version: 66.13
glider: 190
mission: 9
dive: 7
start: 8 27 116 0 37 1
data:
$ID,190
$MISSION,9
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,540
$D_ABORT,720
$D_NO_BLEED,50
$D_BOOST,100
$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,180
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,150
$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,0.003
$HD_B,0.012
$HD_C,1.09e-05
$HEADING,0
$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,627.47742
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2280
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2908
$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,3
$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,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,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,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270816,002003,1005.1048,-12500.7061,14,0.7,25,9.2,0.4,309.2,12,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.7
$GPS2,270816,003640,1005.1720,-12500.6543,16,0.9,16,9.2,0.5,0.6,8,9.2
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,HEADING
$TGT_LATLONG,1015.971,-12500.654
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,0.3,20000,-18.7,-10.000,-22.79,2222
$D_GRID,540
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.84,-146.0,202,2274,383,361,0.0,0.0,0,112,0.00,0.00,-90.88,0.000,16386,0.000,0.000,201,2274,2665,2666,2664,0,0,0,0,0,0,14.88,28.83,14.90
$GC,117,-0.84,-146.0,202,2275,2668,2664,3.1,-3.0,6,149,8.77,2.60,-15.25,0.000,18980,0.428,2.120,2000,841,3503,3666,3341,0,0,0,0,0,0,14.53,13.95,14.70
$GC,233,-0.68,-146.0,2000,842,3671,3342,44.9,-30.9,28,240,0.25,2.30,0.00,0.000,3206,0.304,0.063,2051,2195,3505,3670,3341,0,0,0,0,0,0,14.59,14.71,14.76
$GC,565,-0.68,-146.0,2051,2196,3672,3342,104.6,-10.7,50,571,0.00,2.45,0.00,0.000,260,0.000,0.079,2037,3651,3504,3671,3338,0,0,0,0,0,0,15.00,14.81,15.02
$GC,696,-0.68,-146.0,2040,3650,3672,3342,117.6,-9.5,75,702,0.00,2.30,0.00,0.000,1062,0.000,0.041,2040,2222,3506,3671,3342,0,0,0,0,0,0,14.92,14.87,14.93
$GC,1024,-0.71,-146.0,2040,2222,3672,3342,149.1,-9.2,90,1030,0.00,2.28,0.00,0.000,676,0.000,0.056,2040,838,3506,3671,3342,0,0,0,0,0,0,15.05,14.86,15.07
$GC,1135,-0.77,-146.0,2040,839,3672,3342,159.2,-9.0,111,1141,0.00,2.35,0.00,0.000,1190,0.000,0.065,2039,2231,3506,3671,3341,0,0,0,0,0,0,14.94,14.86,14.95
$GC,1454,-0.82,-146.0,2039,2232,3672,3341,188.5,-9.5,124,1460,0.00,2.38,0.00,0.000,420,0.000,0.084,2030,3639,3505,3670,3341,0,0,0,0,0,0,15.09,14.88,15.09
$GC,1527,-0.89,-146.0,2030,3639,3670,3341,195.4,-9.3,138,1533,0.12,2.25,0.00,0.000,5286,0.141,0.045,1973,2236,3505,3669,3341,0,0,0,0,0,0,14.90,14.92,14.96
$GC,1850,-0.89,-146.0,1976,2230,3666,3341,238.0,-13.5,152,1856,0.00,2.35,0.00,0.000,516,0.000,0.060,1972,830,3502,3664,3340,0,0,0,0,0,0,15.07,14.88,15.09
$GC,1908,-0.89,-146.0,1973,830,3664,3341,246.0,-13.3,163,1915,0.00,2.40,0.00,0.000,1030,0.000,0.069,1971,2229,3502,3663,3342,0,0,0,0,0,0,14.97,14.88,14.98
$GC,2214,-0.89,-146.0,1972,2229,3659,3335,287.2,-13.4,174,2220,0.00,2.40,0.00,0.000,260,0.000,0.085,1961,3642,3498,3659,3338,0,0,0,0,0,0,15.08,14.88,15.12
$GC,2241,-0.89,-146.0,1962,3642,3656,3338,291.0,-14.1,179,2249,0.12,2.30,0.00,0.000,3078,0.255,0.047,1991,2229,3498,3658,3338,0,0,0,0,0,0,14.81,14.92,14.94
$GC,2547,-0.89,-146.0,1991,2229,3656,3338,326.5,-11.4,190,2553,0.00,2.33,0.00,0.000,516,0.000,0.061,1990,838,3496,3655,3338,0,0,0,0,0,0,15.08,14.90,15.10
$GC,2625,-0.89,-146.0,1990,836,3655,3337,335.3,-10.9,205,2632,0.00,2.38,0.00,0.000,1030,0.000,0.067,1983,2235,3493,3654,3333,0,0,0,0,0,0,14.96,14.88,14.97
$GC,2944,-0.89,-146.0,1984,2236,3650,3338,372.5,-11.7,218,2950,0.00,2.40,0.00,0.000,260,0.000,0.088,1977,3642,3493,3649,3337,0,0,0,0,0,0,15.11,14.86,15.09
$GC,2971,-0.89,-146.0,1974,3643,3649,3338,375.9,-12.5,223,2979,0.00,2.30,0.00,0.000,1030,0.000,0.050,1972,2239,3493,3648,3338,0,0,0,0,0,0,14.97,14.92,14.99
$GC,3278,-0.89,-146.0,1974,2229,3647,3336,413.3,-12.3,234,3284,0.00,2.38,0.00,0.000,516,0.000,0.063,1973,824,3490,3646,3335,0,0,0,0,0,0,15.08,14.90,15.10
$GC,3345,-0.89,-146.0,1973,824,3646,3336,421.7,-11.9,247,3352,0.00,2.42,0.00,0.000,1030,0.000,0.072,1972,2240,3490,3645,3335,0,0,0,0,0,0,14.96,14.88,14.98
$GC,3673,-0.89,-146.0,1972,2241,3643,3334,461.4,-12.1,262,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2239,3487,3641,3334,0,0,0,0,0,0,15.08,15.10,15.09
$GC,3974,-0.89,-146.0,1972,2241,3641,3331,497.4,-12.1,272,3980,0.00,2.38,0.00,0.000,516,0.000,0.062,1971,826,3484,3639,3330,0,0,0,0,0,0,15.08,14.90,15.09
$GC,4016,-0.89,-146.0,1971,827,3641,3330,502.8,-12.2,280,4029,0.00,2.40,0.00,0.000,1030,0.000,0.072,1971,2229,3484,3639,3330,0,0,0,0,0,0,14.97,14.88,14.99
$STATE,4343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4343,begin apogee
$GC,4351,-0.20,0.0,1971,2399,3638,3331,543.3,-12.4,294,4510,0.82,0.00,144.38,2.187,10246,0.231,0.000,2208,2399,2908,3057,2760,0,0,0,0,1,0,14.81,14.07,13.31
$STATE,4512,end apogee,CONTROL_FINISHED_OK
$STATE,4512,begin climb
$GC,4516,0.84,146.0,2207,2399,3062,2761,550.8,0.0,299,4680,1.00,0.00,141.95,2.284,10502,0.085,0.000,2553,2398,2312,2399,2226,0,0,0,0,1,0,14.17,14.02,13.29
$GC,4976,0.66,146.0,2553,2399,2400,2227,507.2,15.7,325,4990,0.22,2.42,0.00,0.000,4484,0.336,0.099,2498,3770,2313,2399,2227,0,0,0,0,0,0,14.54,14.64,14.67
$GC,5022,0.51,146.0,2498,3768,2400,2227,500.0,15.4,332,5038,0.20,2.35,0.00,0.000,5254,0.290,0.067,2454,2387,2313,2399,2227,0,0,0,0,0,0,14.57,14.69,14.69
$GC,5363,0.45,146.0,2454,2387,2399,2227,460.5,11.7,347,5370,0.00,2.45,0.00,0.000,644,0.000,0.083,2464,973,2313,2399,2227,0,0,0,0,0,0,14.95,14.75,14.97
$GC,5466,0.40,146.0,2465,973,2398,2228,448.4,11.3,367,5473,0.22,2.45,0.00,0.000,5254,0.305,0.082,2411,2372,2315,2398,2232,0,0,0,0,0,0,14.67,14.77,14.83
$GC,5790,0.42,174.8,2412,2373,2399,2228,419.1,8.7,381,5834,0.00,2.60,35.50,1.546,8484,0.000,0.106,2411,3784,2187,2273,2101,0,0,0,0,0,0,15.00,14.52,14.04
$GC,5876,0.42,174.8,2412,3785,2264,2098,411.0,10.4,398,5883,0.00,2.42,0.00,0.000,1030,0.000,0.067,2421,2381,2181,2265,2097,0,0,0,0,0,0,14.67,14.61,14.69
$GC,6181,0.43,190.5,2421,2381,2260,2096,382.1,9.3,409,6206,0.00,2.47,16.60,1.459,8740,0.000,0.083,2431,975,2126,2209,2043,0,0,0,0,0,0,14.92,14.61,14.12
$GC,6247,0.44,204.0,2432,975,2199,2031,376.0,9.4,422,6269,0.00,2.50,13.70,1.444,9254,0.000,0.081,2432,2386,2071,2160,1983,0,0,0,0,0,0,14.72,14.64,14.04
$GC,6576,0.44,204.0,2432,2387,2144,1973,342.2,10.4,437,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2387,2060,2143,1978,0,0,0,0,0,0,14.90,14.92,14.91
$GC,6876,0.44,204.0,2432,2387,2142,1969,310.9,10.4,447,6882,0.00,2.45,0.00,0.000,516,0.000,0.080,2439,973,2055,2141,1970,0,0,0,0,0,0,14.99,14.77,14.98
$GC,6909,0.44,207.1,2439,973,2141,1971,307.5,9.9,453,6917,0.00,2.50,0.00,0.000,1062,0.000,0.083,2439,2384,2055,2140,1970,0,0,0,0,0,0,14.85,14.76,14.87
$GC,7245,0.44,207.1,2439,2384,2141,1970,271.0,10.9,469,7252,0.00,2.53,0.00,0.000,260,0.000,0.106,2439,3796,2055,2140,1970,0,0,0,0,0,0,14.99,14.77,15.01
$GC,7268,0.44,207.1,2439,3796,2140,1970,268.1,11.7,473,7275,0.00,2.42,0.00,0.000,1030,0.000,0.067,2449,2374,2054,2139,1970,0,0,0,0,0,0,14.88,14.81,14.90
$GC,7583,0.44,207.1,2449,2374,2139,1970,231.7,11.6,485,7590,0.00,2.45,0.00,0.000,516,0.000,0.086,2459,970,2057,2139,1975,0,0,0,0,0,0,15.00,14.80,15.02
$GC,7636,0.44,207.1,2459,971,2138,1970,225.3,11.5,495,7643,0.15,2.47,0.00,0.000,5126,0.282,0.083,2425,2384,2053,2138,1969,0,0,0,0,0,0,14.70,14.80,14.88
$GC,7950,0.44,207.1,2426,2381,2139,1970,193.3,10.2,507,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2383,2053,2138,1969,0,0,0,0,0,0,15.00,15.03,15.03
$GC,8250,0.44,207.1,2425,2384,2140,1970,163.0,10.1,517,8257,0.00,2.47,0.00,0.000,260,0.000,0.106,2423,3792,2053,2138,1969,0,0,0,0,0,0,15.01,14.80,15.03
$GC,8284,0.44,207.1,2425,3789,2140,1970,159.2,11.7,523,8291,0.00,2.40,0.00,0.000,1030,0.000,0.067,2435,2373,2055,2139,1971,0,0,0,0,0,0,14.90,14.83,14.92
$GC,8618,0.44,211.9,2435,2374,2139,1969,125.6,9.8,539,8629,0.00,2.45,1.90,0.193,8740,0.000,0.083,2444,975,2039,2126,1953,0,0,0,0,0,0,15.01,14.81,14.78
$GC,8690,0.50,245.7,2445,975,2134,1959,119.0,8.4,553,8742,0.00,2.45,43.33,1.201,9382,0.000,0.081,2445,2378,1900,1993,1807,0,0,0,0,0,0,14.90,14.81,14.14
$GC,9041,0.58,289.5,2445,2379,1970,1786,89.3,8.0,577,9074,0.00,2.55,23.83,0.378,8612,0.000,0.106,2443,3792,1735,1819,1652,0,0,0,0,0,0,14.89,14.63,14.48
$GC,9133,0.70,359.9,2445,3792,1821,1667,82.3,6.7,594,9186,0.17,2.42,46.80,0.391,11430,0.129,0.065,2513,2368,1439,1524,1355,0,0,0,0,0,0,14.67,14.69,14.43
$GC,9481,0.82,423.0,2513,2366,1526,1388,54.7,7.1,624,9533,0.00,2.47,41.72,0.303,8868,0.000,0.081,2520,974,1182,1259,1106,0,0,0,0,0,0,14.91,14.62,14.52
$GC,9630,1.00,499.8,2520,975,1260,1130,45.0,6.4,653,9688,0.25,2.47,51.33,0.270,11430,0.093,0.073,2619,2384,869,911,828,0,0,0,0,0,0,14.68,14.66,14.51
$STATE,9967,end climb,SURFACE_DEPTH_REACHED
$STATE,9967,begin surface coast
$FINISH,0.2,1.020511
$STATE,9982,end surface coast,CONTROL_FINISHED_OK
$STATE,9982,begin surface
$SM_CCo,10008,76.90,0.145,0,0,348,627.48
$SM_GC,0.96,6.85,0.28,76.90,0.080,0.073,0.145,220,2203,348,-6.37,0.90,627.48,0,0,0,0,0,0,14.74,14.76,14.64
$IRIDIUM_FIX,958.26,-12459.16,270816,002654
$TT8_MAMPS,0.038199,0.402962
$HUMID,59.68
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.80
$XPDR_PINGS,31
$SC_FREEKB,7767264
$PM_FREEKB,62233536
$TM_FREEKB,7791488
$24V_AH,13.29,5.457
$10V_AH,13.60,0.000
$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,19.175,102.200,561.025,76.900,0.000,0.000,0.000,511.250,7.750,0.000,20.653,0.000,7491.909,762.232,2349.545,475.440,0.000,2002.349,0.000,1259.754,0.000,0.542,0.000
$DEVICE_MAMPS,427.635,2119.815,2284.290,145.350,0.000,0.000,0.000,179.775,420.000,0.000,22.470,0.000,2.190,10.770,28.750,35.490,0.000,11.700,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10039.000,9984.000,9056.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.990,3.046,11.809,0.000
$MEM,334860
$DATA_FILE_SIZE,23385,685
$CAP_FILE_SIZE,103678,0
$CFSIZE,260034560,253231104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.088,221.66,1
$GPS,270816,032616,1005.977,-12500.691,17,1.0,27,9.2,0.3,6.6,9,9.8