version: 66.13
glider: 191
mission: 8
dive: 417
start: 12 22 116 21 20 34
data:
$ID,191
$MISSION,8
$DIVE,417
$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,38
$R_STBD_OVSHOOT,78
$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
$GPS1,221216,210428,947.3508,-12448.1992,41,0.7,41,9.2,0.0,0.0,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.2
$GPS2,221216,212011,947.4297,-12448.2266,18,0.7,19,9.2,0.0,0.0,12,8.2
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SE
$TGT_LATLONG,946.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,104.0,3932,-20.4,-7.857,-24.00,1368
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-0.95,-76.8,151,1761,901,514,0.0,0.0,0,118,0.00,0.00,-79.40,0.000,16390,0.000,0.000,150,1765,3109,3144,3074,0,0,0,0,0,0,14.69,13.44,14.69
$GC,122,-0.95,-76.8,151,1765,3144,3074,6.7,-9.9,3,140,11.82,2.38,0.00,0.000,2308,0.370,0.044,2607,3153,3110,3146,3074,0,0,0,0,0,0,14.09,14.50,14.45
$GC,154,0.13,-76.8,2607,3156,3148,3074,23.4,-46.1,8,161,1.50,2.33,0.00,0.000,3206,0.297,0.041,2964,1769,3110,3147,3073,0,0,0,0,0,0,14.12,14.47,14.40
$GC,483,-0.38,-116.8,2964,1769,3150,3075,41.3,-3.2,22,491,0.45,2.78,-1.50,0.000,21156,0.059,2.020,2779,370,3277,3347,3207,0,0,0,0,0,0,14.52,12.79,14.54
$GC,721,-0.50,-116.8,2777,370,3348,3207,61.9,-8.1,56,729,0.00,2.30,0.00,0.000,1158,0.000,0.031,2767,1763,3277,3347,3207,0,0,0,0,0,0,14.63,14.58,14.64
$GC,1037,-0.63,-116.8,2766,1769,3348,3207,84.5,-7.9,68,1044,0.12,2.40,0.00,0.000,4772,0.130,0.053,2706,370,3277,3347,3207,0,0,0,0,0,0,14.54,14.50,14.57
$GC,1071,-0.63,-116.8,2706,372,3348,3207,88.1,-11.0,73,1079,0.00,2.30,0.00,0.000,1030,0.000,0.031,2696,1770,3277,3347,3208,0,0,0,0,0,0,14.65,14.59,14.66
$GC,1430,-0.63,-116.8,2696,1772,3348,3207,126.8,-10.9,84,1436,0.00,2.35,0.00,0.000,260,0.000,0.051,2685,3169,3277,3347,3207,0,0,0,0,0,0,14.84,14.52,14.87
$GC,1463,-0.63,-116.8,2685,3170,3348,3207,130.8,-10.7,89,1472,0.15,2.33,0.00,0.000,3078,0.242,0.038,2718,1775,3275,3343,3207,0,0,0,0,0,0,14.23,14.54,14.48
$GC,1822,-0.63,-116.8,2718,1775,3348,3207,164.7,-9.4,98,1828,0.00,2.42,0.00,0.000,516,0.000,0.058,2718,371,3276,3347,3206,0,0,0,0,0,0,14.85,14.49,14.88
$GC,1906,-0.63,-116.8,2718,371,3348,3205,173.3,-10.3,110,1912,0.00,2.33,0.00,0.000,1030,0.000,0.033,2711,1773,3275,3347,3204,0,0,0,0,0,0,14.66,14.59,14.68
$GC,2270,-0.63,-116.8,2711,1773,3347,3195,210.1,-10.1,120,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1773,3273,3347,3199,0,0,0,0,0,0,14.86,14.89,14.88
$GC,2606,-0.63,-116.8,2711,1773,3348,3194,243.5,-9.9,126,2612,0.00,2.35,0.00,0.000,260,0.000,0.053,2700,3163,3268,3343,3194,0,0,0,0,0,0,14.87,14.50,14.89
$GC,2663,-0.73,-116.8,2700,3165,3352,3192,249.1,-10.1,134,2669,0.00,2.33,0.00,0.000,1158,0.000,0.038,2700,1775,3269,3347,3192,0,0,0,0,0,0,14.62,14.54,14.64
$GC,2998,-0.73,-116.8,2700,1774,3347,3187,284.8,-10.6,147,3011,0.00,2.42,0.00,0.000,516,0.000,0.060,2700,375,3267,3347,3187,0,0,0,0,0,0,14.92,14.53,14.95
$GC,3131,-0.73,-116.8,2701,374,3347,3186,299.7,-11.3,165,3144,0.00,2.33,0.00,0.000,1030,0.000,0.034,2691,1779,3266,3347,3185,0,0,0,0,0,0,14.71,14.64,14.72
$GC,3459,-0.73,-116.8,2691,1779,3347,3182,336.0,-11.1,176,3472,0.00,2.33,0.00,0.000,260,0.000,0.054,2680,3157,3264,3347,3181,0,0,0,0,0,0,14.95,14.51,14.97
$GC,3514,-0.73,-116.8,2680,3158,3347,3181,342.1,-10.7,183,3527,0.00,2.33,0.00,0.000,1030,0.000,0.040,2680,1774,3263,3347,3180,0,0,0,0,0,0,14.67,14.59,14.70
$GC,3859,-0.73,-116.8,2680,1776,3348,3177,379.5,-10.9,190,3872,0.00,2.45,0.00,0.000,516,0.000,0.061,2680,366,3261,3347,3176,0,0,0,0,0,0,14.92,14.54,14.96
$GC,3962,-0.73,-116.8,2681,366,3347,3176,391.6,-11.3,204,3975,0.00,2.35,0.00,0.000,1030,0.000,0.034,2671,1782,3261,3347,3176,0,0,0,0,0,0,14.71,14.65,14.73
$GC,4319,-0.73,-116.8,2671,1782,3347,3171,429.7,-10.6,212,4333,0.00,2.38,0.00,0.000,260,0.000,0.056,2660,3169,3258,3347,3170,0,0,0,0,0,0,14.95,14.52,14.97
$GC,4346,-0.73,-116.8,2661,3170,3348,3170,432.8,-10.6,215,4359,0.15,2.33,0.00,0.000,3078,0.253,0.040,2690,1774,3258,3347,3170,0,0,0,0,0,0,14.21,14.59,14.47
$GC,4667,-0.73,-116.8,2691,1776,3348,3168,463.5,-9.5,225,4680,0.00,2.45,0.00,0.000,516,0.000,0.060,2692,366,3257,3347,3168,0,0,0,0,0,0,14.93,14.51,14.95
$GC,4757,-0.73,-116.8,2691,367,3348,3167,472.4,-10.0,237,4771,0.00,2.35,0.00,0.000,1030,0.000,0.034,2685,1778,3257,3347,3167,0,0,0,0,0,0,14.71,14.64,14.73
$GC,5128,-0.73,-116.8,2685,1777,3347,3163,509.7,-10.2,247,5141,0.00,2.38,0.00,0.000,260,0.000,0.054,2675,3164,3254,3347,3162,0,0,0,0,0,0,14.95,14.52,14.97
$GC,5203,-0.73,-116.8,2675,3164,3348,3161,517.5,-10.4,257,5216,0.00,2.33,0.00,0.000,1030,0.000,0.041,2674,1776,3254,3347,3162,0,0,0,0,0,0,14.64,14.56,14.67
$GC,5533,-0.73,-116.8,2675,1776,3348,3159,552.2,-10.5,268,5547,0.00,2.45,0.00,0.000,516,0.000,0.063,2674,375,3252,3347,3158,0,0,0,0,0,0,14.92,14.49,14.95
$GC,5672,-0.73,-116.8,2675,376,3352,3156,567.8,-11.1,287,5685,0.00,2.35,0.00,0.000,1030,0.000,0.036,2665,1779,3252,3347,3157,0,0,0,0,0,0,14.66,14.59,14.68
$GC,5994,-0.73,-116.8,2665,1783,3347,3156,601.7,-10.5,297,6008,0.12,2.38,0.00,0.000,2308,0.288,0.054,2685,3166,3250,3346,3155,0,0,0,0,0,0,14.14,14.41,14.28
$GC,6091,-0.82,-116.8,2684,3167,3348,3153,611.1,-9.2,310,6104,0.00,2.35,0.00,0.000,1158,0.000,0.041,2685,1771,3251,3347,3156,0,0,0,0,0,0,14.64,14.55,14.67
$GC,6455,-0.82,-116.8,2685,1771,3348,3152,645.7,-9.5,319,6468,0.00,2.47,0.00,0.000,516,0.000,0.064,2689,369,3249,3347,3151,0,0,0,0,0,0,14.90,14.44,14.92
$GC,6586,-0.82,-116.8,2685,370,3348,3151,659.4,-10.3,337,6600,0.00,2.38,0.00,0.000,1030,0.000,0.036,2675,1777,3248,3347,3150,0,0,0,0,0,0,14.66,14.59,14.68
$GC,6915,-0.82,-116.8,2681,1777,3348,3148,691.9,-10.0,348,6928,0.00,2.40,0.00,0.000,260,0.000,0.057,2665,3172,3247,3347,3147,0,0,0,0,0,0,14.91,14.47,14.92
$GC,6977,-0.82,-116.8,2665,3173,3347,3148,698.1,-9.8,356,6990,0.00,2.35,0.00,0.000,1030,0.000,0.041,2670,1776,3246,3347,3146,0,0,0,0,0,0,14.60,14.51,14.63
$GC,7319,-0.82,-116.8,2665,1777,3347,3144,731.4,-9.6,369,7333,0.00,2.47,0.00,0.000,516,0.000,0.063,2665,369,3245,3347,3143,0,0,0,0,0,0,14.93,14.42,14.95
$GC,7439,-0.82,-116.8,2665,374,3347,3143,743.2,-9.8,385,7452,0.00,2.38,0.00,0.000,1030,0.000,0.037,2655,1778,3244,3347,3142,0,0,0,0,0,0,14.63,14.59,14.66
$GC,7781,-0.82,-116.8,2655,1778,3348,3140,776.9,-10.0,398,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1777,3243,3347,3140,0,0,0,0,0,0,14.90,14.92,14.92
$GC,8118,-0.82,-116.8,2655,1777,3347,3139,813.3,-11.0,404,8131,0.00,2.40,0.00,0.000,260,0.000,0.057,2645,3165,3242,3347,3138,0,0,0,0,0,0,14.90,14.42,14.95
$GC,8159,-0.82,-116.8,2644,3167,3348,3137,818.0,-11.8,409,8172,0.00,2.35,0.00,0.000,1030,0.000,0.041,2645,1775,3242,3347,3137,0,0,0,0,0,0,14.57,14.48,14.60
$GC,8522,-0.82,-116.8,2645,1775,3347,3134,860.5,-11.6,418,8536,0.00,2.47,0.00,0.000,516,0.000,0.064,2645,375,3240,3346,3134,0,0,0,0,0,0,14.92,14.38,14.95
$GC,8633,-0.82,-116.8,2644,376,3348,3133,874.3,-12.4,433,8648,0.00,2.40,0.00,0.000,1030,0.000,0.037,2635,1786,3240,3347,3133,0,0,0,0,0,0,14.58,14.51,14.60
$GC,8978,-0.82,-116.8,2635,1787,3348,3132,914.0,-11.5,440,8991,0.00,2.40,0.00,0.000,260,0.000,0.057,2625,3162,3239,3347,3131,0,0,0,0,0,0,14.92,14.38,14.92
$GC,9025,-0.82,-116.8,2625,3163,3348,3131,919.6,-11.4,446,9038,0.17,2.38,0.00,0.000,3078,0.262,0.041,2660,1770,3239,3347,3131,0,0,0,0,0,0,13.97,14.45,14.26
$GC,9383,-0.82,-116.8,2660,1769,3347,3131,953.9,-9.5,454,9396,0.00,2.50,0.00,0.000,516,0.000,0.066,2663,372,3238,3347,3130,0,0,0,0,0,0,14.87,14.38,14.89
$GC,9501,-0.82,-116.8,2662,373,3348,3129,965.7,-9.7,470,9514,0.00,2.38,0.00,0.000,1030,0.000,0.038,2656,1770,3238,3347,3129,0,0,0,0,0,0,14.55,14.49,14.57
$STATE,9784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9784,begin apogee
$GC,9793,-0.21,0.0,2657,1656,3347,3128,993.0,-9.6,482,9926,0.80,0.00,122.82,2.230,10246,0.242,0.000,2853,1656,2792,2916,2669,0,0,0,0,0,0,13.84,13.95,12.91
$STATE,9927,end apogee,CONTROL_FINISHED_OK
$STATE,9927,begin climb
$GC,9931,1.00,116.8,2854,1656,2910,2660,998.0,0.0,484,10075,1.33,2.50,125.00,2.199,10756,0.148,0.064,3252,353,2308,2474,2142,0,0,0,0,0,0,13.94,13.74,12.73
$GC,10123,1.00,116.8,3253,352,2468,2129,985.6,10.7,515,10137,0.00,2.33,0.00,0.000,1030,0.000,0.032,3252,1697,2297,2468,2127,0,0,0,0,0,0,14.16,14.12,14.19
$GC,10468,1.00,116.8,3252,1698,2468,2120,950.2,10.2,522,10481,0.00,2.35,0.00,0.000,260,0.000,0.050,3252,3065,2293,2467,2119,0,0,0,0,0,0,14.75,14.47,14.80
$GC,10601,1.00,116.8,3252,3064,2469,2116,936.4,10.3,540,10614,0.00,2.33,0.00,0.000,1030,0.000,0.042,3261,1695,2291,2467,2116,0,0,0,0,0,0,14.59,14.52,14.64
$GC,10929,1.00,116.8,3262,1694,2468,2117,902.5,10.4,551,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1694,2292,2468,2116,0,0,0,0,0,0,14.83,14.85,14.87
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$STATE,21759,end climb,SURFACE_DEPTH_REACHED
$STATE,21759,begin surface coast
$FINISH,0.1,1.021542
$STATE,21766,end surface coast,CONTROL_FINISHED_OK
$STATE,21766,begin surface
$SM_CCo,21793,120.50,0.124,0,0,691,515.13
$SM_GC,1.02,9.43,0.05,120.50,0.051,0.190,0.124,156,1776,691,-8.61,-2.57,515.13,0,0,0,0,0,0,14.47,14.60,14.31
$IRIDIUM_FIX,945.12,-12453.06,221216,140808
$TT8_MAMPS,0.039697,0.267393
$HUMID,59.84
$INTERNAL_PRESSURE,9.09673
$TCM_TEMP,24.20
$XPDR_PINGS,3
$SC_FREEKB,7608224
$PM_FREEKB,55297280
$TM_FREEKB,4258048
$24V_AH,12.73,157.672
$10V_AH,12.37,0.000
$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,27.225,208.375,426.250,120.500,0.000,0.000,0.000,470.075,0.750,0.000,20.561,0.000,17578.893,816.473,3722.421,719.622,0.000,2933.793,0.000,1836.964,0.000,0.549,0.000
$DEVICE_MAMPS,370.260,2020.365,2229.975,123.930,0.000,0.000,0.000,175.950,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21828.000,21772.000,3306.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.711,2.138,16.586,0.000
$MEM,311956
$DATA_FILE_SIZE,39995,1057
$CAP_FILE_SIZE,181906,0
$CFSIZE,260034560,193421312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,43.63,1
$GPS,231216,032705,947.791,-12445.637,29,0.8,30,9.2,1.0,48.2,10,9.6