version: 66.13
glider: 191
mission: 8
dive: 406
start: 12 19 116 16 31 13
data:
$ID,191
$MISSION,8
$DIVE,406
$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,37
$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
$GPS1,191216,161504,946.5610,-12512.8477,30,0.8,30,9.2,0.7,194.3,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.0
$GPS2,191216,163052,946.5382,-12512.6875,16,0.9,16,9.2,0.5,125.2,9,9.2
$SPEED_LIMITS,0.136,0.206
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,249.8,1868,-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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,33,-1.18,-42.3,152,1775,888,517,0.0,0.0,0,113,0.00,0.00,-76.90,0.000,16390,0.000,0.000,151,1774,2967,2989,2945,0,0,0,0,0,0,14.69,12.71,14.69
$GC,117,-1.18,-42.3,152,1776,2990,2945,1.7,-1.6,2,138,11.70,2.42,0.00,0.000,2564,0.379,0.050,2549,371,2966,2990,2943,0,0,0,0,0,0,14.04,14.44,14.41
$GC,369,-0.93,-42.3,2550,370,2991,2949,64.6,-11.3,39,375,0.40,2.28,0.00,0.000,3206,0.325,0.031,2624,1752,2968,2991,2946,0,0,0,0,0,0,13.95,14.49,14.32
$GC,698,-0.94,-53.4,2625,1753,2992,2950,84.1,-6.4,53,706,0.00,2.38,0.00,0.000,292,0.000,0.049,2616,3169,2971,2991,2951,0,0,0,0,0,0,14.82,14.47,14.83
$GC,734,-0.94,-53.4,2616,3170,2992,2951,86.9,-8.3,58,740,0.00,2.33,0.00,0.000,1030,0.000,0.037,2621,1767,2971,2991,2951,0,0,0,0,0,0,14.59,14.53,14.62
$GC,1091,-0.94,-53.4,2622,1768,2988,2952,117.7,-9.1,70,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1768,2970,2989,2951,0,0,0,0,0,0,14.83,14.85,14.85
$GC,1427,-0.94,-53.4,2621,1768,2992,2947,152.9,-10.3,76,1433,0.00,2.40,0.00,0.000,516,0.000,0.058,2621,374,2971,2991,2951,0,0,0,0,0,0,14.84,14.50,14.86
$GC,1553,-0.94,-53.4,2623,376,2992,2945,165.9,-10.2,94,1559,0.00,2.33,0.00,0.000,1030,0.000,0.032,2615,1790,2968,2991,2946,0,0,0,0,0,0,14.64,14.58,14.67
$GC,1875,-0.94,-53.4,2615,1790,2991,2943,200.1,-10.8,105,1882,0.00,2.30,0.00,0.000,260,0.000,0.051,2604,3156,2966,2990,2942,0,0,0,0,0,0,14.84,14.50,14.86
$GC,1979,-0.94,-53.4,2601,3157,2992,2947,211.8,-11.2,120,1987,0.00,2.33,0.00,0.000,1030,0.000,0.038,2604,1781,2966,2992,2941,0,0,0,0,0,0,14.59,14.52,14.62
$GC,2324,-0.94,-53.4,2604,1777,2990,2935,248.3,-10.5,127,2331,0.00,2.45,0.00,0.000,516,0.000,0.059,2604,364,2964,2992,2936,0,0,0,0,0,0,14.85,14.47,14.87
$GC,2442,-0.94,-53.4,2604,365,2991,2935,261.8,-11.4,144,2456,0.15,2.33,0.00,0.000,3078,0.320,0.031,2622,1783,2962,2991,2934,0,0,0,0,0,0,14.11,14.65,14.44
$GC,2779,-0.94,-53.4,2622,1782,2991,2931,296.5,-10.5,156,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1782,2961,2992,2930,0,0,0,0,0,0,14.91,14.94,14.93
$GC,3114,-0.94,-53.4,2622,1782,2991,2927,332.1,-10.5,162,3127,0.00,2.45,0.00,0.000,516,0.000,0.058,2624,369,2958,2991,2926,0,0,0,0,0,0,14.93,14.54,14.95
$GC,3182,-0.94,-53.4,2624,370,2992,2925,339.4,-10.5,171,3195,0.00,2.33,0.00,0.000,1030,0.000,0.034,2616,1777,2958,2991,2925,0,0,0,0,0,0,14.70,14.64,14.71
$GC,3518,-0.94,-53.4,2617,1774,2991,2921,373.4,-10.2,183,3532,0.00,2.38,0.00,0.000,260,0.000,0.052,2606,3171,2955,2991,2920,0,0,0,0,0,0,14.95,14.55,14.97
$GC,3566,-0.94,-53.4,2606,3171,2992,2919,378.2,-10.0,189,3579,0.00,2.35,0.00,0.000,1030,0.000,0.039,2605,1760,2955,2990,2920,0,0,0,0,0,0,14.67,14.59,14.70
$GC,3922,-0.94,-53.4,2606,1761,2992,2916,412.6,-9.6,197,3935,0.00,2.40,0.00,0.000,516,0.000,0.059,2606,372,2951,2990,2913,0,0,0,0,0,0,14.92,14.53,14.94
$GC,4019,-0.94,-53.4,2606,372,2991,2916,423.0,-10.8,210,4032,0.00,2.33,0.00,0.000,1030,0.000,0.034,2596,1775,2952,2990,2915,0,0,0,0,0,0,14.70,14.64,14.72
$GC,4382,-0.94,-53.4,2596,1776,2991,2912,462.1,-11.0,219,4396,0.12,2.45,0.00,0.000,2564,0.327,0.057,2625,375,2954,2990,2919,0,0,0,0,0,0,14.08,14.39,14.24
$GC,4459,-0.94,-53.4,2625,375,2991,2912,471.0,-11.5,229,4472,0.00,2.33,0.00,0.000,1030,0.000,0.034,2618,1776,2950,2990,2911,0,0,0,0,0,0,14.70,14.64,14.72
$GC,4787,-0.94,-53.4,2619,1777,2991,2911,506.3,-10.6,240,4800,0.00,2.38,0.00,0.000,260,0.000,0.054,2608,3170,2949,2990,2909,0,0,0,0,0,0,14.92,14.54,14.95
$GC,4856,-0.94,-53.4,2608,3169,2991,2909,513.7,-10.7,249,4869,0.00,2.33,0.00,0.000,1030,0.000,0.039,2607,1776,2949,2990,2908,0,0,0,0,0,0,14.64,14.57,14.67
$GC,5192,-0.94,-53.4,2608,1775,2991,2905,549.8,-10.7,261,5205,0.00,2.42,0.00,0.000,516,0.000,0.060,2608,378,2947,2990,2905,0,0,0,0,0,0,14.93,14.49,14.95
$GC,5246,-0.94,-53.4,2608,378,2991,2904,556.0,-11.2,268,5260,0.00,2.35,0.00,0.000,1030,0.000,0.034,2598,1778,2947,2990,2904,0,0,0,0,0,0,14.66,14.60,14.69
$GC,5590,-0.94,-53.4,2598,1778,2991,2902,591.6,-10.1,275,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1777,2946,2990,2902,0,0,0,0,0,0,14.91,14.93,14.93
$GC,5927,-0.94,-53.4,2598,1779,2991,2899,623.3,-9.4,281,5940,0.00,2.47,0.00,0.000,516,0.000,0.060,2598,375,2944,2989,2899,0,0,0,0,0,0,14.91,14.46,14.92
$GC,6009,-0.94,-53.4,2599,374,2991,2900,631.7,-10.0,292,6023,0.17,2.35,0.00,0.000,3078,0.308,0.036,2622,1779,2944,2990,2898,0,0,0,0,0,0,14.00,14.61,14.35
$GC,6332,-1.04,-53.4,2622,1779,2991,2898,659.5,-8.6,302,6345,0.00,0.00,0.00,0.000,134,0.000,0.000,2622,1779,2943,2990,2897,0,0,0,0,0,0,14.90,14.92,14.92
$GC,6667,-1.14,-53.4,2622,1779,2991,2894,686.3,-8.1,308,6681,0.17,2.47,0.00,0.000,4740,0.131,0.058,2561,374,2940,2990,2890,0,0,0,0,0,0,14.46,14.45,14.53
$GC,6750,-1.14,-53.4,2561,373,2991,2894,694.6,-10.2,319,6763,0.00,2.35,0.00,0.000,1030,0.000,0.034,2554,1782,2941,2990,2893,0,0,0,0,0,0,14.62,14.56,14.64
$GC,7072,-1.14,-53.4,2554,1780,2991,2891,727.0,-10.2,329,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1779,2941,2990,2892,0,0,0,0,0,0,14.95,14.94,14.94
$GC,7407,-1.14,-53.4,2554,1779,2991,2891,761.7,-10.3,335,7420,0.00,2.38,0.00,0.000,260,0.000,0.054,2544,3161,2939,2990,2889,0,0,0,0,0,0,14.92,14.45,14.95
$GC,7433,-1.14,-53.4,2544,3163,2991,2888,764.6,-10.4,338,7446,0.00,2.33,0.00,0.000,1030,0.000,0.038,2544,1777,2939,2990,2889,0,0,0,0,0,0,14.59,14.50,14.62
$GC,7755,-1.14,-53.4,2544,1777,2991,2887,799.3,-10.9,348,7769,0.00,2.47,0.00,0.000,516,0.000,0.062,2543,373,2939,2990,2888,0,0,0,0,0,0,14.89,14.40,14.91
$GC,7866,-1.04,-53.4,2544,372,2991,2888,812.6,-11.8,363,7880,0.28,2.38,0.00,0.000,3206,0.308,0.036,2589,1770,2936,2986,2887,0,0,0,0,0,0,13.81,14.53,14.20
$GC,8211,-1.04,-53.4,2589,1770,2991,2886,845.2,-9.4,370,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1770,2937,2990,2885,0,0,0,0,0,0,14.90,14.93,14.93
$GC,8546,-1.04,-53.4,2589,1771,2991,2884,876.4,-9.1,376,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1770,2937,2990,2884,0,0,0,0,0,0,14.92,14.95,14.94
$GC,8882,-1.04,-53.4,2589,1771,2991,2882,906.9,-9.0,382,8895,0.00,2.47,0.00,0.000,516,0.000,0.060,2594,376,2936,2990,2882,0,0,0,0,0,0,14.92,14.36,14.93
$GC,8937,-1.04,-53.4,2594,376,2990,2882,912.2,-9.7,389,8952,0.00,2.40,0.00,0.000,1030,0.000,0.035,2586,1791,2935,2989,2881,0,0,0,0,0,0,14.57,14.51,14.59
$GC,9280,-1.04,-53.4,2587,1792,2991,2879,943.8,-9.3,396,9294,0.00,2.53,0.00,0.000,516,0.000,0.062,2587,372,2934,2990,2879,0,0,0,0,0,0,14.88,14.37,14.90
$GC,9335,-1.04,-53.4,2587,372,2992,2880,949.3,-10.0,403,9348,0.00,2.38,0.00,0.000,1030,0.000,0.036,2577,1775,2934,2990,2878,0,0,0,0,0,0,14.56,14.49,14.58
$GC,9680,-1.04,-53.4,2577,1773,2991,2877,981.7,-9.4,410,9693,0.00,2.47,0.00,0.000,516,0.000,0.060,2577,375,2933,2990,2877,0,0,0,0,0,0,14.89,14.34,14.91
$GC,9720,-1.04,-58.8,2578,375,2991,2883,985.9,-7.1,415,9734,0.00,2.38,0.00,0.000,1062,0.000,0.036,2568,1780,2933,2990,2877,0,0,0,0,0,0,14.56,14.49,14.58
$STATE,9800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9800,begin apogee
$GC,9809,-0.21,0.0,2568,1658,2991,2876,993.8,-9.0,419,9864,1.23,0.00,44.08,2.178,10246,0.283,0.000,2852,1657,2793,2878,2709,0,0,0,0,0,0,13.73,14.26,13.12
$STATE,9865,end apogee,CONTROL_FINISHED_OK
$STATE,9865,begin climb
$GC,9869,1.21,58.8,2853,1657,2877,2697,997.0,0.0,420,9953,1.52,2.38,68.18,2.224,10756,0.148,0.061,3317,345,2551,2660,2442,0,0,0,0,0,0,14.19,14.00,12.95
$GC,9962,1.11,58.8,3317,347,2653,2435,992.7,8.1,434,9975,0.00,2.30,0.00,0.000,1158,0.000,0.030,3317,1704,2542,2652,2432,0,0,0,0,0,0,14.20,14.17,14.21
$GC,10319,1.11,58.8,3318,1704,2653,2425,960.9,9.1,442,10333,0.00,2.30,0.00,0.000,260,0.000,0.047,3314,3051,2538,2652,2424,0,0,0,0,0,0,14.76,14.40,14.78
$GC,10388,1.11,58.8,3317,3052,2653,2423,954.2,9.4,451,10402,0.17,2.28,0.00,0.000,5126,0.332,0.037,3295,1697,2537,2652,2423,0,0,0,0,0,0,14.02,14.50,14.41
$GC,10725,1.11,58.8,3295,1697,2652,2422,925.6,8.5,463,10738,0.00,2.42,0.00,0.000,516,0.000,0.062,3303,318,2536,2652,2421,0,0,0,0,0,0,14.81,14.46,14.83
$GC,10814,1.11,58.8,3303,318,2653,2420,917.3,9.2,475,10827,0.00,2.25,0.00,0.000,1030,0.000,0.029,3303,1687,2537,2652,2422,0,0,0,0,0,0,14.63,14.59,14.66
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$STATE,22795,end climb,SURFACE_DEPTH_REACHED
$STATE,22795,begin surface coast
$FINISH,1.1,1.021613
$STATE,22802,end surface coast,CONTROL_FINISHED_OK
$STATE,22802,begin surface
$SM_CCo,22831,145.82,0.122,0,0,691,515.13
$SM_GC,1.13,9.60,2.40,145.82,0.060,0.028,0.122,164,1731,691,-8.59,-2.43,515.13,0,0,0,0,0,0,14.45,14.59,14.33
$IRIDIUM_FIX,945.12,-12511.90,191216,092755
$TT8_MAMPS,0.038199,0.330309
$HUMID,56.81
$INTERNAL_PRESSURE,9.12603
$TCM_TEMP,24.80
$XPDR_PINGS,4
$SC_FREEKB,7612448
$PM_FREEKB,55433344
$TM_FREEKB,4351904
$24V_AH,12.71,153.556
$10V_AH,12.05,0.000
$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,26.625,201.500,330.050,145.825,0.000,0.000,0.000,476.325,1.000,0.000,17.696,0.000,18632.740,734.931,3799.497,735.186,0.000,2905.774,0.000,1855.935,0.000,0.549,0.000
$DEVICE_MAMPS,378.675,77.265,2223.855,122.400,0.000,0.000,0.000,175.185,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22863.000,22808.000,3025.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.673,2.115,16.077,0.000
$MEM,311956
$DATA_FILE_SIZE,39991,1060
$CAP_FILE_SIZE,186466,0
$CFSIZE,260034560,195055616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,63.08,1
$GPS,191216,225533,946.251,-12514.050,36,0.7,36,9.2,0.0,0.0,11,9.3