version: 66.13
glider: 191
mission: 8
dive: 272
start: 11 10 116 13 43 16
data:
$ID,191
$MISSION,8
$DIVE,272
$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,41
$R_STBD_OVSHOOT,95
$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
$GPS1,101116,132821,1006.5205,-12446.3389,40,0.8,40,9.2,0.0,0.0,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.5
$GPS2,101116,134255,1006.5109,-12446.1074,16,0.8,19,9.2,0.6,66.6,11,9.7
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,NE
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,334.7,12948,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.84,-116.8,160,1766,885,527,0.0,0.0,0,109,0.00,0.00,-80.97,0.000,16390,0.000,0.000,159,1767,3272,3321,3224,0,0,0,0,0,0,14.70,13.10,14.71
$GC,113,-0.84,-116.8,160,1767,3317,3225,8.2,-12.3,3,131,11.70,2.30,0.00,0.000,2564,0.373,0.045,2658,424,3274,3324,3225,0,0,0,0,0,0,14.23,14.54,14.54
$GC,235,-0.34,-116.8,2661,424,3326,3226,50.2,-25.4,21,243,0.62,2.25,0.00,0.000,3206,0.242,0.034,2813,1789,3275,3326,3225,0,0,0,0,0,0,14.24,14.54,14.50
$GC,558,-0.34,-116.8,2813,1788,3334,3220,80.3,-7.7,34,564,0.00,2.40,0.00,0.000,292,0.000,0.051,2804,3223,3276,3334,3219,0,0,0,0,0,0,14.83,14.52,14.84
$GC,795,-0.44,-116.8,2811,3224,3342,3219,96.6,-7.3,68,801,0.00,2.30,0.00,0.000,1190,0.000,0.035,2804,1829,3274,3330,3219,0,0,0,0,0,0,14.68,14.62,14.70
$GC,1146,-0.44,-116.8,2804,1828,3335,3219,120.2,-6.8,77,1153,0.00,2.35,0.00,0.000,292,0.000,0.051,2795,3225,3277,3335,3219,0,0,0,0,0,0,14.87,14.59,14.90
$GC,1265,-0.56,-116.8,2796,3225,3335,3220,127.9,-6.2,94,1272,0.15,2.30,0.00,0.000,5286,0.107,0.035,2727,1824,3275,3334,3216,0,0,0,0,0,0,14.63,14.65,14.71
$GC,1594,-0.56,-116.8,2727,1823,3334,3215,159.8,-10.2,106,1600,0.00,2.38,0.00,0.000,516,0.000,0.057,2727,431,3274,3334,3214,0,0,0,0,0,0,14.88,14.60,14.89
$GC,1719,-0.56,-116.8,2728,431,3334,3214,173.5,-10.5,124,1725,0.00,2.30,0.00,0.000,1030,0.000,0.031,2717,1836,3273,3334,3213,0,0,0,0,0,0,14.71,14.66,14.73
$GC,2043,-0.56,-116.8,2718,1837,3334,3208,207.9,-10.8,135,2050,0.12,2.35,0.00,0.000,2308,0.264,0.051,2740,3223,3270,3334,3207,0,0,0,0,0,0,14.33,14.57,14.47
$GC,2111,-0.56,-116.8,2745,3224,3334,3207,215.0,-9.9,145,2119,0.00,2.35,0.00,0.000,1030,0.000,0.037,2740,1806,3270,3334,3207,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2435,-0.56,-116.8,2740,1806,3336,3203,246.3,-9.6,156,2441,0.00,2.38,0.00,0.000,516,0.000,0.059,2740,423,3268,3334,3202,0,0,0,0,0,0,14.88,14.59,14.90
$GC,2566,-0.56,-116.8,2740,424,3335,3199,260.0,-10.3,175,2580,0.00,2.33,0.00,0.000,1030,0.000,0.032,2731,1838,3266,3334,3199,0,0,0,0,0,0,14.76,14.71,14.78
$GC,2887,-0.56,-116.8,2733,1838,3334,3195,290.9,-9.7,185,2901,0.00,2.33,0.00,0.000,260,0.000,0.054,2721,3222,3264,3334,3194,0,0,0,0,0,0,14.95,14.65,14.96
$GC,2928,-0.56,-116.8,2718,3222,3334,3195,294.9,-9.9,190,2942,0.00,2.30,0.00,0.000,1030,0.000,0.037,2722,1825,3264,3334,3194,0,0,0,0,0,0,14.76,14.70,14.79
$GC,3291,-0.56,-116.8,2722,1826,3335,3189,329.8,-9.4,199,3305,0.00,2.40,0.00,0.000,516,0.000,0.059,2721,424,3261,3334,3188,0,0,0,0,0,0,14.97,14.64,14.99
$GC,3410,-0.56,-116.8,2721,425,3335,3186,341.5,-10.0,215,3424,0.15,2.30,0.00,0.000,3078,0.244,0.032,2745,1831,3260,3334,3186,0,0,0,0,0,0,14.40,14.73,14.64
$GC,3753,-0.56,-116.8,2745,1831,3333,3183,369.5,-8.1,228,3766,0.00,2.35,0.00,0.000,260,0.000,0.057,2737,3222,3257,3333,3182,0,0,0,0,0,0,14.96,14.66,14.98
$GC,3821,-0.56,-116.8,2737,3223,3335,3180,375.4,-8.7,237,3834,0.00,2.30,0.00,0.000,1030,0.000,0.038,2737,1832,3257,3334,3181,0,0,0,0,0,0,14.76,14.69,14.79
$GC,4157,-0.56,-116.8,2737,1831,3334,3178,406.0,-9.3,249,4170,0.00,2.42,0.00,0.000,516,0.000,0.060,2737,422,3255,3334,3176,0,0,0,0,0,0,14.97,14.63,14.99
$GC,4289,-0.56,-116.8,2737,422,3334,3183,419.2,-9.8,267,4302,0.00,2.33,0.00,0.000,1030,0.000,0.034,2728,1836,3255,3334,3176,0,0,0,0,0,0,14.78,14.73,14.81
$GC,4617,-0.56,-116.8,2728,1836,3334,3172,450.1,-9.3,278,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1836,3252,3334,3171,0,0,0,0,0,0,14.95,14.98,14.97
$GC,4953,-0.56,-116.8,2728,1836,3333,3169,480.3,-8.9,284,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1836,3251,3334,3168,0,0,0,0,0,0,14.98,14.98,14.97
$GC,5289,-0.56,-116.8,2728,1836,3334,3165,510.4,-9.0,290,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1836,3249,3334,3165,0,0,0,0,0,0,14.96,14.98,14.98
$GC,5626,-0.56,-116.8,2729,1837,3334,3162,539.8,-8.7,296,5639,0.00,2.45,0.00,0.000,516,0.000,0.059,2728,429,3247,3333,3161,0,0,0,0,0,0,14.95,14.62,14.97
$GC,5688,-0.56,-116.8,2728,424,3334,3162,545.7,-9.4,304,5701,0.00,2.33,0.00,0.000,1030,0.000,0.034,2719,1829,3247,3334,3161,0,0,0,0,0,0,14.76,14.70,14.78
$GC,6030,-0.56,-116.8,2719,1832,3334,3162,577.3,-9.3,317,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1829,3249,3341,3157,0,0,0,0,0,0,14.97,15.00,14.99
$GC,6368,-0.56,-116.8,2719,1830,3334,3155,607.8,-9.0,323,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1829,3244,3334,3155,0,0,0,0,0,0,14.96,14.98,14.98
$GC,6702,-0.56,-116.8,2719,1830,3334,3153,635.7,-8.2,329,6716,0.00,2.45,0.00,0.000,516,0.000,0.060,2719,431,3243,3333,3153,0,0,0,0,0,0,14.97,14.58,14.99
$GC,6765,-0.56,-116.8,2719,431,3334,3154,641.0,-8.4,337,6779,0.17,2.35,0.00,0.000,3078,0.239,0.037,2749,1832,3243,3334,3152,0,0,0,0,0,0,14.32,14.69,14.57
$GC,7109,-0.56,-116.8,2750,1833,3334,3149,664.5,-6.9,350,7122,0.00,2.40,0.00,0.000,292,0.000,0.057,2741,3228,3241,3334,3149,0,0,0,0,0,0,14.93,14.59,14.95
$GC,7212,-0.56,-116.8,2742,3230,3335,3148,672.2,-7.8,364,7225,0.00,2.33,0.00,0.000,1062,0.000,0.037,2742,1827,3240,3333,3148,0,0,0,0,0,0,14.72,14.65,14.75
$GC,7569,-0.56,-116.8,2742,1826,3334,3147,700.0,-7.9,372,7582,0.00,2.42,0.00,0.000,516,0.000,0.060,2741,428,3239,3334,3145,0,0,0,0,0,0,14.92,14.56,14.95
$GC,7746,-0.56,-116.8,2742,429,3334,3144,715.5,-8.9,396,7759,0.00,2.35,0.00,0.000,1030,0.000,0.034,2732,1836,3238,3334,3143,0,0,0,0,0,0,14.72,14.66,14.74
$GC,8089,-0.56,-116.8,2733,1836,3334,3142,744.8,-8.5,409,8102,0.00,2.38,0.00,0.000,260,0.000,0.057,2723,3220,3237,3334,3141,0,0,0,0,0,0,14.91,14.56,14.92
$GC,8136,-0.56,-116.8,2723,3220,3335,3141,749.0,-8.7,415,8149,0.00,2.33,0.00,0.000,1030,0.000,0.039,2720,1832,3237,3333,3141,0,0,0,0,0,0,14.71,14.64,14.73
$GC,8492,-0.56,-116.8,2723,1831,3334,3140,780.2,-8.8,423,8505,0.00,2.45,0.00,0.000,516,0.000,0.062,2722,427,3236,3333,3140,0,0,0,0,0,0,14.95,14.53,14.97
$GC,8596,-0.56,-116.8,2723,426,3334,3139,789.9,-9.1,437,8610,0.12,2.35,0.00,0.000,3078,0.256,0.034,2741,1830,3235,3333,3138,0,0,0,0,0,0,14.29,14.64,14.53
$GC,8953,-0.56,-116.8,2742,1830,3334,3136,818.0,-7.8,445,8966,0.00,2.40,0.00,0.000,292,0.000,0.059,2733,3225,3234,3333,3135,0,0,0,0,0,0,14.93,14.53,14.95
$GC,9021,-0.56,-116.8,2733,3226,3335,3135,823.5,-8.0,454,9035,0.00,2.33,0.00,0.000,1030,0.000,0.039,2733,1831,3233,3333,3134,0,0,0,0,0,0,14.68,14.61,14.71
$GC,9357,-0.56,-116.8,2734,1831,3334,3132,850.1,-7.9,466,9370,0.00,2.45,0.00,0.000,516,0.000,0.062,2733,427,3233,3334,3133,0,0,0,0,0,0,14.91,14.53,14.93
$GC,9446,-0.56,-116.8,2734,427,3334,3133,857.4,-6.6,478,9459,0.00,2.35,0.00,0.000,1062,0.000,0.035,2725,1830,3232,3333,3132,0,0,0,0,0,0,14.69,14.63,14.71
$GC,9817,-0.56,-116.8,2725,1830,3334,3132,888.6,-8.6,488,9830,0.00,2.40,0.00,0.000,260,0.000,0.059,2719,3218,3230,3334,3126,0,0,0,0,0,0,14.90,14.51,14.92
$GC,9899,-0.56,-116.8,2715,3217,3334,3131,896.0,-8.7,499,9913,0.12,2.33,0.00,0.000,3078,0.241,0.041,2740,1831,3231,3333,3130,0,0,0,0,0,0,14.28,14.58,14.52
$GC,10221,-0.56,-116.8,2740,1831,3334,3129,921.6,-7.9,509,10235,0.00,2.45,0.00,0.000,516,0.000,0.063,2740,431,3231,3334,3129,0,0,0,0,0,0,14.90,14.51,14.92
$GC,10353,-0.56,-116.8,2741,431,3334,3129,932.9,-8.5,527,10366,0.00,2.35,0.00,0.000,1030,0.000,0.035,2733,1835,3231,3333,3129,0,0,0,0,0,0,14.67,14.61,14.69
$GC,10682,-0.56,-116.8,2734,1836,3334,3127,959.1,-8.0,538,10695,0.00,2.40,0.00,0.000,260,0.000,0.059,2723,3227,3230,3333,3127,0,0,0,0,0,0,14.89,14.50,14.91
$GC,10729,-0.56,-116.8,2724,3228,3335,3127,963.0,-6.8,544,10742,0.00,2.35,0.00,0.000,1062,0.000,0.039,2724,1827,3230,3334,3127,0,0,0,0,0,0,14.66,14.58,14.69
$STATE,11082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11082,begin apogee
$GC,11090,-0.21,0.0,2724,1705,3334,3127,990.9,-7.8,552,11220,0.52,0.00,120.40,2.216,10246,0.217,0.000,2860,1704,2792,2919,2666,0,0,0,0,0,0,14.23,13.99,13.16
$STATE,11222,end apogee,CONTROL_FINISHED_OK
$STATE,11222,begin climb
$GC,11226,0.84,116.8,2861,1705,2915,2655,995.7,0.0,554,11373,1.15,2.65,124.60,2.189,10500,0.155,0.051,3195,3124,2304,2477,2132,0,0,0,0,0,0,13.97,13.73,12.94
$GC,11463,0.74,116.8,3194,3124,2476,2120,980.0,9.6,591,11477,0.15,2.40,0.00,0.000,5254,0.278,0.041,3175,1755,2300,2483,2118,0,0,0,0,0,0,13.86,14.11,14.12
$GC,11827,0.74,116.8,3176,1755,2476,2114,949.7,8.5,600,11840,0.00,2.55,0.00,0.000,516,0.000,0.065,3180,329,2294,2476,2113,0,0,0,0,0,0,14.69,14.39,14.71
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$STATE,23660,end climb,SURFACE_DEPTH_REACHED
$STATE,23660,begin surface coast
$FINISH,0.1,1.008778
$STATE,23688,end surface coast,CONTROL_FINISHED_OK
$STATE,23691,begin surface
$SM_CCo,23718,47.72,0.123,0,0,693,515.13
$SM_GC,1.25,9.43,0.00,47.72,0.064,0.000,0.123,157,1746,693,-8.61,-2.40,515.13,0,0,0,0,0,0,14.55,14.85,14.43
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$TT8_MAMPS,0.038199,0.201481
$HUMID,58.03
$INTERNAL_PRESSURE,9.12603
$TCM_TEMP,25.40
$XPDR_PINGS,2
$SC_FREEKB,7663904
$PM_FREEKB,57111808
$TM_FREEKB,5490656
$24V_AH,12.94,104.588
$10V_AH,12.75,0.000
$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
$DEVICE_SECS,25.850,232.025,548.625,47.725,0.000,0.000,0.000,429.100,0.500,0.000,20.565,0.000,19021.850,853.568,4030.944,708.644,0.000,3140.205,0.000,2064.814,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.575,2.087,16.160,0.000
$MEM,311964
$DATA_FILE_SIZE,43244,1205
$CAP_FILE_SIZE,202862,0
$CFSIZE,260034560,215171072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,59.92,1
$GPS,101116,202034,1009.100,-12446.453,29,0.8,30,9.2,0.6,163.2,11,8.0