STATE,9108,end apogee,CONTROL_FINISHED_OK
$STATE,9108,begin climb
$GC,9112,0.95,146.0,2828,1713,3146,2794,998.9,0.0,607,9284,1.38,2.53,156.57,2.115,10500,0.182,0.059,3206,3115,2371,2549,2194,0,0,0,0,0,0,13.97,14.03,13.23
$GC,9481,0.89,146.0,3207,3115,2538,2162,972.5,10.6,685,9494,0.00,2.38,0.00,0.000,1158,0.000,0.042,3216,1725,2350,2540,2161,0,0,0,0,0,0,14.50,14.44,14.52
$GC,9824,0.83,146.0,3217,1725,2540,2159,936.2,10.7,701,9838,0.15,2.45,0.00,0.000,4740,0.312,0.067,3191,319,2349,2540,2158,0,0,0,0,0,0,14.54,14.64,14.65
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$STATE,20082,end climb,SURFACE_DEPTH_REACHED
$STATE,20082,begin surface coast
$FINISH,0.2,1.020421
$STATE,20097,end surface coast,CONTROL_FINISHED_OK
$STATE,20100,begin surface
$SM_CCo,20128,25.67,0.127,0,0,539,595.59
$SM_GC,1.14,9.25,0.00,25.67,0.057,0.000,0.127,158,1815,539,-8.55,0.99,595.59,0,0,0,0,0,0,14.70,14.90,14.66
$IRIDIUM_FIX,953.88,-12510.11,300816,021126
$TT8_MAMPS,0.039697,0.35952
$HUMID,53.85
$INTERNAL_PRESSURE,9.1065
$TCM_TEMP,26.30
$XPDR_PINGS,0
$SC_FREEKB,7761216
$PM_FREEKB,61625344
$TM_FREEKB,7567104
$24V_AH,13.16,11.580
$10V_AH,13.07,0.000
$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,26.050,223.525,697.600,25.675,0.000,0.000,0.000,595.200,0.000,0.000,25.827,0.000,15078.375,894.215,4586.660,676.377,0.000,3239.367,0.000,2615.599,0.000,0.548,0.000
$DEVICE_MAMPS,411.570,2133.585,2257.515,126.990,0.000,0.000,0.000,180.540,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20183.000,20105.000,10050.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.310,2.695,11.780,0.000
$MEM,311912
$DATA_FILE_SIZE,53240,1463
$CAP_FILE_SIZE,212742,0
$CFSIZE,260034560,254152704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,6,0
$CURRENT,0.106,188.16,1
$GPS,300816,133933,951.530,-12513.271,36,0.8,36,9.2,0.0,0.0,11,8.8