version: 66.13
glider: 191
mission: 8
dive: 391
start: 12 15 116 7 9 13
data:
$ID,191
$MISSION,8
$DIVE,391
$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,1775
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,76
$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
$GPS1,151216,065359,1013.1611,-12512.3438,36,0.7,38,9.2,1.2,36.1,12,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.8
$GPS2,151216,070852,1013.3960,-12512.3857,12,0.8,12,9.2,0.8,36.1,10,7.5
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,250.2,2421,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.18,-42.3,156,1791,890,520,0.0,0.0,0,107,0.00,0.00,-76.03,0.000,16390,0.000,0.000,156,1791,2968,2986,2950,0,0,0,0,0,0,14.69,12.75,14.71
$GC,111,-1.18,-42.3,156,1790,2986,2951,1.8,-1.8,2,133,11.93,2.30,0.00,0.000,2308,0.386,0.046,2531,3136,2969,2987,2951,0,0,0,0,0,0,14.03,14.44,14.41
$GC,153,-0.53,-42.3,2537,3137,2989,2951,24.2,-40.1,9,162,0.98,2.30,0.00,0.000,3206,0.331,0.034,2748,1750,2969,2988,2951,0,0,0,0,0,0,14.03,14.45,14.36
$GC,470,-0.70,-42.3,2748,1753,2993,2951,61.4,-9.6,21,477,0.12,2.35,0.00,0.000,4740,0.143,0.054,2701,386,2973,2993,2954,0,0,0,0,0,0,14.42,14.45,14.47
$GC,623,-0.70,-42.3,2701,386,2993,2951,72.7,-8.8,43,630,0.00,2.25,0.00,0.000,1030,0.000,0.030,2694,1762,2970,2990,2951,0,0,0,0,0,0,14.61,14.56,14.64
$GC,947,-0.84,-44.8,2693,1762,2991,2952,95.8,-7.5,56,953,0.00,2.35,0.00,0.000,420,0.000,0.050,2682,3161,2971,2992,2951,0,0,0,0,0,0,14.82,14.45,14.83
$GC,1164,-0.98,-48.3,2682,3162,2993,2951,112.5,-7.4,87,1172,0.22,2.30,0.00,0.000,5286,0.098,0.035,2597,1776,2971,2992,2951,0,0,0,0,0,0,14.51,14.55,14.59
$GC,1507,-0.98,-48.3,2601,1776,2993,2950,145.0,-10.0,94,1513,0.00,2.42,0.00,0.000,516,0.000,0.058,2601,371,2970,2992,2949,0,0,0,0,0,0,14.86,14.49,14.88
$GC,1704,-0.98,-48.3,2601,371,2993,2948,167.9,-12.3,122,1711,0.00,2.30,0.00,0.000,1030,0.000,0.032,2591,1772,2969,2992,2946,0,0,0,0,0,0,14.64,14.59,14.66
$GC,2069,-0.98,-48.3,2592,1772,2993,2943,211.6,-11.9,132,2075,0.00,2.38,0.00,0.000,260,0.000,0.049,2581,3174,2966,2992,2941,0,0,0,0,0,0,14.84,14.51,14.86
$GC,2165,-0.98,-48.3,2581,3174,2993,2940,223.1,-11.4,146,2172,0.15,2.33,0.00,0.000,3078,0.294,0.038,2608,1777,2965,2991,2939,0,0,0,0,0,0,14.11,14.54,14.41
$GC,2517,-0.98,-48.3,2608,1778,2994,2935,258.0,-9.9,154,2530,0.00,2.42,0.00,0.000,516,0.000,0.059,2612,375,2963,2992,2935,0,0,0,0,0,0,14.90,14.52,14.92
$GC,2635,-0.98,-48.3,2612,376,2993,2934,270.7,-10.7,170,2649,0.00,2.33,0.00,0.000,1030,0.000,0.033,2605,1785,2963,2992,2934,0,0,0,0,0,0,14.69,14.64,14.71
$GC,2977,-0.98,-48.3,2605,1786,2993,2933,306.5,-10.4,183,2991,0.00,2.35,0.00,0.000,260,0.000,0.052,2594,3167,2960,2992,2929,0,0,0,0,0,0,14.95,14.57,14.97
$GC,3133,-0.98,-48.3,2594,3168,2993,2927,324.1,-11.9,204,3147,0.00,2.35,0.00,0.000,1030,0.000,0.039,2594,1770,2959,2992,2927,0,0,0,0,0,0,14.69,14.62,14.72
$GC,3497,-0.98,-48.3,2595,1770,2993,2923,368.1,-12.0,213,3510,0.00,2.42,0.00,0.000,516,0.000,0.060,2594,374,2957,2992,2922,0,0,0,0,0,0,14.95,14.53,14.97
$GC,3667,-0.98,-48.3,2595,374,2993,2921,389.3,-12.3,236,3681,0.00,2.33,0.00,0.000,1030,0.000,0.034,2585,1772,2956,2992,2920,0,0,0,0,0,0,14.69,14.64,14.71
$GC,4007,-0.98,-48.3,2585,1771,2993,2917,429.2,-11.7,243,4020,0.00,2.35,0.00,0.000,260,0.000,0.052,2574,3161,2953,2991,2916,0,0,0,0,0,0,14.95,14.55,14.97
$GC,4048,-0.98,-48.3,2575,3162,2993,2915,433.8,-11.5,248,4062,0.15,2.33,0.00,0.000,3078,0.292,0.039,2604,1768,2953,2992,2915,0,0,0,0,0,0,14.12,14.59,14.42
$GC,4411,-0.98,-48.3,2605,1766,2992,2914,472.3,-10.6,257,4425,0.00,2.42,0.00,0.000,516,0.000,0.061,2610,373,2952,2992,2913,0,0,0,0,0,0,14.93,14.52,14.95
$GC,4600,-0.98,-48.3,2607,378,2998,2912,492.6,-10.6,283,4613,0.00,2.33,0.00,0.000,1030,0.000,0.034,2603,1773,2951,2992,2911,0,0,0,0,0,0,14.70,14.62,14.71
$GC,4929,-0.98,-48.3,2603,1773,2992,2909,523.9,-9.5,294,4942,0.00,2.38,0.00,0.000,260,0.000,0.052,2593,3174,2950,2992,2908,0,0,0,0,0,0,14.92,14.55,14.93
$GC,5004,-0.98,-48.3,2592,3175,2993,2907,531.3,-9.6,304,5017,0.00,2.35,0.00,0.000,1030,0.000,0.040,2592,1773,2950,2992,2908,0,0,0,0,0,0,14.65,14.57,14.68
$GC,5333,-0.98,-48.3,2592,1773,2992,2905,561.7,-9.3,315,5346,0.00,2.45,0.00,0.000,516,0.000,0.060,2595,368,2948,2992,2904,0,0,0,0,0,0,14.95,14.50,14.97
$GC,5541,-0.98,-48.3,2592,368,2993,2902,583.1,-10.1,344,5555,0.12,2.35,0.00,0.000,3078,0.324,0.034,2604,1778,2947,2992,2903,0,0,0,0,0,0,14.06,14.62,14.38
$GC,5906,-0.98,-48.3,2605,1778,2998,2905,617.0,-9.4,353,5919,0.00,2.38,0.00,0.000,260,0.000,0.054,2596,3170,2946,2992,2900,0,0,0,0,0,0,14.91,14.50,14.93
$GC,5970,-0.98,-48.3,2596,3170,2994,2900,623.3,-9.9,361,5983,0.00,2.35,0.00,0.000,1030,0.000,0.039,2593,1771,2945,2992,2899,0,0,0,0,0,0,14.63,14.55,14.66
$GC,6313,-0.98,-48.3,2596,1770,2991,2898,656.5,-9.6,374,6327,0.00,2.45,0.00,0.000,516,0.000,0.060,2596,372,2944,2992,2897,0,0,0,0,0,0,14.93,14.46,14.95
$GC,6445,-0.98,-48.3,2596,373,2992,2896,669.5,-9.9,392,6458,0.00,2.35,0.00,0.000,1030,0.000,0.034,2587,1779,2944,2993,2895,0,0,0,0,0,0,14.66,14.61,14.69
$GC,6773,-0.98,-48.3,2588,1780,2993,2893,698.7,-8.7,403,6786,0.00,2.38,0.00,0.000,260,0.000,0.054,2577,3169,2942,2992,2893,0,0,0,0,0,0,14.90,14.48,14.93
$GC,6849,-0.98,-48.3,2577,3170,2993,2892,705.7,-9.2,413,6863,0.15,2.38,0.00,0.000,3078,0.298,0.040,2604,1763,2942,2991,2893,0,0,0,0,0,0,14.00,14.52,14.32
$GC,7178,-0.98,-48.3,2605,1766,2993,2892,735.0,-8.9,424,7191,0.00,2.42,0.00,0.000,516,0.000,0.062,2610,381,2941,2992,2891,0,0,0,0,0,0,14.93,14.42,14.95
$GC,7342,-0.98,-48.3,2611,381,2993,2891,750.4,-9.6,446,7355,0.00,2.33,0.00,0.000,1030,0.000,0.034,2603,1778,2941,2992,2890,0,0,0,0,0,0,14.65,14.59,14.67
$GC,7698,-0.98,-48.3,2603,1778,2992,2888,784.5,-9.5,454,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1778,2940,2992,2888,0,0,0,0,0,0,14.92,14.94,14.94
$GC,8034,-0.98,-48.3,2600,1779,2993,2886,815.8,-9.3,460,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1778,2938,2991,2886,0,0,0,0,0,0,14.92,14.95,14.95
$GC,8371,-0.98,-48.3,2604,1778,2992,2885,846.9,-9.2,466,8385,0.00,2.47,0.00,0.000,516,0.000,0.061,2609,381,2938,2992,2884,0,0,0,0,0,0,14.90,14.38,14.92
$GC,8461,-0.98,-48.3,2603,381,2993,2883,855.9,-8.8,478,8474,0.00,2.35,0.00,0.000,1030,0.000,0.035,2594,1776,2941,2997,2886,0,0,0,0,0,0,14.59,14.52,14.61
$GC,8832,-0.98,-48.3,2594,1776,2992,2883,892.8,-10.1,488,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1776,2937,2992,2882,0,0,0,0,0,0,14.90,14.92,14.92
$GC,9167,-0.98,-48.3,2594,1777,2993,2879,925.3,-9.6,494,9181,0.00,2.47,0.00,0.000,516,0.000,0.060,2594,381,2936,2992,2880,0,0,0,0,0,0,14.90,14.36,14.93
$GC,9215,-0.98,-48.3,2594,381,2993,2879,930.2,-8.3,500,9228,0.00,2.35,0.00,0.000,1030,0.000,0.036,2584,1777,2935,2991,2879,0,0,0,0,0,0,14.58,14.52,14.61
$GC,9572,-0.98,-48.3,2584,1777,2992,2878,963.8,-9.4,508,9585,0.00,2.47,0.00,0.000,516,0.000,0.061,2584,382,2934,2992,2877,0,0,0,0,0,0,14.87,14.36,14.90
$GC,9626,-0.98,-48.3,2584,383,2993,2877,969.2,-9.7,515,9640,0.17,2.38,0.00,0.000,3078,0.317,0.037,2606,1771,2934,2992,2877,0,0,0,0,0,0,13.81,14.49,14.17
$STATE,9911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9911,begin apogee
$GC,9919,-0.21,0.0,2607,1663,2992,2877,993.4,-8.4,521,9975,1.02,0.00,44.95,2.154,10246,0.265,0.000,2854,1663,2788,2876,2701,0,0,0,0,0,0,13.83,14.28,13.15
$STATE,9977,end apogee,CONTROL_FINISHED_OK
$STATE,9977,begin climb
$GC,9982,1.19,48.3,2854,1663,2875,2693,996.3,0.0,522,10049,1.52,0.00,56.70,2.198,10246,0.149,0.000,3305,1661,2595,2692,2499,0,0,0,0,0,0,14.21,14.00,13.01
$GC,10365,1.19,48.3,3305,1662,2688,2474,969.4,7.9,529,10378,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1664,2580,2687,2473,0,0,0,0,0,0,14.71,14.74,14.73
$GC,10699,1.19,48.3,3305,1662,2688,2472,942.8,7.9,535,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1662,2579,2687,2471,0,0,0,0,0,0,14.80,14.83,14.83
$GC,11035,1.20,51.7,3311,1661,2687,2470,917.6,7.4,541,11048,0.00,0.00,0.00,0.000,38,0.000,0.000,3305,1659,2577,2686,2469,0,0,0,0,0,0,14.84,14.86,14.86
$GC,11370,1.21,58.7,3305,1663,2688,2468,894.0,7.0,547,11384,0.00,0.00,4.50,1.548,8230,0.000,0.000,3305,1662,2551,2657,2446,0,0,0,0,0,0,14.86,14.51,13.24
$GC,11708,1.21,65.5,3305,1663,2658,2452,870.9,7.0,553,11736,0.00,2.45,14.38,2.049,8484,0.000,0.050,3305,3067,2518,2625,2412,0,0,0,0,0,0,14.85,14.57,13.51
$GC,11791,1.21,65.5,3305,3068,2631,2406,864.0,8.4,565,11804,0.00,2.33,0.00,0.000,1030,0.000,0.038,3314,1688,2514,2623,2406,0,0,0,0,0,0,14.60,14.54,14.63
$GC,12161,1.21,65.5,3314,1689,2624,2404,831.8,8.8,575,12175,0.00,2.40,0.00,0.000,516,0.000,0.061,3324,328,2513,2623,2404,0,0,0,0,0,0,14.84,14.43,14.86
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$STATE,23207,end climb,SURFACE_DEPTH_REACHED
$STATE,23207,begin surface coast
$FINISH,0.1,1.008475
$STATE,23235,end surface coast,CONTROL_FINISHED_OK
$STATE,23235,begin surface
$SM_CCo,23262,147.82,0.125,0,0,691,515.13
$SM_GC,1.10,9.73,0.00,147.82,0.070,0.000,0.125,163,1678,691,-8.59,-2.74,515.13,0,0,0,0,0,0,14.49,14.87,14.33
$IRIDIUM_FIX,1009.21,-12508.32,151216,000246
$TT8_MAMPS,0.038948,0.385735
$HUMID,56.81
$INTERNAL_PRESSURE,9.11626
$TCM_TEMP,24.80
$XPDR_PINGS,4
$SC_FREEKB,7618208
$PM_FREEKB,55618816
$TM_FREEKB,4483168
$24V_AH,12.75,148.017
$10V_AH,12.32,0.000
$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,27.400,173.350,321.575,147.825,0.000,0.000,0.000,433.275,1.000,0.000,16.445,0.000,18988.205,710.681,3845.920,737.770,0.000,2807.122,0.000,1988.201,0.000,0.549,0.000
$DEVICE_MAMPS,386.325,82.620,2197.845,124.695,0.000,0.000,0.000,177.480,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23262.000,23205.000,3101.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.675,2.159,16.360,0.000
$MEM,311932
$DATA_FILE_SIZE,39975,1145
$CAP_FILE_SIZE,182169,0
$CFSIZE,260034560,197328896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,306.08,1
$GPS,151216,134033,1013.380,-12514.515,24,0.9,24,9.2,0.6,13.8,10,8.8