version: 66.13
glider: 191
mission: 8
dive: 33
start: 9 2 116 5 40 45
data:
$ID,191
$MISSION,8
$DIVE,33
$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,420
$T_MISSION,440
$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,0.0029500001
$HD_B,0.0092399996
$HD_C,6.5400003e-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,550
$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,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,0.0099999998
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2798
$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,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,020916,052430,946.6912,-12456.3662,39,0.7,39,9.2,0.0,0.0,11,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.6
$GPS2,020916,054022,946.7154,-12456.3975,16,0.8,16,9.2,0.0,0.0,9,7.4
$SPEED_LIMITS,0.136,0.146
$TGT_NAME,SE
$TGT_LATLONG,946.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,62.7,18451,-24.8,-7.857,-28.27,976
$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,-1.10,-53.4,159,1816,765,370,0.0,0.0,0,98,0.00,0.00,-74.82,0.000,16386,0.000,0.000,159,1816,2792,2790,2794,0,0,0,0,0,0,14.84,28.83,14.86
$GC,102,-1.14,-89.0,159,1818,2790,2796,4.0,-4.1,5,127,11.57,0.00,-5.72,0.000,18470,0.400,0.000,2553,1814,3163,3212,3114,0,0,0,0,0,0,14.54,14.02,14.73
$GC,430,-1.06,-89.0,2553,1816,3213,3117,96.1,-11.3,27,436,0.12,2.35,0.00,0.000,2436,0.339,0.050,2572,3239,3164,3212,3116,0,0,0,0,0,0,14.66,14.78,14.78
$GC,663,-1.00,-89.0,2573,3239,3212,3119,122.4,-10.0,73,670,0.15,1.90,0.00,0.000,3206,0.325,0.039,2601,2048,3165,3213,3118,0,0,0,0,0,0,14.71,14.84,14.86
$GC,977,-0.97,-89.0,2600,2049,3213,3124,159.2,-12.1,85,984,0.00,1.95,0.00,0.000,388,0.000,0.055,2595,3238,3165,3212,3118,0,0,0,0,0,0,15.03,14.88,15.05
$GC,1041,-0.93,-89.0,2596,3238,3212,3119,166.8,-12.7,97,1048,0.12,1.98,0.00,0.000,3206,0.301,0.041,2622,2016,3165,3212,3118,0,0,0,0,0,0,14.76,14.88,14.90
$GC,1375,-0.93,-89.0,2623,2015,3212,3117,208.6,-13.0,113,1383,0.00,2.58,0.00,0.000,516,0.000,0.057,2625,470,3164,3212,3116,0,0,0,0,0,0,15.06,14.90,15.08
$GC,1527,-0.93,-89.0,2626,471,3212,3113,228.8,-13.6,142,1534,0.00,2.40,0.00,0.000,1030,0.000,0.035,2618,1951,3162,3211,3113,0,0,0,0,0,0,14.97,14.92,15.01
$GC,1830,-0.93,-89.0,2617,1954,3212,3108,268.9,-13.2,153,1843,0.00,2.47,0.00,0.000,516,0.000,0.056,2618,478,3159,3212,3107,0,0,0,0,0,0,15.08,14.92,15.11
$GC,1934,-0.93,-89.0,2618,476,3212,3105,283.5,-14.0,172,1947,0.00,2.33,0.00,0.000,1030,0.000,0.036,2608,1916,3157,3210,3105,0,0,0,0,0,0,14.99,14.95,15.00
$GC,2269,-0.93,-89.0,2608,1918,3211,3097,328.1,-13.6,187,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1918,3154,3211,3097,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2569,-0.93,-89.0,2608,1918,3212,3093,367.9,-13.4,197,2582,0.00,2.42,0.00,0.000,516,0.000,0.057,2608,468,3150,3209,3091,0,0,0,0,0,0,15.11,14.95,15.14
$GC,2669,-0.93,-89.0,2608,470,3216,3092,382.6,-14.9,215,2682,0.00,2.35,0.00,0.000,1030,0.000,0.037,2598,1917,3150,3211,3090,0,0,0,0,0,0,15.02,14.97,15.03
$GC,3009,-0.93,-89.0,2598,1920,3212,3084,429.8,-13.6,231,3022,0.12,2.42,0.00,0.000,2564,0.313,0.057,2636,473,3147,3211,3084,0,0,0,0,0,0,14.85,14.96,14.96
$GC,3073,-0.93,-89.0,2634,474,3212,3083,438.4,-12.6,242,3087,0.00,2.33,0.00,0.000,1030,0.000,0.037,2629,1898,3147,3212,3083,0,0,0,0,0,0,15.02,14.97,15.04
$GC,3379,-0.93,-89.0,2629,1900,3213,3078,475.4,-12.0,253,3393,0.00,2.40,0.00,0.000,516,0.000,0.060,2629,471,3144,3211,3078,0,0,0,0,0,0,15.11,14.96,15.14
$GC,3449,-0.93,-89.0,2629,472,3212,3077,484.4,-12.7,265,3463,0.00,2.28,0.00,0.000,1030,0.000,0.037,2619,1862,3144,3211,3078,0,0,0,0,0,0,15.02,14.97,15.04
$GC,3790,-0.93,-89.0,2620,1864,3212,3073,526.4,-12.3,281,3803,0.00,2.33,0.00,0.000,516,0.000,0.060,2619,477,3141,3212,3071,0,0,0,0,0,0,15.12,14.96,15.14
$GC,3879,-0.93,-89.0,2620,481,3212,3071,538.3,-13.2,297,3892,0.00,2.20,0.00,0.000,1030,0.000,0.037,2610,1834,3140,3211,3070,0,0,0,0,0,0,15.02,14.98,15.04
$GC,4199,-0.93,-89.0,2611,1835,3212,3068,578.1,-12.1,309,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1835,3139,3211,3067,0,0,0,0,0,0,15.12,15.14,15.14
$GC,4499,-0.93,-89.0,2611,1835,3211,3064,613.9,-11.7,319,4512,0.00,2.30,0.00,0.000,516,0.000,0.062,2610,471,3137,3211,3063,0,0,0,0,0,0,15.11,14.96,15.14
$GC,4584,-0.93,-89.0,2610,472,3212,3062,624.5,-12.6,334,4597,0.00,2.17,0.00,0.000,1030,0.000,0.037,2601,1818,3137,3211,3063,0,0,0,0,0,0,15.03,14.98,15.04
$GC,4909,-0.93,-89.0,2601,1815,3211,3059,663.4,-11.9,347,4922,0.00,2.25,0.00,0.000,516,0.000,0.060,2601,475,3134,3211,3058,0,0,0,0,0,0,15.11,14.95,15.14
$GC,4993,-0.93,-89.0,2601,477,3212,3058,674.0,-12.6,362,5007,0.15,2.10,0.00,0.000,3078,0.314,0.038,2622,1775,3134,3211,3057,0,0,0,0,0,0,14.84,14.97,14.99
$GC,5318,-0.93,-89.0,2623,1776,3212,3054,710.1,-10.8,375,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1776,3134,3215,3053,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5619,-0.93,-89.0,2623,1777,3212,3050,742.7,-10.7,385,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1776,3130,3211,3050,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5918,-0.93,-89.0,2623,1776,3212,3049,774.5,-10.6,395,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1776,3133,3218,3049,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6218,-0.93,-89.0,2623,1776,3212,3047,806.1,-10.7,405,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1774,3129,3211,3047,0,0,0,0,0,0,15.11,15.14,15.11
$GC,6519,-0.93,-89.0,2623,1776,3212,3043,838.2,-10.6,415,6532,0.00,2.20,0.00,0.000,516,0.000,0.066,2624,476,3126,3211,3042,0,0,0,0,0,0,15.11,14.95,15.13
$GC,6553,-0.93,-89.0,2624,477,3212,3042,842.2,-11.6,420,6566,0.00,2.12,0.00,0.000,1030,0.000,0.039,2617,1774,3126,3211,3042,0,0,0,0,0,0,15.04,14.97,15.03
$GC,6859,-0.93,-89.0,2617,1774,3212,3040,876.1,-11.5,431,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1774,3125,3211,3039,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7159,-0.93,-89.0,2616,1774,3212,3037,909.7,-11.1,441,7172,0.00,2.20,0.00,0.000,516,0.000,0.064,2617,480,3123,3211,3036,0,0,0,0,0,0,15.10,14.94,15.12
$GC,7300,-0.93,-89.0,2618,477,3212,3035,926.1,-11.8,467,7314,0.00,2.08,0.00,0.000,1030,0.000,0.040,2608,1749,3122,3211,3034,0,0,0,0,0,0,15.00,14.96,15.02
$GC,7631,-0.93,-89.0,2609,1749,3212,3033,962.3,-10.7,481,7644,0.00,2.50,0.00,0.000,260,0.000,0.060,2597,3247,3122,3212,3032,0,0,0,0,0,0,15.09,14.92,15.14
$GC,7671,-0.93,-89.0,2597,3247,3212,3032,966.7,-8.5,487,7684,0.12,2.42,0.00,0.000,3078,0.306,0.042,2621,1775,3122,3212,3032,0,0,0,0,0,0,14.81,14.93,14.97
$STATE,7918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7918,begin apogee
$GC,7925,-0.21,0.0,2622,1774,3211,3032,992.7,-10.0,500,8044,0.88,0.00,101.75,2.153,10244,0.262,0.000,2856,1774,2797,2930,2665,0,0,0,0,1,0,14.82,14.10,13.32
$STATE,8046,end apogee,CONTROL_FINISHED_OK
$STATE,8046,begin climb
$GC,8049,1.14,89.0,2857,1775,2931,2665,996.6,0.0,504,8168,1.52,2.40,99.95,2.172,10500,0.171,0.058,3286,3124,2431,2580,2283,0,0,0,0,0,0,14.13,14.19,13.31
$GC,8184,1.11,89.0,3289,3125,2576,2268,987.5,12.2,527,8198,0.00,2.40,0.00,0.000,1158,0.000,0.040,3299,1748,2420,2575,2266,0,0,0,0,0,0,14.21,14.16,14.23
$GC,8490,1.07,89.0,3299,1748,2577,2255,946.3,13.4,538,8503,0.00,0.00,0.00,0.000,134,0.000,0.000,3299,1747,2415,2575,2255,0,0,0,0,0,0,14.79,14.78,14.78
$GC,8790,1.03,89.0,3298,1748,2576,2254,907.1,12.8,548,8804,0.15,2.45,0.00,0.000,4740,0.338,0.063,3275,326,2413,2575,2252,0,0,0,0,0,0,14.59,14.70,14.73
$GC,8840,1.00,89.0,3276,325,2575,2253,900.9,12.6,556,8853,0.00,2.22,0.00,0.000,1158,0.000,0.034,3275,1693,2413,2574,2253,0,0,0,0,0,0,14.81,14.76,14.82
$GC,9170,1.00,89.0,3276,1693,2576,2251,861.7,11.8,570,9183,0.00,2.38,0.00,0.000,260,0.000,0.053,3276,3107,2411,2572,2250,0,0,0,0,0,0,14.95,14.79,14.97
$GC,9234,0.97,89.0,3275,3108,2576,2248,854.1,9.8,581,9249,0.20,2.38,0.00,0.000,5254,0.333,0.041,3245,1678,2412,2577,2248,0,0,0,0,0,0,14.67,14.84,14.85
$GC,9540,0.97,89.0,3245,1679,2576,2246,821.1,10.9,592,9553,0.00,2.42,0.00,0.000,260,0.000,0.052,3245,3105,2410,2575,2246,0,0,0,0,0,0,14.99,14.83,15.01
$GC,9580,0.97,89.0,3245,3105,2576,2248,816.7,10.4,598,9594,0.00,2.35,0.00,0.000,1030,0.000,0.041,3251,1696,2411,2575,2247,0,0,0,0,0,0,14.90,14.84,14.92
$GC,9920,0.97,89.0,3252,1695,2576,2241,779.6,11.1,614,9934,0.00,2.38,0.00,0.000,260,0.000,0.051,3252,3108,2407,2574,2241,0,0,0,0,0,0,15.01,14.85,15.03
$GC,9955,0.97,89.0,3252,3108,2576,2241,775.3,12.0,619,9968,0.00,2.33,0.00,0.000,1030,0.000,0.041,3261,1709,2407,2575,2239,0,0,0,0,0,0,14.92,14.87,14.94
$GC,10260,0.97,89.0,3261,1709,2576,2239,740.5,11.7,630,10274,0.00,2.35,0.00,0.000,260,0.000,0.052,3261,3109,2404,2574,2235,0,0,0,0,0,0,15.02,14.87,15.05
$GC,10319,0.97,89.0,3261,3109,2579,2239,732.9,12.7,640,10333,0.00,2.25,0.00,0.000,1030,0.000,0.041,3270,1739,2407,2576,2238,0,0,0,0,0,0,14.93,14.88,14.95
$GC,10640,0.97,89.0,3269,1739,2582,2238,692.8,12.8,652,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1738,2407,2575,2239,0,0,0,0,0,0,15.03,15.06,15.06
$GC,10940,0.97,89.0,3270,1739,2575,2239,654.6,12.7,662,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1738,2410,2582,2238,0,0,0,0,0,0,15.04,15.07,15.08
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$STATE,18526,end climb,SURFACE_DEPTH_REACHED
$STATE,18526,begin surface coast
$FINISH,0.2,1.008379
$STATE,18541,end surface coast,CONTROL_FINISHED_OK
$STATE,18541,begin surface
$SM_CCo,18570,140.05,0.125,0,0,553,550.21
$SM_GC,1.23,9.32,0.00,140.05,0.070,0.000,0.125,165,1835,553,-8.59,-0.42,550.21,0,0,0,0,0,0,14.75,14.97,14.68
$IRIDIUM_FIX,940.75,-12454.86,020916,001605
$TT8_MAMPS,0.038948,0.320572
$HUMID,49.76
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,27.20
$XPDR_PINGS,0
$SC_FREEKB,7756224
$PM_FREEKB,61142272
$TM_FREEKB,7452224
$24V_AH,13.31,16.308
$10V_AH,13.17,0.000
$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,25.400,161.125,409.550,140.050,0.000,0.000,0.000,492.975,0.000,0.000,17.498,0.000,14149.626,742.537,4153.231,603.206,0.000,2845.462,0.000,2321.507,0.000,0.549,0.000
$DEVICE_MAMPS,400.095,67.320,2171.835,124.695,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18631.000,18547.000,5824.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.495,2.729,11.870,0.000
$MEM,311968
$DATA_FILE_SIZE,46651,1269
$CAP_FILE_SIZE,179154,0
$CFSIZE,260034560,252047360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.070,189.07,1
$GPS,020916,105401,946.824,-12454.972,39,0.9,41,9.2,0.2,252.5,9,8.7