version: 66.13
glider: 191
mission: 8
dive: 198
start: 10 19 116 22 16 20
data:
$ID,191
$MISSION,8
$DIVE,198
$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,18
$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,1870
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,96
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,5
$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,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,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,191016,220104,946.6546,-12448.8066,37,0.9,37,9.2,0.7,299.1,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.1
$GPS2,191016,221559,946.5918,-12448.7656,19,1.0,19,9.2,0.0,0.0,9,8.9
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SE
$TGT_LATLONG,946.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,90.5,4521,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.18,-42.3,153,1888,897,513,0.0,0.0,0,99,0.00,0.00,-73.45,0.000,16390,0.000,0.000,160,1888,2967,2976,2958,0,0,0,0,0,0,14.76,13.29,14.78
$GC,103,-1.18,-42.3,157,1889,2977,2958,2.2,-3.3,2,124,11.50,2.42,0.00,0.000,2564,0.389,0.045,2547,461,2969,2980,2958,0,0,0,0,0,0,14.31,14.58,14.60
$GC,273,-0.84,-42.3,2548,457,2981,2958,65.7,-22.1,27,280,0.52,2.25,0.00,0.000,3206,0.339,0.035,2652,1829,2969,2980,2958,0,0,0,0,0,0,14.31,14.65,14.60
$GC,602,-0.86,-53.0,2652,1829,2986,2953,99.0,-6.5,41,609,0.00,2.30,0.00,0.000,548,0.000,0.054,2652,468,2971,2990,2952,0,0,0,0,0,0,14.90,14.68,14.92
$GC,623,-0.86,-54.8,2652,469,2990,2952,100.6,-7.6,44,630,0.00,2.25,0.00,0.000,1062,0.000,0.032,2645,1847,2970,2989,2952,0,0,0,0,0,0,14.74,14.70,14.76
$GC,966,-0.87,-64.1,2646,1848,2992,2952,124.3,-6.6,51,972,0.00,2.35,0.00,0.000,292,0.000,0.053,2634,3269,2971,2990,2952,0,0,0,0,0,0,14.93,14.71,14.95
$GC,1126,-0.87,-64.1,2635,3270,2991,2952,136.8,-8.5,74,1134,0.00,2.30,0.00,0.000,1030,0.000,0.035,2635,1867,2971,2990,2952,0,0,0,0,0,0,14.81,14.74,14.82
$GC,1471,-0.87,-64.1,2635,1866,2989,2950,170.1,-10.1,81,1478,0.00,2.35,0.00,0.000,516,0.000,0.056,2632,474,2969,2989,2949,0,0,0,0,0,0,14.95,14.71,14.97
$GC,1589,-0.87,-64.1,2635,471,2990,2948,183.1,-10.9,98,1596,0.00,2.25,0.00,0.000,1030,0.000,0.032,2626,1860,2969,2990,2948,0,0,0,0,0,0,14.83,14.77,14.84
$GC,1919,-0.87,-64.1,2626,1859,2988,2942,217.3,-10.4,110,1925,0.00,2.35,0.00,0.000,516,0.000,0.054,2625,470,2966,2989,2943,0,0,0,0,0,0,14.96,14.72,14.99
$GC,2037,-0.87,-64.1,2626,470,2990,2942,231.0,-11.6,127,2044,0.15,2.20,0.00,0.000,3078,0.312,0.032,2645,1819,2964,2989,2940,0,0,0,0,0,0,14.46,14.78,14.73
$GC,2367,-0.87,-64.1,2645,1820,2989,2934,266.2,-10.7,139,2380,0.00,2.40,0.00,0.000,260,0.000,0.052,2637,3263,2962,2989,2935,0,0,0,0,0,0,14.99,14.76,15.01
$GC,2415,-0.87,-64.1,2637,3263,2990,2935,271.5,-11.0,145,2428,0.00,2.35,0.00,0.000,1030,0.000,0.037,2637,1823,2962,2989,2935,0,0,0,0,0,0,14.86,14.79,14.88
$GC,2771,-0.87,-64.1,2637,1823,2990,2930,308.5,-10.2,153,2784,0.00,2.28,0.00,0.000,516,0.000,0.056,2640,471,2959,2990,2929,0,0,0,0,0,0,15.02,14.78,15.04
$GC,2972,-0.87,-64.1,2637,472,2990,2925,329.5,-11.0,181,2985,0.00,2.12,0.00,0.000,1030,0.000,0.033,2629,1790,2957,2989,2926,0,0,0,0,0,0,14.88,14.84,14.90
$GC,3342,-0.87,-64.1,2630,1790,2989,2921,366.6,-10.0,191,3355,0.00,2.45,0.00,0.000,260,0.000,0.053,2618,3263,2952,2984,2920,0,0,0,0,0,0,15.02,14.78,15.04
$GC,3382,-0.87,-64.1,2618,3264,2990,2919,371.0,-10.7,196,3396,0.12,2.45,0.00,0.000,3078,0.301,0.038,2641,1769,2954,2989,2919,0,0,0,0,0,0,14.47,14.81,14.77
$GC,3747,-0.87,-64.1,2640,1769,2989,2916,407.7,-10.2,205,3760,0.00,2.20,0.00,0.000,516,0.000,0.058,2650,467,2952,2989,2915,0,0,0,0,0,0,15.02,14.78,15.04
$GC,3908,-0.87,-64.1,2651,468,2990,2913,424.2,-10.0,227,3921,0.00,2.05,0.00,0.000,1030,0.000,0.033,2644,1749,2950,2989,2911,0,0,0,0,0,0,14.90,14.85,14.91
$GC,4265,-0.87,-64.1,2644,1750,2990,2910,457.1,-9.0,235,4278,0.00,2.53,0.00,0.000,260,0.000,0.052,2632,3262,2949,2989,2910,0,0,0,0,0,0,15.02,14.77,15.04
$GC,4312,-0.87,-64.1,2633,3263,2990,2910,461.5,-9.2,241,4325,0.00,2.50,0.00,0.000,1030,0.000,0.039,2633,1744,2949,2989,2909,0,0,0,0,0,0,14.88,14.81,14.90
$GC,4668,-0.87,-64.1,2632,1745,2990,2905,494.4,-9.2,249,4681,0.00,2.15,0.00,0.000,516,0.000,0.059,2632,474,2946,2989,2904,0,0,0,0,0,0,15.02,14.78,15.04
$GC,4793,-0.87,-64.1,2629,471,2989,2905,507.3,-10.5,266,4806,0.00,2.03,0.00,0.000,1030,0.000,0.034,2624,1726,2946,2989,2903,0,0,0,0,0,0,14.88,14.83,14.90
$GC,5128,-0.87,-64.1,2625,1726,2989,2902,542.0,-10.5,278,5141,0.00,2.58,0.00,0.000,260,0.000,0.054,2612,3265,2944,2989,2900,0,0,0,0,0,0,15.02,14.76,15.03
$GC,5273,-0.87,-64.1,2612,3266,2990,2899,558.0,-11.3,298,5287,0.15,2.53,0.00,0.000,3078,0.296,0.041,2641,1736,2944,2989,2900,0,0,0,0,0,0,14.45,14.78,14.73
$GC,5644,-0.87,-64.1,2645,1735,2991,2897,594.0,-9.6,308,5657,0.00,2.15,0.00,0.000,516,0.000,0.059,2650,470,2943,2989,2897,0,0,0,0,0,0,15.01,14.75,15.02
$GC,5769,-0.87,-64.1,2650,471,2990,2895,606.5,-9.9,325,5782,0.00,2.03,0.00,0.000,1030,0.000,0.034,2644,1722,2941,2989,2894,0,0,0,0,0,0,14.87,14.83,14.88
$GC,6104,-0.87,-64.1,2644,1724,2989,2892,637.9,-9.2,337,6117,0.00,2.58,0.00,0.000,260,0.000,0.054,2632,3255,2940,2989,2892,0,0,0,0,0,0,15.02,14.74,15.04
$GC,6200,-0.87,-64.1,2633,3255,2989,2893,647.0,-9.3,350,6213,0.00,2.53,0.00,0.000,1030,0.000,0.041,2633,1734,2940,2989,2892,0,0,0,0,0,0,14.85,14.77,14.87
$GC,6563,-0.87,-64.1,2633,1735,2990,2889,678.7,-8.7,359,6576,0.00,2.17,0.00,0.000,516,0.000,0.060,2633,462,2939,2989,2889,0,0,0,0,0,0,15.02,14.73,15.03
$GC,6694,-0.87,-64.1,2633,462,2990,2889,690.6,-8.9,377,6708,0.00,2.03,0.00,0.000,1030,0.000,0.036,2624,1704,2938,2989,2888,0,0,0,0,0,0,14.87,14.81,14.91
$GC,7023,-0.87,-64.1,2624,1704,2990,2887,718.4,-8.5,388,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1704,2942,2998,2886,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7359,-0.87,-64.1,2624,1704,2990,2885,746.2,-8.2,394,7372,0.00,2.12,0.00,0.000,516,0.000,0.061,2624,468,2936,2989,2884,0,0,0,0,0,0,15.00,14.73,15.02
$GC,7441,-0.87,-64.1,2624,467,2990,2884,753.8,-9.3,405,7454,0.15,2.08,0.00,0.000,3078,0.318,0.036,2644,1736,2936,2989,2883,0,0,0,0,0,0,14.38,14.79,14.69
$GC,7763,-0.97,-64.1,2644,1737,2990,2882,779.9,-8.1,415,7776,0.00,2.17,0.00,0.000,644,0.000,0.060,2650,473,2935,2989,2882,0,0,0,0,0,0,15.00,14.71,15.02
$GC,7817,-0.97,-64.1,2650,474,2990,2881,784.7,-8.9,422,7831,0.00,2.03,0.00,0.000,1030,0.000,0.036,2644,1703,2935,2989,2881,0,0,0,0,0,0,14.84,14.79,14.86
$GC,8162,-1.07,-64.1,2644,1707,2990,2880,814.7,-8.8,429,8176,0.15,2.62,0.00,0.000,4484,0.140,0.053,2575,3254,2936,2993,2879,0,0,0,0,0,0,14.66,14.71,14.72
$GC,8318,-1.07,-64.1,2576,3255,2990,2878,831.2,-11.1,450,8331,0.00,2.53,0.00,0.000,1030,0.000,0.040,2576,1736,2933,2989,2877,0,0,0,0,0,0,14.81,14.73,14.83
$GC,8681,-1.07,-64.1,2576,1735,2990,2877,869.4,-10.2,459,8694,0.00,2.17,0.00,0.000,516,0.000,0.061,2575,465,2932,2989,2876,0,0,0,0,0,0,14.97,14.69,15.00
$GC,8826,-1.07,-64.1,2576,467,2990,2875,885.1,-10.7,479,8840,0.00,2.03,0.00,0.000,1030,0.000,0.037,2568,1701,2932,2989,2875,0,0,0,0,0,0,14.83,14.78,14.84
$GC,9196,-1.07,-64.1,2569,1702,2990,2874,921.0,-9.5,489,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1702,2931,2989,2873,0,0,0,0,0,0,14.97,15.00,15.00
$GC,9533,-1.07,-64.1,2569,1701,2990,2873,951.5,-9.1,495,9546,0.00,2.65,0.00,0.000,260,0.000,0.057,2558,3262,2928,2988,2868,0,0,0,0,0,0,14.97,14.68,14.99
$GC,9567,-1.07,-64.1,2557,3266,2989,2873,954.7,-8.5,499,9580,0.00,2.58,0.00,0.000,1030,0.000,0.041,2557,1718,2930,2989,2872,0,0,0,0,0,0,14.80,14.72,14.82
$GC,9937,-1.07,-64.1,2557,1718,2989,2872,989.5,-9.6,509,9950,0.00,2.15,0.00,0.000,516,0.000,0.063,2557,468,2930,2989,2871,0,0,0,0,0,0,14.97,14.66,15.00
$STATE,9952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9953,begin apogee
$GC,9962,-0.21,0.0,2551,1795,2989,2872,991.4,-9.3,511,10017,1.25,0.00,41.88,2.149,10244,0.300,0.000,2852,1795,2788,2874,2702,0,0,0,0,0,0,14.35,14.45,13.62
$STATE,10018,end apogee,CONTROL_FINISHED_OK
$STATE,10018,begin climb
$GC,10022,1.21,64.1,2853,1795,2874,2697,994.9,0.0,512,10111,1.55,2.47,72.03,2.190,10500,0.174,0.057,3309,3190,2531,2628,2434,0,0,0,0,0,0,14.32,14.42,13.30
$GC,10132,1.12,64.1,3309,3193,2625,2417,988.2,10.9,528,10145,0.00,2.40,0.00,0.000,1158,0.000,0.036,3318,1788,2519,2623,2416,0,0,0,0,0,0,14.28,14.21,14.29
$GC,10467,1.12,64.1,3318,1789,2624,2408,951.5,11.1,540,10480,0.00,2.42,0.00,0.000,516,0.000,0.060,3329,405,2515,2623,2408,0,0,0,0,0,0,14.73,14.50,14.76
$GC,10514,0.98,64.1,3325,405,2624,2409,945.9,14.0,546,10528,0.38,2.35,0.00,0.000,5254,0.319,0.031,3250,1830,2515,2624,2407,0,0,0,0,0,0,14.20,14.59,14.53
$GC,10871,0.98,64.1,3251,1831,2630,2405,913.3,8.8,554,10884,0.00,2.28,0.00,0.000,260,0.000,0.053,3250,3169,2514,2624,2404,0,0,0,0,0,0,14.85,14.58,14.86
$GC,10939,0.98,64.1,3247,3169,2624,2404,906.9,9.4,563,10952,0.00,2.25,0.00,0.000,1030,0.000,0.038,3255,1814,2513,2623,2403,0,0,0,0,0,0,14.71,14.63,14.73
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$STATE,22594,end climb,SURFACE_DEPTH_REACHED
$STATE,22594,begin surface coast
$FINISH,0.5,1.020366
$STATE,22598,end surface coast,CONTROL_FINISHED_OK
$STATE,22598,begin surface
$SM_CCo,22624,131.85,0.122,0,0,690,515.13
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$TT8_MAMPS,0.039697,0.390978
$HUMID,51.14
$INTERNAL_PRESSURE,9.15533
$TCM_TEMP,27.00
$XPDR_PINGS,3
$SC_FREEKB,7692320
$PM_FREEKB,58041152
$TM_FREEKB,6102432
$24V_AH,13.29,76.987
$10V_AH,13.15,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.584,2.069,16.096,0.000
$MEM,311932
$DATA_FILE_SIZE,40023,1140
$CAP_FILE_SIZE,189550,0
$CFSIZE,260034560,226484224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,110.56,1
$GPS,201016,043702,946.097,-12446.011,36,0.9,39,9.2,0.5,91.1,7,8.6