version: 66.13
glider: 191
mission: 8
dive: 331
start: 11 27 116 19 23 7
data:
$ID,191
$MISSION,8
$DIVE,331
$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,1830
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$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
$GPS1,271116,190733,1012.5285,-12446.9541,25,0.9,25,9.2,0.6,312.9,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.0
$GPS2,271116,192246,1012.5630,-12447.1309,19,0.8,19,9.2,1.0,335.5,10,9.8
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,NE
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,38.8,2315,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.18,-42.3,148,1831,891,520,0.0,0.0,0,102,0.00,0.00,-75.45,0.000,16390,0.000,0.000,147,1831,2967,2981,2954,0,0,0,0,0,0,14.69,12.93,14.71
$GC,106,-1.18,-42.3,148,1832,2982,2955,1.9,-1.7,2,128,11.38,2.40,0.00,0.000,2564,0.372,0.045,2548,425,2970,2984,2956,0,0,0,0,0,0,14.13,14.48,14.47
$GC,163,-0.75,-42.3,2548,427,2986,2956,30.2,-37.2,11,169,0.65,2.28,0.00,0.000,3206,0.317,0.031,2682,1813,2971,2985,2957,0,0,0,0,0,0,14.09,14.49,14.41
$GC,492,-0.78,-63.5,2683,1813,2995,2951,75.7,-5.1,25,499,0.00,2.35,0.00,0.000,292,0.000,0.049,2674,3219,2972,2994,2950,0,0,0,0,0,0,14.80,14.52,14.82
$GC,729,-0.78,-64.6,2675,3219,2995,2951,90.3,-7.7,59,736,0.00,2.30,0.00,0.000,1062,0.000,0.037,2674,1827,2975,3001,2950,0,0,0,0,0,0,14.64,14.57,14.64
$GC,1080,-0.87,-64.8,2675,1828,2995,2950,118.1,-7.8,69,1087,0.00,2.38,0.00,0.000,676,0.000,0.054,2674,430,2972,2994,2950,0,0,0,0,0,0,14.85,14.54,14.87
$GC,1227,-0.87,-64.8,2675,430,2995,2951,130.7,-8.8,90,1233,0.00,2.30,0.00,0.000,1030,0.000,0.030,2665,1839,2971,2994,2949,0,0,0,0,0,0,14.68,14.63,14.69
$GC,1584,-0.96,-64.8,2666,1840,2994,2945,160.9,-8.6,99,1591,0.12,2.33,0.00,0.000,4484,0.142,0.048,2608,3222,2969,2994,2945,0,0,0,0,0,0,14.53,14.55,14.57
$GC,1604,-0.96,-64.8,2610,3224,2995,2945,162.9,-9.2,102,1611,0.00,2.35,0.00,0.000,1030,0.000,0.037,2607,1837,2969,2994,2944,0,0,0,0,0,0,14.58,14.54,14.61
$GC,1921,-0.96,-64.8,2608,1838,2995,2941,196.7,-10.7,112,1927,0.00,2.42,0.00,0.000,516,0.000,0.057,2607,426,2970,2999,2941,0,0,0,0,0,0,14.86,14.53,14.88
$GC,2111,-0.96,-64.8,2608,426,2995,2938,217.9,-11.2,139,2117,0.00,2.30,0.00,0.000,1030,0.000,0.031,2598,1832,2966,2994,2939,0,0,0,0,0,0,14.68,14.62,14.69
$GC,2426,-0.96,-64.8,2598,1835,2994,2935,252.3,-11.1,149,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1832,2964,2994,2934,0,0,0,0,0,0,14.88,14.90,14.92
$GC,2762,-0.96,-64.8,2598,1832,2994,2930,289.2,-10.9,155,2775,0.00,2.45,0.00,0.000,516,0.000,0.056,2598,424,2961,2994,2929,0,0,0,0,0,0,14.92,14.58,14.95
$GC,2844,-0.96,-64.8,2598,424,2995,2929,298.9,-11.4,166,2858,0.12,2.30,0.00,0.000,3078,0.320,0.033,2610,1824,2960,2994,2927,0,0,0,0,0,0,14.21,14.69,14.52
$GC,3166,-0.96,-64.8,2610,1827,2995,2923,331.8,-10.3,176,3180,0.00,2.42,0.00,0.000,516,0.000,0.057,2610,420,2958,2993,2923,0,0,0,0,0,0,14.93,14.59,14.96
$GC,3277,-0.96,-64.8,2611,419,2994,2922,344.7,-11.7,191,3291,0.00,2.35,0.00,0.000,1030,0.000,0.034,2603,1830,2957,2994,2921,0,0,0,0,0,0,14.73,14.67,14.75
$GC,3621,-0.96,-64.8,2603,1830,2994,2917,384.1,-11.5,198,3634,0.00,2.45,0.00,0.000,516,0.000,0.057,2603,424,2952,2989,2916,0,0,0,0,0,0,14.95,14.57,14.97
$GC,3684,-0.96,-64.8,2603,425,2995,2915,391.7,-12.5,206,3697,0.00,2.33,0.00,0.000,1030,0.000,0.034,2594,1832,2955,2994,2916,0,0,0,0,0,0,14.78,14.69,14.77
$GC,4026,-0.96,-64.8,2594,1831,2995,2914,431.1,-11.3,219,4039,0.00,2.38,0.00,0.000,260,0.000,0.054,2584,3222,2953,2994,2912,0,0,0,0,0,0,14.95,14.59,14.96
$GC,4045,-0.96,-64.8,2584,3223,2993,2912,433.4,-11.3,221,4058,0.12,2.33,0.00,0.000,3078,0.301,0.039,2609,1821,2952,2993,2912,0,0,0,0,0,0,14.19,14.64,14.48
$GC,4374,-0.96,-64.8,2608,1820,2994,2910,465.1,-9.3,232,4387,0.00,2.40,0.00,0.000,516,0.000,0.058,2610,428,2952,2994,2910,0,0,0,0,0,0,14.94,14.57,14.96
$GC,4551,-0.96,-64.8,2615,428,2994,2908,481.6,-9.4,256,4564,0.00,2.33,0.00,0.000,1030,0.000,0.032,2603,1838,2950,2993,2907,0,0,0,0,0,0,14.73,14.68,14.76
$GC,4894,-0.96,-64.8,2603,1840,2995,2904,513.7,-9.4,269,4908,0.00,2.38,0.00,0.000,260,0.000,0.052,2593,3230,2949,2993,2905,0,0,0,0,0,0,14.92,14.58,14.95
$GC,4921,-0.96,-64.8,2593,3230,2994,2903,516.6,-9.9,272,4934,0.00,2.33,0.00,0.000,1030,0.000,0.037,2592,1827,2948,2994,2903,0,0,0,0,0,0,14.71,14.64,14.74
$GC,5243,-0.96,-64.8,2593,1827,2994,2900,549.9,-10.6,282,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1826,2947,2993,2901,0,0,0,0,0,0,14.92,14.95,14.95
$GC,5578,-0.96,-64.8,2593,1826,2994,2899,587.0,-11.2,288,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1826,2946,2994,2898,0,0,0,0,0,0,14.93,14.95,14.95
$GC,5914,-0.96,-64.8,2592,1827,2995,2894,624.4,-11.0,294,5927,0.00,2.42,0.00,0.000,516,0.000,0.058,2592,428,2944,2994,2894,0,0,0,0,0,0,14.93,14.54,14.95
$GC,6129,-0.96,-64.8,2593,428,2994,2894,648.5,-11.3,324,6143,0.15,2.35,0.00,0.000,3078,0.312,0.034,2611,1839,2943,2993,2893,0,0,0,0,0,0,14.01,14.64,14.34
$GC,6485,-0.96,-64.8,2617,1834,2994,2892,682.9,-9.6,332,6499,0.00,2.38,0.00,0.000,260,0.000,0.054,2602,3225,2942,2994,2890,0,0,0,0,0,0,14.95,14.51,14.97
$GC,6512,-0.96,-64.8,2603,3226,2994,2891,685.7,-9.9,335,6525,0.00,2.35,0.00,0.000,1030,0.000,0.039,2602,1822,2942,2994,2890,0,0,0,0,0,0,14.66,14.58,14.69
$GC,6834,-0.96,-64.8,2603,1821,2995,2888,716.7,-9.6,345,6847,0.00,2.42,0.00,0.000,516,0.000,0.060,2602,429,2941,2994,2888,0,0,0,0,0,0,14.91,14.49,14.92
$GC,6987,-0.96,-64.8,2602,430,2995,2887,731.8,-9.6,366,7000,0.00,2.33,0.00,0.000,1030,0.000,0.034,2594,1830,2940,2993,2887,0,0,0,0,0,0,14.66,14.60,14.68
$GC,7351,-0.96,-64.8,2600,1830,2994,2886,762.9,-8.4,375,7364,0.00,2.47,0.00,0.000,516,0.000,0.060,2594,429,2939,2994,2885,0,0,0,0,0,0,14.90,14.40,14.92
$GC,7391,-0.96,-64.8,2594,430,2994,2884,766.6,-9.1,380,7404,0.12,2.35,0.00,0.000,3078,0.318,0.035,2610,1828,2939,2994,2884,0,0,0,0,0,0,14.04,14.59,14.38
$GC,7754,-0.96,-64.8,2610,1834,2994,2883,795.4,-8.0,389,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1827,2938,2994,2882,0,0,0,0,0,0,14.93,14.95,14.95
$GC,8092,-0.96,-64.8,2610,1830,2995,2880,824.8,-8.9,395,8105,0.00,2.47,0.00,0.000,516,0.000,0.062,2610,427,2936,2994,2879,0,0,0,0,0,0,14.92,14.42,14.95
$GC,8237,-0.96,-64.8,2611,429,2995,2879,839.7,-10.3,415,8250,0.00,2.35,0.00,0.000,1030,0.000,0.034,2603,1832,2936,2994,2878,0,0,0,0,0,0,14.64,14.57,14.66
$GC,8608,-0.96,-64.8,2602,1832,2994,2877,874.5,-9.3,425,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1831,2935,2994,2876,0,0,0,0,0,0,14.88,14.91,14.90
$GC,8943,-0.96,-64.8,2603,1832,2994,2876,905.5,-9.2,431,8956,0.00,2.47,0.00,0.000,516,0.000,0.060,2605,431,2934,2993,2875,0,0,0,0,0,0,14.89,14.41,14.91
$GC,8998,-0.96,-64.8,2603,431,2994,2875,910.9,-9.8,438,9011,0.00,2.38,0.00,0.000,1030,0.000,0.036,2594,1830,2934,2994,2874,0,0,0,0,0,0,14.62,14.55,14.64
$GC,9343,-0.96,-64.8,2594,1830,2994,2870,943.7,-9.6,445,9356,0.00,2.40,0.00,0.000,260,0.000,0.057,2583,3221,2933,2994,2873,0,0,0,0,0,0,14.91,14.42,14.93
$GC,9369,-0.96,-64.8,2584,3221,2994,2873,945.6,-9.8,448,9383,0.15,2.35,0.00,0.000,3078,0.304,0.041,2610,1827,2933,2994,2873,0,0,0,0,0,0,13.93,14.44,14.28
$GC,9691,-0.96,-64.8,2611,1829,2994,2872,974.5,-8.8,458,9704,0.00,2.45,0.00,0.000,516,0.000,0.061,2612,432,2932,2993,2872,0,0,0,0,0,0,14.88,14.40,14.90
$STATE,9851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9851,begin apogee
$GC,9860,-0.21,0.0,2606,1744,2994,2870,990.0,-7.3,480,9914,1.02,0.00,43.25,2.179,10246,0.262,0.000,2856,1743,2792,2877,2707,0,0,0,0,0,0,14.02,14.35,13.38
$STATE,9915,end apogee,CONTROL_FINISHED_OK
$STATE,9915,begin climb
$GC,9919,1.21,64.8,2857,1743,2876,2694,993.6,0.0,481,10012,1.50,2.45,73.20,2.193,10500,0.144,0.050,3310,3123,2522,2635,2410,0,0,0,0,0,0,14.21,14.01,13.12
$GC,10046,1.21,64.8,3310,3124,2635,2402,986.6,8.7,500,10060,0.00,2.40,0.00,0.000,1030,0.000,0.037,3319,1731,2518,2634,2402,0,0,0,0,0,0,14.23,14.17,14.26
$GC,10368,1.21,64.8,3325,1732,2635,2396,955.3,9.8,510,10381,0.00,2.47,0.00,0.000,516,0.000,0.062,3330,329,2514,2634,2395,0,0,0,0,0,0,14.71,14.40,14.73
$GC,10423,1.11,64.8,3330,330,2635,2395,949.6,9.6,517,10437,0.20,2.38,0.00,0.000,5254,0.321,0.030,3290,1760,2514,2634,2394,0,0,0,0,0,0,14.00,14.52,14.39
$GC,10766,1.11,64.8,3291,1760,2634,2392,917.0,9.5,524,10779,0.00,2.30,0.00,0.000,260,0.000,0.050,3289,3097,2512,2634,2391,0,0,0,0,0,0,14.81,14.45,14.83
$GC,10835,1.11,64.8,3290,3098,2635,2391,910.6,9.1,533,10848,0.00,2.28,0.00,0.000,1030,0.000,0.038,3296,1736,2512,2634,2390,0,0,0,0,0,0,14.50,14.47,14.53
$GC,11170,1.11,64.8,3295,1736,2635,2390,878.9,9.4,545,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1736,2512,2634,2390,0,0,0,0,0,0,14.83,14.86,14.85
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$STATE,22587,end climb,SURFACE_DEPTH_REACHED
$STATE,22590,begin surface coast
$FINISH,0.1,1.016691
$STATE,22615,end surface coast,CONTROL_FINISHED_OK
$STATE,22615,begin surface
$SM_CCo,22641,140.30,0.122,0,0,691,515.13
$SM_GC,1.09,9.68,0.00,140.30,0.065,0.000,0.122,165,1729,691,-8.59,-2.83,515.13,0,0,0,0,0,0,14.48,14.88,14.40
$IRIDIUM_FIX,1004.83,-12455.57,271116,122000
$TT8_MAMPS,0.038948,0.428428
$HUMID,55.90
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,25.80
$XPDR_PINGS,4
$SC_FREEKB,7641248
$PM_FREEKB,56371648
$TM_FREEKB,4992288
$24V_AH,12.93,126.287
$10V_AH,12.86,0.000
$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,26.575,208.075,327.850,140.300,0.000,0.000,0.000,454.050,1.000,0.000,19.942,0.000,18401.559,718.062,3826.348,725.972,0.000,2882.502,0.000,1915.007,0.000,0.549,0.000
$DEVICE_MAMPS,371.790,62.730,2193.255,122.400,0.000,0.000,0.000,179.775,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22675.000,22619.000,3109.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.700,2.094,16.211,0.000
$MEM,311956
$DATA_FILE_SIZE,40031,1104
$CAP_FILE_SIZE,187102,0
$CFSIZE,260034560,206282752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,15.75,1
$GPS,281116,014404,1014.286,-12446.031,29,0.7,29,9.2,1.8,332.0,10,8.1