version: 66.13
glider: 191
mission: 8
dive: 371
start: 12 9 116 10 34 50
data:
$ID,191
$MISSION,8
$DIVE,371
$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,38
$R_STBD_OVSHOOT,90
$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
$GPS1,091216,101853,947.7746,-12448.0039,37,0.8,39,9.2,0.4,159.6,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.5
$GPS2,091216,103427,947.8926,-12447.9443,24,0.7,24,9.2,0.7,159.1,11,4.2
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SE
$TGT_LATLONG,946.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,130.6,3971,-24.8,-7.857,-27.86,946
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.10,-51.2,136,1833,893,521,0.0,0.0,0,117,0.00,0.00,-77.82,0.000,16390,0.000,0.000,136,1834,3002,3018,2986,0,0,0,0,0,0,14.69,12.79,14.71
$GC,121,-1.10,-51.2,137,1835,3020,2986,5.9,-8.1,3,138,11.52,2.45,0.00,0.000,2564,0.371,0.050,2576,424,3004,3022,2987,0,0,0,0,0,0,14.14,14.47,14.47
$GC,160,-0.27,-51.2,2575,426,3024,2987,24.6,-43.8,9,168,1.17,2.25,0.00,0.000,3206,0.318,0.033,2833,1790,3005,3023,2987,0,0,0,0,0,0,14.10,14.52,14.42
$GC,483,-0.52,-51.2,2834,1790,3030,2983,61.3,-8.2,22,489,0.20,2.42,0.00,0.000,4484,0.103,0.048,2739,3229,3006,3030,2982,0,0,0,0,0,0,14.51,14.50,14.55
$GC,560,-0.64,-51.2,2739,3229,3030,2983,67.0,-8.0,33,569,0.00,2.33,0.00,0.000,1158,0.000,0.036,2739,1822,3006,3030,2982,0,0,0,0,0,0,14.62,14.54,14.64
$GC,875,-0.78,-51.2,2739,1822,3030,2983,90.4,-8.1,45,882,0.17,2.40,0.00,0.000,4740,0.110,0.055,2664,422,3009,3030,2989,0,0,0,0,0,0,14.52,14.52,14.57
$GC,1106,-0.78,-51.2,2665,422,3030,2984,111.8,-8.6,78,1113,0.00,2.33,0.00,0.000,1030,0.000,0.031,2655,1845,3006,3030,2983,0,0,0,0,0,0,14.68,14.63,14.70
$GC,1435,-0.78,-51.2,2658,1845,3030,2983,139.9,-8.6,90,1442,0.00,2.30,0.00,0.000,260,0.000,0.050,2645,3219,3005,3029,2982,0,0,0,0,0,0,14.86,14.59,14.88
$GC,1525,-0.78,-51.2,2645,3219,3031,2982,147.9,-8.8,103,1532,0.12,2.30,0.00,0.000,3078,0.274,0.037,2669,1827,3005,3030,2981,0,0,0,0,0,0,14.23,14.58,14.50
$GC,1884,-0.78,-51.2,2669,1827,3030,2976,180.7,-9.3,112,1890,0.00,2.40,0.00,0.000,516,0.000,0.057,2669,431,3003,3029,2977,0,0,0,0,0,0,14.86,14.52,14.90
$GC,2043,-0.78,-51.2,2670,431,3029,2976,197.5,-10.5,135,2051,0.00,2.33,0.00,0.000,1030,0.000,0.031,2663,1831,3001,3029,2974,0,0,0,0,0,0,14.66,14.60,14.68
$GC,2388,-0.78,-51.2,2663,1833,3029,2969,232.5,-10.3,142,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1831,2999,3030,2968,0,0,0,0,0,0,14.86,14.88,14.88
$GC,2723,-0.78,-51.2,2663,1833,3031,2962,266.0,-9.9,148,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1831,2996,3029,2964,0,0,0,0,0,0,14.92,14.94,14.92
$GC,3060,-0.78,-51.2,2662,1832,3031,2959,297.7,-9.4,154,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1831,2993,3026,2960,0,0,0,0,0,0,14.93,14.96,14.95
$GC,3395,-0.78,-51.2,2663,1831,3030,2954,329.4,-9.5,160,3409,0.00,2.45,0.00,0.000,516,0.000,0.058,2662,426,2992,3029,2955,0,0,0,0,0,0,14.95,14.57,14.97
$GC,3465,-0.78,-51.2,2663,425,3030,2954,336.7,-10.5,169,3478,0.00,2.33,0.00,0.000,1030,0.000,0.034,2653,1835,2991,3029,2953,0,0,0,0,0,0,14.75,14.69,14.77
$GC,3800,-0.78,-51.2,2653,1835,3030,2950,369.9,-9.9,181,3813,0.00,2.35,0.00,0.000,260,0.000,0.054,2643,3225,2989,3029,2949,0,0,0,0,0,0,14.95,14.59,14.97
$GC,3863,-0.78,-51.2,2647,3225,3030,2950,376.3,-10.5,189,3877,0.15,2.33,0.00,0.000,3078,0.267,0.038,2672,1822,2988,3029,2948,0,0,0,0,0,0,14.21,14.63,14.50
$GC,4206,-0.88,-51.2,2672,1823,3030,2944,408.7,-9.3,202,4219,0.00,2.40,0.00,0.000,644,0.000,0.060,2673,431,2986,3029,2944,0,0,0,0,0,0,14.94,14.56,14.96
$GC,4393,-0.88,-51.2,2673,431,3030,2943,426.0,-9.0,228,4406,0.00,2.35,0.00,0.000,1030,0.000,0.032,2666,1844,2986,3030,2943,0,0,0,0,0,0,14.72,14.66,14.74
$GC,4721,-0.88,-51.2,2666,1844,3029,2941,454.7,-8.7,239,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1844,2984,3029,2940,0,0,0,0,0,0,14.95,14.97,14.97
$GC,5057,-0.88,-51.2,2666,1843,3030,2938,483.9,-8.7,245,5071,0.00,2.45,0.00,0.000,516,0.000,0.057,2666,431,2983,3029,2937,0,0,0,0,0,0,14.94,14.54,14.96
$GC,5190,-0.88,-51.2,2666,432,3031,2935,496.3,-9.6,263,5203,0.00,2.33,0.00,0.000,1030,0.000,0.034,2657,1830,2982,3029,2935,0,0,0,0,0,0,14.70,14.64,14.72
$GC,5518,-0.88,-51.2,2657,1836,3030,2933,525.9,-9.0,274,5532,0.00,2.38,0.00,0.000,260,0.000,0.054,2646,3225,2981,3029,2933,0,0,0,0,0,0,14.95,14.54,14.97
$GC,5595,-0.88,-51.2,2647,3225,3030,2934,532.7,-8.9,284,5608,0.00,2.33,0.00,0.000,1030,0.000,0.040,2646,1831,2980,3029,2932,0,0,0,0,0,0,14.66,14.59,14.69
$GC,5923,-0.88,-51.2,2647,1830,3030,2928,562.2,-9.0,295,5936,0.00,2.42,0.00,0.000,516,0.000,0.061,2646,432,2979,3029,2929,0,0,0,0,0,0,14.93,14.52,14.95
$GC,6086,-0.88,-51.2,2646,433,3030,2928,577.5,-9.7,317,6099,0.00,2.33,0.00,0.000,1030,0.000,0.034,2637,1830,2978,3029,2928,0,0,0,0,0,0,14.69,14.62,14.71
$GC,6443,-0.88,-51.2,2637,1830,3030,2926,610.7,-9.2,325,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1829,2977,3029,2926,0,0,0,0,0,0,14.94,14.97,14.96
$GC,6779,-0.88,-51.2,2637,1831,3030,2923,642.0,-9.4,331,6792,0.00,2.38,0.00,0.000,260,0.000,0.057,2626,3217,2975,3029,2922,0,0,0,0,0,0,14.94,14.50,14.96
$GC,6848,-0.88,-51.2,2627,3216,3030,2923,648.6,-9.6,340,6862,0.00,2.33,0.00,0.000,1030,0.000,0.040,2626,1830,2975,3029,2922,0,0,0,0,0,0,14.63,14.57,14.64
$GC,7184,-0.88,-51.2,2626,1831,3030,2920,680.8,-9.6,352,7197,0.00,2.45,0.00,0.000,516,0.000,0.061,2626,426,2974,3028,2920,0,0,0,0,0,0,14.92,14.48,14.93
$GC,7407,-0.88,-51.2,2626,427,3030,2919,703.0,-9.5,383,7421,0.00,2.38,0.00,0.000,1030,0.000,0.034,2617,1834,2973,3028,2918,0,0,0,0,0,0,14.66,14.58,14.66
$GC,7750,-0.88,-51.2,2617,1835,3030,2916,734.5,-9.2,390,7763,0.00,2.38,0.00,0.000,260,0.000,0.055,2606,3222,2973,3030,2916,0,0,0,0,0,0,14.92,14.47,14.95
$GC,7840,-0.88,-51.2,2607,3222,3030,2916,742.8,-9.4,402,7853,0.17,2.35,0.00,0.000,3078,0.288,0.040,2640,1827,2972,3029,2915,0,0,0,0,0,0,13.98,14.52,14.31
$GC,8211,-0.88,-51.2,2641,1827,3030,2915,773.1,-8.2,412,8224,0.00,2.45,0.00,0.000,516,0.000,0.062,2642,431,2971,3029,2914,0,0,0,0,0,0,14.92,14.43,14.94
$GC,8300,-0.88,-51.2,2643,433,3030,2913,781.4,-9.4,424,8313,0.00,2.35,0.00,0.000,1030,0.000,0.035,2636,1833,2971,3029,2913,0,0,0,0,0,0,14.62,14.57,14.68
$GC,8671,-0.88,-51.2,2636,1832,3030,2912,814.3,-9.0,434,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1832,2970,3029,2911,0,0,0,0,0,0,14.92,14.94,14.94
$GC,9007,-0.88,-51.2,2636,1832,3030,2910,842.8,-8.2,440,9020,0.00,2.47,0.00,0.000,516,0.000,0.060,2636,432,2969,3029,2910,0,0,0,0,0,0,14.92,14.40,14.95
$GC,9103,-0.88,-51.2,2637,433,3030,2910,852.1,-9.1,453,9116,0.00,2.38,0.00,0.000,1030,0.000,0.037,2627,1828,2969,3029,2909,0,0,0,0,0,0,14.59,14.53,14.62
$GC,9468,-0.88,-51.2,2627,1828,3029,2908,881.3,-8.1,462,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1828,2968,3029,2907,0,0,0,0,0,0,14.91,14.93,14.93
$GC,9803,-0.88,-51.2,2628,1829,3030,2905,908.1,-7.9,468,9816,0.00,2.47,0.00,0.000,516,0.000,0.062,2627,434,2967,3029,2905,0,0,0,0,0,0,14.91,14.38,14.93
$GC,9885,-0.88,-51.2,2627,434,3029,2906,914.7,-7.9,479,9898,0.00,2.38,0.00,0.000,1030,0.000,0.038,2618,1834,2967,3029,2905,0,0,0,0,0,0,14.58,14.51,14.60
$GC,10207,-0.88,-52.1,2618,1834,3026,2905,939.6,-7.8,489,10220,0.12,0.00,0.00,0.000,2086,0.321,0.000,2639,1834,2966,3029,2904,0,0,0,0,0,0,14.03,14.42,14.31
$GC,10543,-0.89,-54.3,2639,1834,3028,2903,964.8,-7.6,495,10556,0.00,2.50,0.00,0.000,548,0.000,0.062,2639,427,2965,3029,2902,0,0,0,0,0,0,14.88,14.36,14.90
$GC,10583,-0.91,-75.7,2639,427,3029,2903,967.6,-5.5,500,10596,0.00,2.38,0.00,0.000,1062,0.000,0.037,2632,1833,2965,3029,2902,0,0,0,0,0,0,14.59,14.52,14.62
$STATE,10887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10887,begin apogee
$GC,10896,-0.21,0.0,2638,1686,3030,2901,992.6,-8.1,508,10959,0.90,0.00,52.78,2.155,10246,0.249,0.000,2853,1685,2793,2884,2702,0,0,0,0,0,0,13.85,14.26,13.20
$STATE,10961,end apogee,CONTROL_FINISHED_OK
$STATE,10961,begin climb
$GC,10964,1.13,75.7,2853,1686,2879,2690,995.8,0.0,509,11063,1.48,0.00,87.25,2.171,10246,0.154,0.000,3284,1685,2479,2603,2355,0,0,0,0,0,0,14.17,13.92,13.00
$GC,11398,1.13,75.7,3285,1684,2603,2331,961.9,9.2,517,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1685,2466,2602,2330,0,0,0,0,0,0,14.71,14.73,14.73
$GC,11731,1.13,75.7,3284,1686,2602,2329,931.1,9.2,523,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1685,2466,2604,2329,0,0,0,0,0,0,14.80,14.83,14.83
$GC,12067,1.13,75.7,3283,1686,2598,2327,901.3,8.8,529,12080,0.00,2.42,0.00,0.000,516,0.000,0.066,3295,318,2464,2602,2327,0,0,0,0,0,0,14.83,14.47,14.85
$GC,12114,1.13,75.7,3295,318,2603,2328,896.8,11.3,535,12128,0.00,2.30,0.00,0.000,1030,0.000,0.033,3295,1697,2464,2602,2327,0,0,0,0,0,0,14.66,14.61,14.69
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$STATE,23462,end climb,SURFACE_DEPTH_REACHED
$STATE,23462,begin surface coast
$FINISH,0.7,1.021530
$STATE,23470,end surface coast,CONTROL_FINISHED_OK
$STATE,23470,begin surface
$SM_CCo,23499,139.62,0.122,0,0,691,515.13
$SM_GC,1.02,9.55,2.47,139.62,0.052,0.029,0.122,159,1823,691,-8.61,-2.46,515.13,0,0,0,0,0,0,14.48,14.63,14.35
$IRIDIUM_FIX,942.94,-12450.02,091216,032624
$TT8_MAMPS,0.038948,0.246421
$HUMID,55.39
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,25.60
$XPDR_PINGS,4
$SC_FREEKB,7625888
$PM_FREEKB,55870272
$TM_FREEKB,4652928
$24V_AH,12.79,140.731
$10V_AH,12.72,0.000
$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,26.600,183.550,345.700,139.625,0.000,0.000,0.000,466.175,1.000,0.000,25.275,0.000,19280.520,729.919,3809.900,732.711,0.000,2866.651,0.000,1877.823,0.000,0.548,0.000
$DEVICE_MAMPS,371.025,65.790,2171.070,121.635,0.000,0.000,0.000,176.715,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23501.000,23448.000,3289.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.671,2.128,16.395,0.000
$MEM,311932
$DATA_FILE_SIZE,39963,1069
$CAP_FILE_SIZE,182907,0
$CFSIZE,260034560,200314880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.049,77.10,1
$GPS,091216,171007,946.852,-12446.054,27,0.7,30,9.2,0.0,258.1,12,9.1