version: 66.13
glider: 190
mission: 9
dive: 713
start: 3 21 117 2 33 48
data:
$ID,190
$MISSION,9
$DIVE,713
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,50
$D_BOOST,120
$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,450
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,120
$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,0.0040899999
$HD_B,0.0102
$HD_C,4.5000002e-06
$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,500
$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,10000
$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,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.1
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2740
$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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,134
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,210317,022701,1021.6827,-12517.1367,37,0.7,41,9.2,0.0,283.9,11,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-56.6
$GPS2,210317,023327,1021.6743,-12517.2129,16,0.9,16,9.2,0.7,280.8,8,9.4
$SPEED_LIMITS,0.127,0.213
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,155.4,40337,-15.8,-7.333,-19.03,2447
$D_GRID,990
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,8,-0.68,-116.8,192,2258,738,668,0.0,0.0,0,98,0.00,0.00,-89.45,0.000,16386,0.000,0.000,190,2258,3006,3053,2960,0,0,0,0,0,0,14.52,28.83,14.54
$GC,103,-0.68,-116.8,191,2259,3055,2960,3.8,-5.1,3,128,9.02,2.72,-3.55,0.000,18948,0.399,2.051,1971,882,3222,3309,3136,0,0,0,0,0,0,13.86,12.58,14.12
$GC,191,-0.49,-116.8,1970,882,3315,3133,34.2,-23.9,15,196,0.30,2.53,0.00,0.000,3206,0.250,0.056,2034,2283,3224,3315,3133,0,0,0,0,0,0,13.76,14.14,14.07
$GC,530,-0.49,-116.8,2034,2283,3318,3133,81.9,-7.9,30,534,0.00,2.50,0.00,0.000,260,0.000,0.073,2024,3691,3225,3318,3132,0,0,0,0,0,0,14.72,14.03,14.73
$GC,633,-0.49,-116.8,2024,3692,3319,3132,91.9,-8.9,45,646,0.00,2.47,0.00,0.000,1030,0.000,0.038,2024,2268,3225,3319,3132,0,0,0,0,0,0,14.10,14.05,14.13
$GC,983,-0.49,-116.8,2024,2268,3322,3132,120.2,-8.5,54,988,0.00,2.55,0.00,0.000,516,0.000,0.051,2023,882,3226,3321,3132,0,0,0,0,0,0,14.75,13.93,14.77
$GC,1029,-0.49,-116.8,2024,882,3322,3132,125.4,-9.7,61,1042,0.00,2.58,0.00,0.000,1030,0.000,0.054,2023,2275,3226,3321,3131,0,0,0,0,0,0,14.00,13.94,14.05
$GC,1378,-0.49,-116.8,2024,2277,3321,3132,154.1,-8.1,68,1383,0.00,2.58,0.00,0.000,260,0.000,0.074,2017,3691,3226,3321,3131,0,0,0,0,0,0,14.77,13.96,14.78
$GC,1495,-0.49,-116.8,2017,3691,3322,3130,164.1,-8.8,84,1500,0.00,2.45,0.00,0.000,1030,0.000,0.037,2016,2275,3225,3320,3130,0,0,0,0,0,0,14.15,14.07,14.18
$GC,1834,-0.49,-116.8,2017,2276,3321,3127,195.9,-9.3,97,1839,0.00,2.53,0.00,0.000,516,0.000,0.050,2016,885,3224,3321,3127,0,0,0,0,0,0,14.79,13.87,14.80
$GC,1896,-0.49,-116.8,2017,885,3322,3127,201.8,-8.7,106,1901,0.00,2.55,0.00,0.000,1030,0.000,0.054,2016,2282,3223,3321,3126,0,0,0,0,0,0,14.12,14.00,14.16
$GC,2230,-0.49,-116.8,2016,2283,3322,3124,231.9,-9.3,118,2235,0.00,2.60,0.00,0.000,260,0.000,0.078,2012,3700,3222,3321,3123,0,0,0,0,0,0,14.78,13.93,14.81
$GC,2305,-0.49,-116.8,2012,3701,3322,3123,239.2,-9.2,129,2311,0.00,2.42,0.00,0.000,1030,0.000,0.037,2012,2286,3222,3321,3123,0,0,0,0,0,0,14.12,14.05,14.15
$GC,2627,-0.49,-116.8,2012,2287,3322,3120,266.4,-8.5,139,2632,0.00,2.55,0.00,0.000,516,0.000,0.051,2012,890,3220,3321,3119,0,0,0,0,0,0,14.78,13.86,14.80
$GC,2708,-0.49,-116.8,2012,891,3322,3118,273.6,-7.9,151,2714,0.00,2.55,0.00,0.000,1030,0.000,0.054,2011,2281,3219,3321,3117,0,0,0,0,0,0,14.12,14.00,14.16
$GC,3078,-0.49,-116.8,2012,2282,3321,3114,306.1,-9.3,161,3084,0.00,2.62,0.00,0.000,260,0.000,0.080,2012,3696,3217,3321,3113,0,0,0,0,0,0,14.79,13.90,14.81
$GC,3169,-0.49,-116.8,2012,3696,3322,3113,314.5,-8.5,174,3174,0.00,2.45,0.00,0.000,1030,0.000,0.038,2012,2280,3217,3321,3113,0,0,0,0,0,0,14.12,14.05,14.15
$GC,3530,-0.49,-116.8,2012,2278,3322,3110,344.7,-8.4,183,3535,0.00,2.55,0.00,0.000,516,0.000,0.050,2012,883,3215,3321,3110,0,0,0,0,0,0,14.80,13.83,14.81
$GC,3556,-0.49,-116.8,2012,883,3322,3110,347.4,-8.7,187,3561,0.12,2.60,0.00,0.000,3078,0.233,0.057,2040,2285,3215,3321,3109,0,0,0,0,0,0,13.74,14.00,13.99
$GC,3926,-0.49,-116.8,2041,2286,3319,3108,375.8,-8.0,197,3932,0.00,2.62,0.00,0.000,260,0.000,0.082,2039,3701,3213,3319,3107,0,0,0,0,0,0,14.78,13.90,14.80
$GC,4016,-0.57,-116.8,2039,3701,3319,3108,383.6,-8.2,210,4021,0.00,2.47,0.00,0.000,1158,0.000,0.040,2039,2277,3212,3318,3107,0,0,0,0,0,0,14.12,14.04,14.14
$GC,4378,-0.57,-116.8,2038,2274,3318,3105,413.2,-8.3,219,4383,0.00,2.53,0.00,0.000,516,0.000,0.051,2039,896,3210,3317,3104,0,0,0,0,0,0,14.80,13.81,14.81
$GC,4412,-0.61,-116.8,2039,896,3318,3105,416.4,-8.7,224,4417,0.12,2.60,0.00,0.000,5254,0.135,0.054,1989,2306,3210,3317,3104,0,0,0,0,0,0,13.98,13.97,14.10
$GC,4773,-0.61,-116.8,1990,2307,3314,3103,453.7,-10.5,233,4779,0.00,2.60,0.00,0.000,260,0.000,0.083,1985,3698,3208,3315,3102,0,0,0,0,0,0,14.80,13.89,14.81
$GC,4856,-0.61,-116.8,1985,3698,3315,3102,461.9,-9.0,245,4862,0.00,2.50,0.00,0.000,1030,0.000,0.040,1985,2299,3208,3314,3102,0,0,0,0,0,0,14.02,13.98,14.04
$GC,5226,-0.61,-116.8,1985,2299,3314,3100,494.2,-8.7,255,5231,0.00,2.62,0.00,0.000,516,0.000,0.053,1985,880,3206,3313,3099,0,0,0,0,0,0,14.77,13.85,14.79
$GC,5274,-0.61,-116.8,1985,881,3314,3099,499.0,-8.9,262,5286,0.00,2.65,0.00,0.000,1030,0.000,0.058,1985,2283,3206,3313,3099,0,0,0,0,0,0,14.06,14.00,14.12
$GC,5623,-0.61,-116.8,1985,2283,3312,3098,530.6,-9.4,269,5628,0.00,2.62,0.00,0.000,260,0.000,0.082,1977,3699,3204,3311,3098,0,0,0,0,0,0,14.79,13.95,14.81
$GC,5707,-0.61,-116.8,1978,3699,3311,3097,539.1,-9.3,281,5712,0.00,2.47,0.00,0.000,1030,0.000,0.041,1977,2277,3204,3310,3098,0,0,0,0,0,0,14.12,14.04,14.15
$GC,6075,-0.61,-116.8,1977,2277,3310,3096,576.5,-10.4,291,6079,0.00,2.55,0.00,0.000,516,0.000,0.052,1977,883,3202,3309,3096,0,0,0,0,0,0,14.79,13.84,14.81
$GC,6121,-0.61,-116.8,1978,883,3310,3096,581.9,-10.5,298,6133,0.00,2.65,0.00,0.000,1030,0.000,0.057,1973,2290,3202,3309,3096,0,0,0,0,0,0,14.07,14.00,14.12
$GC,6471,-0.61,-116.8,1974,2291,3309,3095,618.9,-10.8,305,6476,0.00,2.62,0.00,0.000,260,0.000,0.086,1971,3695,3201,3308,3095,0,0,0,0,0,0,14.78,13.95,14.80
$GC,6539,-0.61,-116.8,1972,3695,3309,3095,626.7,-10.4,315,6545,0.00,2.50,0.00,0.000,1030,0.000,0.042,1971,2298,3201,3308,3095,0,0,0,0,0,0,14.02,13.99,14.05
$GC,6867,-0.61,-116.8,1972,2297,3308,3093,660.9,-10.6,326,6871,0.00,2.65,0.00,0.000,260,0.000,0.084,1967,3692,3199,3307,3092,0,0,0,0,0,0,14.78,13.92,14.81
$GC,6893,-0.61,-116.8,1968,3692,3307,3093,663.9,-10.0,330,6898,0.12,2.47,0.00,0.000,3078,0.231,0.044,1994,2283,3199,3307,3092,0,0,0,0,0,0,13.69,14.04,13.91
$GC,7261,-0.61,-116.8,1995,2284,3308,3090,696.9,-8.9,340,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2283,3198,3306,3090,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7597,-0.61,-116.8,1995,2284,3307,3089,727.2,-9.1,346,7602,0.00,2.70,0.00,0.000,260,0.000,0.083,1986,3691,3196,3305,3088,0,0,0,0,0,0,14.79,13.88,14.81
$GC,7658,-0.61,-116.8,1986,3692,3305,3089,732.7,-10.2,354,7663,0.00,2.47,0.00,0.000,1030,0.000,0.044,1986,2289,3196,3304,3089,0,0,0,0,0,0,14.13,14.03,14.16
$GC,7997,-0.61,-116.8,1986,2279,3304,3088,765.0,-9.5,367,8002,0.00,2.70,0.00,0.000,260,0.000,0.090,1981,3690,3194,3303,3086,0,0,0,0,0,0,14.78,13.93,14.80
$GC,8029,-0.61,-116.8,1982,3691,3304,3087,768.1,-8.8,372,8035,0.00,2.47,0.00,0.000,1030,0.000,0.045,1982,2301,3195,3303,3087,0,0,0,0,0,0,14.14,14.05,14.16
$GC,8393,-0.61,-116.8,1982,2293,3304,3085,800.3,-8.7,381,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2292,3194,3303,3086,0,0,0,0,0,0,14.77,14.78,14.78
$GC,8728,-0.61,-116.8,1982,2292,3304,3085,829.0,-8.6,387,8733,0.00,2.67,0.00,0.000,260,0.000,0.086,1972,3693,3193,3302,3085,0,0,0,0,0,0,14.78,13.90,14.80
$GC,8803,-0.61,-116.8,1973,3693,3301,3086,835.6,-8.2,398,8808,0.00,2.50,0.00,0.000,1030,0.000,0.046,1972,2285,3193,3302,3085,0,0,0,0,0,0,14.15,14.07,14.18
$GC,9125,-0.61,-116.8,1973,2275,3301,3084,866.2,-9.7,408,9129,0.00,2.70,0.00,0.000,260,0.000,0.090,1972,3694,3192,3301,3083,0,0,0,0,0,0,14.77,13.93,14.78
$GC,9171,-0.61,-116.8,1972,3695,3301,3083,870.6,-9.6,415,9182,0.00,2.53,0.00,0.000,1030,0.000,0.046,1971,2289,3191,3300,3083,0,0,0,0,0,0,14.09,14.04,14.12
$GC,9519,-0.61,-116.8,1972,2289,3300,3082,904.8,-9.8,422,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2288,3190,3299,3081,0,0,0,0,0,0,14.78,14.80,14.81
$GC,9855,-0.61,-116.8,1972,2289,3299,3081,935.9,-9.2,428,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2288,3189,3299,3080,0,0,0,0,0,0,14.78,14.80,14.79
$GC,10193,-0.61,-116.8,1972,2288,3298,3080,966.2,-9.0,434,10198,0.00,2.67,0.00,0.000,260,0.000,0.090,1972,3690,3188,3298,3079,0,0,0,0,0,0,14.76,13.91,14.78
$GC,10218,-0.61,-116.8,1972,3690,3299,3079,968.2,-6.4,438,10224,0.12,2.47,0.00,0.000,3110,0.229,0.048,1998,2306,3188,3297,3079,0,0,0,0,0,0,13.69,14.05,13.93
$STATE,10528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10528,begin apogee
$GC,10538,-0.19,0.0,1999,2178,3298,3079,993.1,-7.8,447,10742,0.50,0.00,201.52,1.562,10244,0.190,0.000,2132,2177,2740,2868,2613,0,0,0,0,0,0,13.57,13.79,13.10
$STATE,10743,end apogee,CONTROL_FINISHED_OK
$STATE,10743,begin climb
$GC,10747,0.68,116.8,2132,2178,2860,2609,999.9,0.0,450,10913,0.95,2.58,155.68,1.784,10756,0.131,0.058,2413,812,2260,2388,2132,0,0,0,0,0,0,13.65,13.74,12.57
$GC,10964,0.69,143.5,2413,812,2355,2118,996.3,6.2,488,11004,0.00,2.70,31.12,1.824,9254,0.000,0.056,2413,2200,2144,2257,2032,0,0,0,0,0,0,13.44,13.32,12.71
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$STATE,22606,end climb,SURFACE_DEPTH_REACHED
$STATE,22606,begin surface coast
$FINISH,0.7,1.022100
$STATE,22635,end surface coast,CONTROL_FINISHED_OK
$STATE,22635,begin surface
$SM_CCo,22657,55.12,0.135,0,0,700,500.17
$SM_GC,0.73,7.10,0.25,55.12,0.073,0.079,0.135,216,2303,700,-6.14,-0.57,500.17,0,0,0,0,0,0,14.02,14.12,14.14
$IRIDIUM_FIX,1017.98,-12517.48,200317,194330
$TT8_MAMPS,0.038948,0.294357
$HUMID,62.60
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,17.90
$XPDR_PINGS,21
$24V_AH,12.57,273.162
$10V_AH,11.76,0.000
$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
$DEVICE_SECS,19.475,237.900,711.025,55.125,0.000,0.000,0.000,239.000,5.250,0.000,17.222,0.000,16931.090,934.822,4615.539,593.058,0.000,2280.222,0.000,3894.532,0.000,0.828,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,2887.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,25.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334172
$DATA_FILE_SIZE,46711,1077
$CAP_FILE_SIZE,163546,0
$CFSIZE,260034560,172990464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,15386.42,0x233bae,1,24
$CURRENT,0.097,278.76,1
$GPS,210317,085333,1019.858,-12518.285,41,0.8,42,9.2,0.6,254.0,11,6.8