version: 66.13
glider: 191
mission: 8
dive: 343
start: 12 1 116 7 8 39
data:
$ID,191
$MISSION,8
$DIVE,343
$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,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,61
$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
$GPS1,011216,065334,1013.3078,-12508.9150,35,0.7,36,9.2,0.8,356.8,11,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.0
$GPS2,011216,070817,1013.4739,-12509.0117,12,0.8,13,9.2,0.5,277.8,11,8.3
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,237.0,8564,-16.6,-7.857,-20.89,1914
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-0.84,-116.8,160,1831,888,522,0.0,0.0,0,115,0.00,0.00,-81.03,0.000,16390,0.000,0.000,159,1827,3273,3324,3222,0,0,0,0,0,0,14.69,12.89,14.69
$GC,119,-0.84,-116.8,160,1827,3324,3224,8.4,-12.8,3,135,12.95,0.00,0.00,0.000,2054,0.407,0.000,2652,1827,3274,3324,3224,0,0,0,0,0,0,14.14,14.55,14.47
$GC,424,-0.56,-116.8,2652,1828,3329,3223,77.3,-12.0,14,431,0.35,2.42,0.00,0.000,2692,0.264,0.055,2745,421,3275,3328,3223,0,0,0,0,0,0,14.13,14.42,14.30
$GC,626,-0.56,-116.8,2746,421,3329,3225,96.6,-9.7,43,632,0.00,2.33,0.00,0.000,1030,0.000,0.032,2735,1831,3276,3328,3224,0,0,0,0,0,0,14.63,14.57,14.65
$GC,956,-0.56,-116.8,2738,1832,3329,3224,125.2,-8.4,52,962,0.00,2.35,0.00,0.000,260,0.000,0.052,2727,3225,3276,3328,3225,0,0,0,0,0,0,14.84,14.53,14.86
$GC,1026,-0.56,-116.8,2728,3225,3330,3225,131.4,-9.2,62,1033,0.00,2.33,0.00,0.000,1030,0.000,0.037,2727,1818,3276,3328,3224,0,0,0,0,0,0,14.65,14.58,14.67
$GC,1348,-0.56,-116.8,2728,1819,3329,3223,163.8,-10.2,73,1355,0.00,2.38,0.00,0.000,516,0.000,0.058,2728,431,3275,3328,3222,0,0,0,0,0,0,14.85,14.52,14.87
$GC,1488,-0.56,-116.8,2728,432,3330,3220,178.7,-10.9,93,1495,0.12,2.30,0.00,0.000,3078,0.261,0.031,2743,1834,3274,3328,3220,0,0,0,0,0,0,14.26,14.61,14.49
$GC,1852,-0.56,-116.8,2744,1834,3329,3215,213.9,-9.7,103,1858,0.00,2.35,0.00,0.000,260,0.000,0.054,2736,3222,3271,3328,3214,0,0,0,0,0,0,14.85,14.53,14.87
$GC,1879,-0.56,-116.8,2735,3223,3329,3214,216.5,-9.5,107,1886,0.00,2.33,0.00,0.000,1030,0.000,0.037,2735,1826,3270,3328,3213,0,0,0,0,0,0,14.64,14.57,14.67
$GC,2247,-0.56,-116.8,2736,1827,3329,3213,252.2,-9.8,117,2260,0.00,2.40,0.00,0.000,516,0.000,0.057,2735,428,3267,3328,3207,0,0,0,0,0,0,14.86,14.54,14.88
$GC,2392,-0.56,-116.8,2736,428,3327,3207,267.6,-10.4,137,2405,0.00,2.30,0.00,0.000,1030,0.000,0.032,2726,1830,3267,3328,3206,0,0,0,0,0,0,14.71,14.66,14.73
$GC,2762,-0.56,-116.8,2726,1833,3336,3200,302.9,-9.3,147,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1830,3263,3327,3200,0,0,0,0,0,0,14.92,14.95,14.94
$GC,3099,-0.56,-116.8,2726,1830,3329,3196,333.6,-9.2,153,3112,0.00,2.35,0.00,0.000,260,0.000,0.056,2715,3218,3261,3328,3195,0,0,0,0,0,0,14.92,14.57,14.95
$GC,3161,-0.56,-116.8,2716,3218,3329,3195,339.5,-9.6,161,3175,0.15,2.33,0.00,0.000,3078,0.233,0.037,2749,1821,3261,3328,3194,0,0,0,0,0,0,14.30,14.63,14.54
$GC,3505,-0.56,-116.8,2749,1822,3329,3189,368.5,-8.4,174,3518,0.00,2.40,0.00,0.000,516,0.000,0.059,2749,429,3256,3327,3186,0,0,0,0,0,0,14.95,14.55,14.97
$GC,3636,-0.56,-116.8,2748,430,3329,3187,380.6,-9.1,192,3649,0.00,2.30,0.00,0.000,1030,0.000,0.032,2742,1831,3257,3328,3187,0,0,0,0,0,0,14.66,14.60,14.69
$GC,3964,-0.56,-116.8,2742,1831,3328,3185,409.1,-8.7,203,3977,0.00,2.35,0.00,0.000,260,0.000,0.054,2731,3218,3256,3328,3184,0,0,0,0,0,0,14.93,14.57,14.95
$GC,3998,-0.56,-116.8,2732,3218,3328,3183,412.2,-9.1,207,4011,0.00,2.30,0.00,0.000,1030,0.000,0.037,2732,1830,3255,3328,3183,0,0,0,0,0,0,14.71,14.64,14.73
$GC,4368,-0.56,-116.8,2732,1831,3336,3179,446.7,-9.5,217,4381,0.00,2.42,0.00,0.000,516,0.000,0.060,2731,426,3253,3328,3179,0,0,0,0,0,0,14.96,14.54,14.98
$GC,4488,-0.56,-116.8,2731,427,3328,3178,458.4,-9.9,233,4501,0.00,2.33,0.00,0.000,1030,0.000,0.033,2722,1833,3252,3328,3177,0,0,0,0,0,0,14.72,14.66,14.74
$GC,4830,-0.56,-116.8,2722,1832,3328,3183,490.5,-9.3,246,4843,0.00,2.35,0.00,0.000,260,0.000,0.055,2711,3215,3251,3328,3175,0,0,0,0,0,0,14.92,14.52,14.95
$GC,4877,-0.56,-116.8,2712,3216,3329,3174,494.9,-9.4,252,4891,0.15,2.30,0.00,0.000,3078,0.230,0.037,2745,1828,3251,3328,3174,0,0,0,0,0,0,14.27,14.62,14.51
$GC,5235,-0.56,-116.8,2745,1830,3328,3169,524.5,-8.4,260,5248,0.00,2.42,0.00,0.000,516,0.000,0.060,2745,431,3249,3328,3170,0,0,0,0,0,0,14.96,14.51,14.96
$GC,5390,-0.56,-116.8,2745,432,3329,3169,538.5,-9.2,281,5403,0.00,2.33,0.00,0.000,1030,0.000,0.033,2738,1836,3248,3328,3168,0,0,0,0,0,0,14.71,14.64,14.73
$GC,5754,-0.56,-116.8,2738,1836,3328,3167,569.6,-8.4,290,5767,0.00,2.35,0.00,0.000,260,0.000,0.054,2728,3216,3247,3328,3166,0,0,0,0,0,0,14.93,14.52,14.96
$GC,5823,-0.56,-116.8,2728,3216,3329,3166,575.3,-8.0,299,5836,0.00,2.33,0.00,0.000,1030,0.000,0.038,2728,1826,3246,3328,3165,0,0,0,0,0,0,14.66,14.57,14.68
$GC,6158,-0.56,-116.8,2728,1826,3328,3163,601.6,-7.8,311,6171,0.00,2.42,0.00,0.000,548,0.000,0.060,2727,430,3245,3328,3162,0,0,0,0,0,0,14.92,14.50,14.94
$GC,6278,-0.56,-116.8,2728,431,3329,3161,611.8,-8.7,327,6291,0.00,2.33,0.00,0.000,1030,0.000,0.033,2718,1832,3244,3328,3161,0,0,0,0,0,0,14.67,14.61,14.69
$GC,6620,-0.56,-116.8,2718,1831,3328,3159,641.6,-8.9,340,6633,0.12,2.38,0.00,0.000,2308,0.271,0.054,2740,3215,3242,3328,3157,0,0,0,0,0,0,14.16,14.42,14.31
$GC,6675,-0.65,-116.8,2740,3216,3328,3158,646.2,-8.0,347,6689,0.00,2.35,0.00,0.000,1158,0.000,0.039,2740,1826,3242,3328,3157,0,0,0,0,0,0,14.63,14.55,14.66
$GC,7018,-0.65,-116.8,2740,1826,3328,3157,673.9,-8.1,354,7032,0.00,2.42,0.00,0.000,516,0.000,0.060,2740,435,3242,3328,3156,0,0,0,0,0,0,14.92,14.46,14.95
$GC,7129,-0.65,-116.8,2740,432,3328,3156,683.2,-8.3,369,7143,0.00,2.35,0.00,0.000,1030,0.000,0.034,2730,1837,3241,3328,3155,0,0,0,0,0,0,14.64,14.58,14.66
$GC,7473,-0.65,-116.8,2730,1838,3328,3153,709.7,-7.7,376,7486,0.00,2.40,0.00,0.000,292,0.000,0.056,2720,3225,3238,3324,3153,0,0,0,0,0,0,14.93,14.46,14.95
$GC,7527,-0.65,-116.8,2720,3226,3328,3152,714.0,-7.9,383,7541,0.00,2.38,0.00,0.000,1030,0.000,0.037,2720,1823,3240,3327,3153,0,0,0,0,0,0,14.62,14.52,14.64
$GC,7872,-0.65,-116.8,2720,1823,3328,3152,741.8,-8.2,390,7885,0.00,2.45,0.00,0.000,516,0.000,0.061,2720,427,3239,3328,3150,0,0,0,0,0,0,14.89,14.43,14.91
$GC,8017,-0.65,-116.8,2720,428,3329,3150,755.2,-9.0,410,8031,0.00,2.35,0.00,0.000,1030,0.000,0.034,2711,1830,3238,3328,3149,0,0,0,0,0,0,14.62,14.57,14.64
$GC,8387,-0.65,-116.8,2711,1831,3329,3147,788.4,-9.0,420,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1830,3237,3328,3147,0,0,0,0,0,0,14.90,14.92,14.92
$GC,8725,-0.65,-116.8,2710,1831,3329,3144,819.0,-9.1,426,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1830,3236,3328,3144,0,0,0,0,0,0,14.88,14.91,14.91
$GC,9059,-0.65,-116.8,2711,1831,3329,3142,849.9,-9.4,432,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1830,3233,3327,3139,0,0,0,0,0,0,14.90,14.92,14.92
$GC,9396,-0.65,-116.8,2711,1831,3329,3141,881.2,-9.5,438,9409,0.00,2.40,0.00,0.000,260,0.000,0.058,2700,3213,3234,3328,3140,0,0,0,0,0,0,14.90,14.40,14.91
$GC,9437,-0.65,-116.8,2700,3216,3328,3141,885.1,-9.0,443,9450,0.00,2.35,0.00,0.000,1030,0.000,0.040,2699,1832,3234,3328,3140,0,0,0,0,0,0,14.46,14.38,14.49
$GC,9800,-0.65,-116.8,2700,1831,3328,3140,919.3,-9.3,452,9814,0.00,2.47,0.00,0.000,516,0.000,0.063,2700,430,3233,3328,3139,0,0,0,0,0,0,14.91,14.38,14.93
$GC,9947,-0.65,-116.8,2700,430,3328,3139,933.6,-9.4,472,9960,0.12,2.35,0.00,0.000,3078,0.273,0.034,2715,1828,3233,3329,3138,0,0,0,0,0,0,14.06,14.54,14.34
$GC,10317,-0.65,-116.8,2714,1829,3332,3136,962.9,-7.8,482,10330,0.00,0.00,0.00,0.000,38,0.000,0.000,2715,1828,3232,3328,3136,0,0,0,0,0,0,14.91,14.96,14.93
$GC,10654,-0.65,-116.8,2715,1828,3328,3133,988.3,-7.5,488,10667,0.00,2.50,0.00,0.000,548,0.000,0.062,2715,425,3231,3328,3134,0,0,0,0,0,0,14.88,14.35,14.89
$STATE,10669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10669,begin apogee
$GC,10680,-0.21,0.0,2710,1688,3328,3134,990.5,-7.8,490,10810,0.57,0.00,119.93,2.185,10246,0.223,0.000,2857,1689,2792,2920,2665,0,0,0,0,0,0,14.07,13.97,13.07
$STATE,10811,end apogee,CONTROL_FINISHED_OK
$STATE,10811,begin climb
$GC,10815,0.84,116.8,2857,1689,2917,2655,994.4,0.0,492,10961,1.15,2.55,124.32,2.142,10500,0.151,0.049,3190,3066,2304,2475,2133,0,0,0,0,0,0,13.93,13.71,12.86
$GC,11066,0.84,116.8,3190,3067,2475,2119,979.2,8.6,531,11080,0.00,2.42,0.00,0.000,1030,0.000,0.040,3199,1682,2298,2475,2122,0,0,0,0,0,0,14.23,14.16,14.26
$GC,11410,0.84,116.8,3199,1682,2475,2115,949.9,8.6,538,11424,0.00,2.42,0.00,0.000,516,0.000,0.067,3205,319,2294,2474,2114,0,0,0,0,0,0,14.73,14.41,14.75
$GC,11486,0.74,116.8,3210,319,2475,2115,942.8,9.3,548,11499,0.17,2.28,0.00,0.000,5254,0.247,0.032,3172,1702,2294,2474,2114,0,0,0,0,0,0,14.19,14.54,14.47
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$STATE,22325,end climb,SURFACE_DEPTH_REACHED
$STATE,22325,begin surface coast
$FINISH,0.1,1.009109
$STATE,22356,end surface coast,CONTROL_FINISHED_OK
$STATE,22357,begin surface
$SM_CCo,22383,90.80,0.122,0,0,691,515.13
$SM_GC,1.10,9.35,0.10,90.80,0.057,0.111,0.122,157,1823,691,-8.61,-2.80,515.13,0,0,0,0,0,0,14.47,14.64,14.38
$IRIDIUM_FIX,1007.02,-12508.32,301116,235814
$TT8_MAMPS,0.038948,0.367759
$HUMID,58.42
$INTERNAL_PRESSURE,9.11626
$TCM_TEMP,25.10
$XPDR_PINGS,2
$SC_FREEKB,7636640
$PM_FREEKB,56224832
$TM_FREEKB,4892192
$24V_AH,12.86,130.678
$10V_AH,12.64,0.000
$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,26.075,197.525,481.625,90.800,0.000,0.000,0.000,434.775,0.500,0.000,16.794,0.000,18155.707,810.751,3670.893,695.346,0.000,2916.697,0.000,1817.848,0.000,0.549,0.000
$DEVICE_MAMPS,406.980,110.925,2184.840,121.635,0.000,0.000,0.000,176.715,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22416.000,22360.000,2914.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.599,2.080,16.035,0.000
$MEM,311928
$DATA_FILE_SIZE,36685,1044
$CAP_FILE_SIZE,181285,0
$CFSIZE,260034560,204480512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18978.89,0x233bae,1,24
$CURRENT,0.080,39.65,1
$GPS,011216,132433,1012.843,-12510.312,36,0.9,36,9.2,1.1,334.0,9,7.2