version: 66.13
glider: 190
mission: 9
dive: 8
start: 8 27 116 3 44 17
data:
$ID,190
$MISSION,9
$DIVE,8
$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,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,17
$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,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,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
$GPS1,270816,032616,1005.9769,-12500.6914,17,1.0,27,9.2,0.3,6.6,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.1
$GPS2,270816,034353,1005.9529,-12500.5400,21,0.9,24,9.2,0.6,123.6,9,9.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,HEADING
$TGT_LATLONG,1016.752,-12500.540
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,5.0,20000,-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,-146.0,218,2240,384,368,0.0,0.0,0,96,0.00,0.00,-74.72,0.000,16386,0.000,0.000,216,2241,2194,2180,2208,0,0,0,0,0,0,14.82,28.83,14.84
$GC,100,-0.84,-146.0,217,2246,2184,2208,2.0,-1.5,5,148,8.82,2.58,-32.55,0.000,18980,0.431,2.128,2006,844,3507,3674,3341,0,0,0,0,0,0,14.47,13.90,14.64
$GC,264,-0.72,-146.0,2005,844,3675,3341,45.0,-25.9,37,272,0.20,2.40,0.00,0.000,3206,0.315,0.066,2043,2238,3507,3674,3341,0,0,0,0,0,0,14.56,14.68,14.73
$GC,588,-0.72,-146.0,2043,2239,3676,3341,104.6,-12.7,58,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2239,3508,3675,3341,0,0,0,0,0,0,14.97,14.99,14.98
$GC,885,-0.72,-146.0,2041,2239,3677,3341,134.4,-10.0,68,891,0.00,2.33,0.00,0.000,516,0.000,0.053,2043,834,3508,3676,3341,0,0,0,0,0,0,15.01,14.83,15.03
$GC,923,-0.77,-146.0,2039,836,3677,3341,138.1,-9.6,75,931,0.00,2.35,0.00,0.000,1190,0.000,0.063,2042,2230,3508,3676,3341,0,0,0,0,0,0,14.89,14.82,14.90
$GC,1253,-0.82,-146.0,2039,2231,3676,3341,167.9,-8.7,90,1259,0.00,2.40,0.00,0.000,420,0.000,0.083,2034,3647,3507,3675,3339,0,0,0,0,0,0,15.03,14.83,15.05
$GC,1311,-0.88,-146.0,2034,3647,3677,3341,172.7,-8.3,101,1319,0.12,2.30,0.00,0.000,5286,0.140,0.045,1977,2227,3507,3675,3340,0,0,0,0,0,0,14.86,14.88,14.92
$GC,1616,-0.88,-146.0,1977,2225,3674,3341,210.5,-12.6,112,1623,0.00,2.33,0.00,0.000,516,0.000,0.057,1977,834,3506,3672,3340,0,0,0,0,0,0,15.04,14.87,15.06
$GC,1694,-0.88,-146.0,1977,833,3668,3342,220.2,-12.1,127,1701,0.00,2.38,0.00,0.000,1030,0.000,0.067,1971,2233,3505,3671,3340,0,0,0,0,0,0,14.93,14.85,14.95
$GC,2013,-0.88,-146.0,1972,2234,3666,3340,261.2,-13.0,140,2019,0.00,2.42,0.00,0.000,260,0.000,0.086,1962,3644,3503,3666,3340,0,0,0,0,0,0,15.04,14.85,15.07
$GC,2065,-0.88,-146.0,1962,3644,3666,3340,268.4,-13.5,150,2072,0.12,2.30,0.00,0.000,3078,0.259,0.047,1990,2220,3502,3665,3339,0,0,0,0,0,0,14.81,14.90,14.91
$GC,2379,-0.88,-146.0,1991,2220,3663,3338,306.1,-12.0,162,2385,0.00,2.33,0.00,0.000,516,0.000,0.060,1991,837,3499,3662,3337,0,0,0,0,0,0,15.05,14.88,15.07
$GC,2442,-0.88,-146.0,1992,837,3663,3338,313.8,-11.6,174,2449,0.00,2.38,0.00,0.000,1030,0.000,0.067,1984,2228,3502,3661,3343,0,0,0,0,0,0,14.93,14.87,14.96
$GC,2776,-0.88,-146.0,1984,2228,3658,3338,354.3,-12.2,190,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2225,3494,3652,3337,0,0,0,0,0,0,15.05,15.07,15.07
$GC,3076,-0.88,-146.0,1984,2229,3654,3337,390.1,-11.8,200,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2228,3494,3653,3336,0,0,0,0,0,0,15.05,15.07,15.07
$GC,3376,-0.88,-146.0,1985,2229,3652,3334,424.7,-11.5,210,3382,0.00,2.42,0.00,0.000,260,0.000,0.089,1974,3642,3492,3651,3333,0,0,0,0,0,0,15.09,14.87,15.08
$GC,3409,-0.88,-146.0,1974,3643,3651,3333,428.6,-11.8,216,3416,0.00,2.33,0.00,0.000,1030,0.000,0.049,1974,2225,3491,3650,3333,0,0,0,0,0,0,14.95,14.90,14.97
$GC,3743,-0.88,-146.0,1974,2219,3647,3333,467.5,-11.5,232,3749,0.00,2.35,0.00,0.000,516,0.000,0.063,1974,831,3489,3646,3333,0,0,0,0,0,0,15.06,14.88,15.08
$GC,3815,-0.88,-146.0,1974,831,3647,3333,475.8,-10.8,246,3821,0.00,2.40,0.00,0.000,1030,0.000,0.071,1971,2229,3489,3645,3333,0,0,0,0,0,0,14.95,14.86,14.96
$GC,4139,-0.88,-146.0,1971,2230,3646,3329,512.0,-11.2,260,4152,0.00,2.45,0.00,0.000,260,0.000,0.090,1960,3645,3486,3644,3329,0,0,0,0,0,0,15.06,14.87,15.07
$GC,4179,-0.88,-146.0,1961,3645,3644,3330,516.7,-11.3,266,4192,0.10,2.28,0.00,0.000,3078,0.237,0.052,1987,2236,3486,3643,3329,0,0,0,0,0,0,14.78,14.90,14.89
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4426,begin apogee
$GC,4434,-0.20,0.0,1990,2362,3641,3329,542.6,-10.3,279,4612,0.75,0.00,157.70,2.077,10246,0.222,0.000,2207,2362,2908,3063,2754,0,0,0,0,1,0,14.80,14.02,13.26
$STATE,4613,end apogee,CONTROL_FINISHED_OK
$STATE,4613,begin climb
$GC,4617,0.84,146.0,2207,2362,3069,2759,550.6,0.0,285,4796,1.00,2.65,160.40,1.571,10500,0.085,0.101,2551,3748,2299,2384,2215,0,0,0,0,0,0,14.15,14.06,13.58
$GC,4834,0.63,146.0,2551,3748,2367,2211,542.1,17.2,327,4847,0.32,2.42,0.00,0.000,5254,0.334,0.068,2490,2370,2287,2365,2209,0,0,0,0,0,0,14.19,14.32,14.38
$GC,5182,0.53,146.0,2487,2370,2361,2199,497.4,12.8,343,5189,0.12,2.50,0.00,0.000,4740,0.323,0.082,2469,934,2279,2360,2198,0,0,0,0,0,0,14.57,14.66,14.69
$GC,5211,0.47,146.0,2469,935,2354,2198,492.8,12.1,348,5219,0.15,2.50,0.00,0.000,5254,0.312,0.083,2438,2339,2277,2357,2197,0,0,0,0,0,0,14.57,14.66,14.74
$GC,5516,0.47,146.0,2438,2339,2360,2195,461.5,10.2,359,5524,0.00,2.53,0.00,0.000,260,0.000,0.106,2438,3758,2275,2357,2194,0,0,0,0,0,0,14.93,14.73,14.95
$GC,5535,0.43,146.0,2437,3758,2359,2194,459.4,10.2,362,5542,0.00,2.42,0.00,0.000,1158,0.000,0.069,2447,2337,2275,2357,2194,0,0,0,0,0,0,14.83,14.76,14.85
$GC,5854,0.39,146.0,2448,2337,2358,2191,426.0,10.4,375,5862,0.12,2.40,0.00,0.000,4740,0.324,0.081,2426,941,2274,2357,2191,0,0,0,0,0,0,14.68,14.78,14.80
$GC,5889,0.40,161.5,2426,941,2355,2191,422.7,9.3,381,5925,0.00,2.47,24.45,1.175,9254,0.000,0.083,2426,2355,2246,2331,2162,0,0,0,0,1,0,14.86,14.78,14.26
$GC,6255,0.40,165.1,2426,2355,2329,2164,387.5,9.8,403,6263,0.00,2.55,2.08,0.290,8484,0.000,0.107,2426,3758,2230,2317,2144,0,0,0,0,0,0,14.92,14.72,13.87
$GC,6299,0.37,165.1,2426,3758,2318,2149,382.4,11.0,411,6306,0.15,2.40,0.00,0.000,5254,0.299,0.069,2402,2345,2233,2317,2149,0,0,0,0,0,0,14.65,14.75,14.81
$GC,6624,0.39,188.4,2402,2345,2321,2151,353.5,8.9,425,6668,0.00,2.53,33.15,1.319,8740,0.000,0.085,2412,940,2137,2226,2049,0,0,0,0,1,0,14.96,14.55,13.98
$GC,6727,0.44,203.0,2412,944,2229,2051,344.2,9.3,445,6766,0.00,2.50,27.35,1.248,9382,0.000,0.082,2412,2347,2079,2169,1989,0,0,0,0,1,0,14.68,14.59,13.90
$GC,7082,0.47,204.5,2412,2348,2170,1991,308.9,9.9,465,7088,0.00,2.53,0.00,0.000,420,0.000,0.109,2412,3765,2079,2169,1990,0,0,0,0,0,0,14.84,14.65,14.88
$GC,7104,0.47,204.5,2410,3765,2170,1990,306.0,10.5,469,7111,0.00,2.42,0.00,0.000,1030,0.000,0.068,2422,2344,2079,2169,1990,0,0,0,0,0,0,14.76,14.68,14.77
$GC,7418,0.48,207.8,2422,2341,2170,1986,274.9,9.8,481,7428,0.00,2.45,3.67,0.946,8740,0.000,0.085,2438,945,2058,2148,1969,0,0,0,0,0,0,14.92,14.57,14.12
$GC,7481,0.52,216.4,2433,943,2157,1978,268.8,9.6,493,7516,0.00,2.47,24.00,1.246,9382,0.000,0.083,2433,2357,2022,2112,1933,0,0,0,0,1,0,14.81,14.72,14.05
$GC,7846,0.52,216.4,2433,2359,2105,1930,230.0,10.8,515,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2357,2017,2104,1930,0,0,0,0,0,0,14.89,14.91,14.91
$GC,8144,0.52,216.4,2435,2358,2103,1930,197.1,10.9,525,8150,0.00,2.53,0.00,0.000,260,0.000,0.107,2433,3765,2016,2103,1930,0,0,0,0,0,0,14.94,14.73,14.95
$GC,8177,0.52,216.4,2433,3765,2103,1930,193.0,12.1,531,8184,0.00,2.40,0.00,0.000,1030,0.000,0.069,2444,2353,2015,2102,1929,0,0,0,0,0,0,14.83,14.76,14.85
$GC,8511,0.52,216.4,2443,2353,2103,1930,155.3,11.3,547,8518,0.00,2.47,0.00,0.000,516,0.000,0.086,2452,940,2015,2102,1929,0,0,0,0,0,0,14.96,14.76,14.97
$GC,8549,0.52,216.4,2453,941,2099,1929,150.8,11.3,554,8556,0.00,2.47,0.00,0.000,1030,0.000,0.083,2452,2353,2015,2101,1929,0,0,0,0,0,0,14.85,14.76,14.87
$GC,8877,0.52,216.4,2452,2353,2102,1929,114.2,10.6,569,8884,0.00,2.45,0.00,0.000,516,0.000,0.079,2462,941,2015,2101,1929,0,0,0,0,0,0,14.97,14.78,14.99
$GC,8895,0.52,216.4,2462,941,2101,1926,112.3,10.1,572,8901,0.00,2.47,0.00,0.000,1030,0.000,0.083,2462,2353,2015,2101,1929,0,0,0,0,0,0,14.84,14.77,14.87
$GC,9214,0.57,302.4,2462,2353,2102,1930,85.4,6.0,591,9275,0.00,2.55,50.40,0.397,8484,0.000,0.106,2462,3749,1679,1764,1595,0,0,0,0,0,0,14.97,14.65,14.51
$GC,9408,0.70,366.9,2462,3758,1769,1623,70.9,7.0,629,9461,0.12,2.40,43.25,0.353,11430,0.149,0.065,2513,2346,1411,1494,1329,0,0,0,0,0,0,14.70,14.70,14.48
$GC,9759,0.87,469.1,2514,2347,1502,1369,48.5,5.3,659,9835,0.12,2.45,67.78,0.282,10916,0.144,0.081,2578,944,995,1054,936,0,0,0,0,0,0,14.72,14.60,14.50
$GC,9923,1.00,526.1,2575,947,1081,944,35.5,7.4,691,9971,0.00,2.47,39.33,0.241,9382,0.000,0.077,2578,2350,761,799,723,0,0,0,0,0,0,14.72,14.64,14.50
$STATE,10274,end climb,SURFACE_DEPTH_REACHED
$STATE,10274,begin surface coast
$FINISH,0.3,1.020337
$STATE,10304,end surface coast,CONTROL_FINISHED_OK
$STATE,10304,begin surface
$SM_CCo,10330,63.78,0.144,0,0,349,627.48
$SM_GC,1.00,6.62,0.22,63.78,0.067,0.082,0.144,215,2215,349,-6.39,0.59,627.48,0,0,0,0,0,0,14.73,14.76,14.64
$IRIDIUM_FIX,1000.45,-12500.42,270816,002903
$TT8_MAMPS,0.038199,0.403711
$HUMID,58.15
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,22.60
$XPDR_PINGS,26
$SC_FREEKB,7766880
$PM_FREEKB,62205504
$TM_FREEKB,7776800
$24V_AH,13.26,5.821
$10V_AH,13.50,0.000
$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,18.875,107.600,633.550,63.775,0.000,0.000,0.000,570.350,6.500,0.000,28.565,0.000,7623.162,785.365,2520.317,516.684,0.000,2145.403,0.000,1325.509,0.000,0.542,0.000
$DEVICE_MAMPS,431.460,2128.230,2076.975,143.820,0.000,0.000,0.000,182.835,420.000,0.000,22.470,0.000,2.190,10.770,28.750,35.490,0.000,11.700,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10371.000,10308.000,9319.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.007,3.039,11.800,0.000
$MEM,334884
$DATA_FILE_SIZE,26678,723
$CAP_FILE_SIZE,110884,0
$CFSIZE,260034560,253067264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,6,0
$CURRENT,0.103,203.80,1
$GPS,270816,063856,1006.559,-12500.499,38,1.1,41,9.2,0.5,148.3,7,5.3