version: 66.13
glider: 190
mission: 9
dive: 561
start: 2 6 117 11 42 56
data:
$ID,190
$MISSION,9
$DIVE,561
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,50
$D_BOOST,120
$T_BOOST,5
$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,450
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,53220
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040899999
$HD_B,0.0102
$HD_C,4.5000002e-06
$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,500
$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,225
$PITCH_MAX,3920
$C_PITCH,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.1
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2740
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,-163.98293
$PRESSURE_SLOPE,0.00010649362
$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,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,134
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043932092
$SEABIRD_T_H,0.00063312391
$SEABIRD_T_I,2.6030159e-05
$SEABIRD_T_J,3.2258831e-06
$SEABIRD_C_G,-9.8128548
$SEABIRD_C_H,1.1245126
$SEABIRD_C_I,-0.00070758193
$SEABIRD_C_J,0.00013654788
$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,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,060217,113032,1058.2358,-12500.4238,40,0.9,40,9.3,0.8,284.7,10,8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-55.8
$GPS2,060217,114234,1058.2834,-12500.5469,18,1.0,18,9.3,0.0,0.0,8,9.2
$SPEED_LIMITS,0.127,0.213
$TGT_NAME,N
$TGT_LATLONG,1100.000,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,24.4,3331,-27.2,-7.333,-29.61,862
$D_GRID,990
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,8,-1.07,-41.1,195,2306,729,674,0.0,0.0,0,95,0.00,0.00,-85.68,0.000,16386,0.000,0.000,193,2306,2800,2822,2778,0,0,0,0,0,0,14.68,28.83,14.70
$GC,99,-1.07,-41.1,193,2306,2825,2779,3.0,-3.7,3,114,8.55,0.00,-2.22,0.000,18950,0.407,0.000,1845,2306,2909,2964,2854,0,0,0,0,0,0,13.79,12.95,14.28
$GC,431,-0.94,-41.1,1845,2306,2973,2853,73.7,-10.3,18,436,0.20,2.42,0.00,0.000,2436,0.353,0.068,1877,3688,2912,2972,2853,0,0,0,0,0,0,13.64,14.07,13.88
$GC,668,-0.86,-41.1,1877,3689,2975,2853,98.8,-9.9,52,673,0.15,2.40,0.00,0.000,3206,0.295,0.039,1913,2244,2914,2975,2853,0,0,0,0,0,0,13.78,14.39,14.12
$GC,1019,-0.86,-41.1,1913,2244,2977,2853,127.8,-8.6,60,1024,0.00,2.58,0.00,0.000,260,0.000,0.070,1903,3686,2914,2976,2853,0,0,0,0,0,0,14.97,14.26,14.98
$GC,1255,-0.86,-41.1,1903,3686,2977,2853,152.6,-10.8,94,1261,0.00,2.40,0.00,0.000,1030,0.000,0.041,1903,2294,2914,2976,2852,0,0,0,0,0,0,14.38,14.34,14.50
$GC,1579,-0.86,-41.1,1904,2294,2976,2852,188.0,-11.1,105,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,2294,2914,2976,2852,0,0,0,0,0,0,14.99,15.00,15.00
$GC,1916,-0.86,-41.1,1904,2294,2977,2848,230.0,-12.5,111,1921,0.00,2.50,0.00,0.000,516,0.000,0.054,1903,876,2911,2975,2847,0,0,0,0,0,0,14.98,14.31,15.00
$GC,2083,-0.86,-41.1,1903,877,2977,2846,250.8,-12.3,135,2088,0.00,2.47,0.00,0.000,1030,0.000,0.054,1894,2265,2910,2976,2845,0,0,0,0,0,0,14.42,14.31,14.47
$GC,2420,-0.86,-41.1,1894,2266,2977,2843,292.5,-12.3,148,2425,0.00,2.45,0.00,0.000,516,0.000,0.051,1894,883,2909,2976,2843,0,0,0,0,0,0,14.97,14.31,15.00
$GC,2476,-0.86,-41.1,1894,884,2977,2843,299.6,-12.6,156,2481,0.15,2.50,0.00,0.000,3078,0.308,0.056,1915,2280,2908,2975,2842,0,0,0,0,0,0,13.75,14.30,14.09
$GC,2811,-0.86,-41.1,1916,2281,2976,2838,336.6,-10.8,169,2817,0.00,2.50,0.00,0.000,260,0.000,0.073,1906,3698,2906,2975,2837,0,0,0,0,0,0,14.99,14.22,15.00
$GC,2888,-0.86,-41.1,1906,3698,2976,2837,345.2,-11.4,180,2892,0.00,2.40,0.00,0.000,1030,0.000,0.039,1905,2267,2906,2975,2837,0,0,0,0,0,0,14.50,14.42,14.52
$GC,3203,-0.86,-41.1,1906,2267,2976,2835,377.8,-10.2,190,3208,0.00,2.42,0.00,0.000,516,0.000,0.054,1906,885,2904,2975,2834,0,0,0,0,0,0,14.99,14.28,15.01
$GC,3259,-0.86,-41.1,1906,886,2976,2834,383.2,-9.5,198,3264,0.00,2.50,0.00,0.000,1030,0.000,0.057,1903,2276,2904,2975,2833,0,0,0,0,0,0,14.38,14.26,14.43
$GC,3596,-0.86,-41.1,1903,2277,2976,2829,415.5,-9.7,211,3601,0.00,2.45,0.00,0.000,516,0.000,0.050,1903,891,2902,2975,2829,0,0,0,0,0,0,14.97,14.28,15.00
$GC,3621,-0.86,-41.1,1903,891,2976,2829,418.2,-9.8,215,3627,0.00,2.50,0.00,0.000,1030,0.000,0.056,1902,2284,2901,2975,2828,0,0,0,0,0,0,14.34,14.20,14.40
$GC,3987,-0.86,-41.1,1902,2284,2975,2826,456.0,-10.7,225,3992,0.00,2.53,0.00,0.000,260,0.000,0.077,1892,3701,2900,2975,2826,0,0,0,0,0,0,14.99,14.17,15.00
$GC,4071,-0.86,-41.1,1892,3701,2975,2825,465.9,-11.9,237,4076,0.12,2.40,0.00,0.000,3078,0.276,0.041,1916,2270,2900,2975,2825,0,0,0,0,0,0,13.86,14.40,14.13
$GC,4435,-0.86,-41.1,1917,2271,2975,2821,507.0,-11.3,247,4440,0.00,2.42,0.00,0.000,516,0.000,0.055,1916,900,2898,2975,2821,0,0,0,0,0,0,14.99,14.23,15.00
$GC,4531,-0.86,-41.1,1917,901,2975,2821,518.2,-11.5,261,4538,0.00,2.47,0.00,0.000,1030,0.000,0.057,1909,2276,2897,2974,2820,0,0,0,0,0,0,14.31,14.16,14.36
$GC,4884,-0.86,-41.1,1909,2276,2976,2817,557.1,-11.0,269,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,2276,2895,2974,2817,0,0,0,0,0,0,14.97,14.99,14.99
$GC,5219,-0.86,-41.1,1909,2276,2972,2816,590.0,-9.5,275,5224,0.00,2.55,0.00,0.000,260,0.000,0.079,1899,3692,2893,2971,2816,0,0,0,0,0,0,14.98,14.12,15.00
$GC,5275,-0.86,-41.1,1900,3692,2971,2816,595.6,-10.1,283,5280,0.00,2.42,0.00,0.000,1030,0.000,0.043,1899,2276,2893,2970,2816,0,0,0,0,0,0,14.42,14.35,14.45
$GC,5612,-0.86,-41.1,1900,2278,2971,2814,628.4,-9.8,296,5618,0.00,2.45,0.00,0.000,516,0.000,0.055,1899,887,2892,2970,2814,0,0,0,0,0,0,14.97,14.10,14.99
$GC,5673,-0.86,-41.1,1899,888,2970,2814,635.1,-10.5,305,5680,0.12,2.53,0.00,0.000,3078,0.317,0.057,1913,2282,2891,2969,2813,0,0,0,0,0,0,13.66,14.12,13.97
$GC,6004,-0.86,-41.1,1914,2282,2970,2812,668.5,-10.2,317,6009,0.00,2.55,0.00,0.000,260,0.000,0.080,1904,3693,2890,2969,2811,0,0,0,0,0,0,14.98,14.06,15.00
$GC,6032,-0.86,-41.1,1904,3694,2968,2811,671.6,-11.2,321,6038,0.00,2.42,0.00,0.000,1030,0.000,0.044,1904,2275,2889,2967,2811,0,0,0,0,0,0,14.40,14.33,14.43
$GC,6396,-0.86,-41.1,1903,2266,2968,2809,711.6,-10.9,331,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,2266,2887,2966,2809,0,0,0,0,0,0,14.97,15.00,15.00
$GC,6732,-0.86,-41.1,1905,2266,2966,2807,745.7,-9.9,337,6738,0.00,2.47,0.00,0.000,516,0.000,0.056,1904,890,2885,2964,2807,0,0,0,0,0,0,14.97,14.13,14.99
$GC,6780,-0.86,-41.1,1904,891,2965,2807,750.5,-9.8,344,6788,0.00,2.58,0.00,0.000,1030,0.000,0.059,1897,2272,2885,2964,2807,0,0,0,0,0,0,14.05,13.98,14.11
$GC,7125,-0.86,-41.1,1897,2273,2965,2806,783.1,-9.3,351,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,2272,2885,2964,2806,0,0,0,0,0,0,14.96,14.98,14.97
$GC,7460,-0.86,-41.1,1897,2272,2963,2806,814.2,-9.3,357,7466,0.00,2.62,0.00,0.000,260,0.000,0.086,1890,3699,2883,2962,2805,0,0,0,0,0,0,14.97,13.96,15.00
$GC,7516,-0.86,-41.1,1890,3699,2963,2806,820.2,-10.1,365,7522,0.12,2.47,0.00,0.000,3078,0.277,0.046,1915,2277,2883,2962,2805,0,0,0,0,0,0,13.71,14.27,13.97
$GC,7854,-0.91,-41.1,1915,2277,2962,2805,850.2,-9.1,378,7859,0.00,2.50,0.00,0.000,644,0.000,0.059,1915,884,2882,2961,2804,0,0,0,0,0,0,14.95,14.07,14.97
$GC,7900,-0.96,-41.1,1915,885,2962,2804,855.4,-9.2,385,7909,0.00,2.60,0.00,0.000,1158,0.000,0.060,1906,2271,2882,2960,2804,0,0,0,0,0,0,14.00,13.93,14.02
$GC,8245,-0.96,-41.1,1906,2271,2962,2803,886.5,-9.4,392,8250,0.00,2.65,0.00,0.000,260,0.000,0.089,1902,3701,2882,2961,2803,0,0,0,0,0,0,14.96,13.93,14.98
$GC,8272,-0.96,-41.1,1902,3702,2961,2803,890.0,-12.9,396,8277,0.00,2.47,0.00,0.000,1030,0.000,0.046,1901,2266,2881,2959,2803,0,0,0,0,0,0,14.31,14.23,14.35
$GC,8637,-0.96,-41.1,1902,2257,2960,2802,924.0,-9.5,406,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2258,2880,2959,2802,0,0,0,0,0,0,14.96,14.98,14.97
$GC,8973,-0.96,-41.1,1902,2257,2961,2801,955.3,-9.3,412,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2257,2879,2959,2800,0,0,0,0,0,0,14.95,14.97,14.97
$GC,9310,-0.96,-41.1,1901,2258,2959,2800,986.6,-9.4,418,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2257,2878,2957,2800,0,0,0,0,0,0,14.95,14.97,15.00
$STATE,9361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9361,begin apogee
$GC,9370,-0.19,0.0,1902,2188,2958,2800,991.9,-9.4,419,9422,0.93,0.00,49.83,1.957,10244,0.259,0.000,2128,2188,2739,2832,2646,0,0,0,0,0,0,13.56,14.10,13.07
$STATE,9422,end apogee,CONTROL_FINISHED_OK
$STATE,9422,begin climb
$GC,9426,1.07,41.1,2128,2188,2828,2640,994.8,0.0,420,9490,1.35,2.67,57.33,1.985,10500,0.137,0.090,2540,3609,2570,2664,2477,0,0,0,0,0,0,14.10,14.15,12.84
$GC,9536,0.96,56.9,2540,3609,2650,2468,989.9,5.4,435,9563,0.15,2.53,20.30,2.013,13478,0.356,0.058,2517,2220,2503,2603,2404,0,0,0,0,0,0,13.75,14.17,12.93
$GC,9896,0.91,56.9,2518,2220,2593,2393,962.3,8.3,449,9901,0.00,2.62,0.00,0.000,644,0.000,0.073,2528,790,2492,2591,2393,0,0,0,0,0,0,14.73,14.23,14.75
$GC,10005,0.91,56.9,2528,790,2591,2392,952.4,8.3,464,10023,0.12,2.60,0.00,0.000,5126,0.323,0.063,2500,2192,2490,2590,2391,0,0,0,0,0,0,13.69,14.19,13.93
$GC,10348,0.91,56.9,2500,2192,2591,2391,925.4,7.9,471,10354,0.00,2.62,0.00,0.000,260,0.000,0.090,2500,3618,2490,2590,2391,0,0,0,0,0,0,14.90,14.16,14.92
$GC,10452,0.84,56.9,2500,3618,2590,2391,916.6,8.3,485,10458,0.17,2.50,0.00,0.000,5254,0.357,0.059,2478,2191,2489,2588,2391,0,0,0,0,0,0,13.61,14.31,14.10
$GC,10802,0.85,58.6,2476,2192,2589,2389,891.7,7.1,493,10808,0.00,2.55,0.00,0.000,548,0.000,0.070,2488,794,2488,2588,2389,0,0,0,0,0,0,14.94,14.16,14.95
$GC,10869,0.85,58.6,2488,795,2587,2389,886.8,9.2,502,10874,0.00,2.55,0.00,0.000,1030,0.000,0.060,2488,2205,2487,2586,2389,0,0,0,0,0,0,14.35,14.23,14.42
$GC,11201,0.85,61.2,2488,2205,2587,2389,863.6,7.0,514,11206,0.00,2.58,0.00,0.000,548,0.000,0.066,2498,800,2487,2586,2389,0,0,0,0,0,0,14.93,14.16,14.95
$GC,11247,0.85,66.5,2498,800,2586,2389,860.9,6.7,521,11257,0.00,2.60,3.47,1.289,9254,0.000,0.060,2497,2203,2469,2569,2369,0,0,0,0,0,0,14.16,14.10,13.13
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$STATE,22369,end climb,SURFACE_DEPTH_REACHED
$STATE,22369,begin surface coast
$FINISH,0.0,1.022100
$STATE,22397,end surface coast,CONTROL_FINISHED_OK
$STATE,22397,begin surface
$SM_CCo,22419,138.07,0.135,0,0,701,500.17
$SM_GC,0.82,7.12,0.20,138.07,0.064,0.097,0.135,222,2300,701,-6.13,-0.88,500.17,0,0,0,0,0,0,14.14,14.36,14.18
$IRIDIUM_FIX,1053.08,-12458.80,060217,113354
$TT8_MAMPS,0.038199,0.262899
$HUMID,56.81
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,19.40
$XPDR_PINGS,32
$24V_AH,12.84,219.096
$10V_AH,12.33,0.000
$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
$DEVICE_SECS,20.450,228.100,313.325,138.075,0.000,0.000,0.000,467.575,8.000,0.000,19.056,0.000,18639.221,747.914,3191.813,651.990,0.000,2177.596,0.000,2263.993,0.000,0.539,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,1248.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,25.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334448
$DATA_FILE_SIZE,46673,1090
$CAP_FILE_SIZE,171909,13
$CFSIZE,260034560,185552896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040,218.09,1
$GPS,060217,180003,1059.208,-12459.983,36,0.7,36,9.3,0.0,0.0,11,8.6