version: 66.13
glider: 191
mission: 8
dive: 5
start: 8 26 116 22 24 50
data:
$ID,191
$MISSION,8
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,620
$D_NO_BLEED,50
$D_BOOST,100
$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,180
$T_MISSION,225
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,150
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,595.40039
$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,165
$PITCH_MAX,3888
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,21
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$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,4
$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,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260816,221002,1004.2567,-12501.5684,17,1.3,32,9.2,0.0,86.2,7,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.0
$GPS2,260816,222429,1004.2650,-12501.4873,17,0.9,18,9.2,0.0,0.0,9,8.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,325.2,28085,-17.5,-10.000,-21.06,2227
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.01,-146.0,153,1871,663,454,0.0,0.0,0,95,0.00,0.00,-74.35,0.000,16386,0.000,0.000,153,1870,2691,2696,2686,0,0,0,0,0,0,14.97,28.83,14.99
$GC,99,-1.01,-146.0,153,1876,2694,2686,3.3,-3.0,5,132,11.82,2.58,-13.45,0.000,18980,0.408,2.130,2583,441,3567,3678,3456,0,0,0,0,0,0,14.59,14.02,14.88
$GC,206,-0.86,-146.0,2583,441,3677,3457,45.3,-34.7,25,215,0.25,2.28,0.00,0.000,3206,0.350,0.045,2626,1821,3566,3676,3456,0,0,0,0,0,0,14.64,14.81,14.83
$GC,527,-0.78,-146.0,2625,1822,3677,3457,114.6,-15.5,44,534,0.12,2.33,0.00,0.000,2692,0.324,0.066,2656,444,3566,3676,3456,0,0,0,0,0,0,14.77,14.89,14.90
$GC,735,-0.74,-146.0,2656,445,3676,3457,143.5,-14.5,85,743,0.00,2.25,0.00,0.000,1158,0.000,0.043,2649,1827,3567,3676,3458,0,0,0,0,0,0,15.00,14.95,15.02
$GC,1041,-0.70,-146.0,2649,1826,3676,3457,188.2,-15.3,96,1048,0.12,2.35,0.00,0.000,2436,0.311,0.063,2670,3251,3566,3676,3456,0,0,0,0,0,0,14.84,14.95,14.95
$GC,1104,-0.70,-146.0,2669,3252,3677,3455,196.9,-13.1,108,1111,0.00,2.33,0.00,0.000,1030,0.000,0.047,2670,1824,3565,3676,3455,0,0,0,0,0,0,15.02,14.98,15.04
$GC,1438,-0.68,-146.0,2671,1825,3677,3450,242.0,-13.6,124,1444,0.00,2.30,0.00,0.000,644,0.000,0.067,2670,444,3562,3675,3450,0,0,0,0,0,0,15.14,14.97,15.16
$GC,1525,-0.66,-146.0,2670,444,3676,3449,254.5,-14.1,141,1534,0.15,2.25,0.00,0.000,3206,0.275,0.046,2693,1821,3562,3676,3449,0,0,0,0,0,0,14.86,14.98,15.02
$GC,1831,-0.66,-146.0,2693,1822,3677,3443,292.3,-12.4,152,1837,0.00,2.38,0.00,0.000,260,0.000,0.067,2685,3254,3559,3676,3443,0,0,0,0,0,0,15.15,14.97,15.17
$GC,1879,-0.68,-146.0,2684,3254,3676,3442,298.4,-12.3,161,1886,0.00,2.35,0.00,0.000,1158,0.000,0.050,2685,1812,3558,3675,3442,0,0,0,0,0,0,15.04,14.97,15.06
$GC,2198,-0.68,-146.0,2685,1813,3676,3436,339.0,-12.6,174,2204,0.00,2.30,0.00,0.000,516,0.000,0.070,2685,443,3555,3675,3436,0,0,0,0,0,0,15.15,14.97,15.17
$GC,2280,-0.68,-146.0,2685,444,3676,3435,349.9,-13.0,190,2286,0.00,2.22,0.00,0.000,1030,0.000,0.047,2675,1811,3558,3676,3441,0,0,0,0,0,0,15.04,15.00,15.06
$GC,2593,-0.68,-146.0,2676,1813,3676,3430,389.9,-12.7,202,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1812,3552,3675,3429,0,0,0,0,0,0,15.15,15.18,15.18
$GC,2893,-0.68,-146.0,2676,1813,3676,3424,427.8,-12.6,212,2899,0.00,2.40,0.00,0.000,260,0.000,0.069,2664,3253,3549,3675,3423,0,0,0,0,0,0,15.15,14.96,15.17
$GC,2945,-0.68,-146.0,2665,3253,3675,3424,434.5,-12.4,222,2952,0.00,2.35,0.00,0.000,1030,0.000,0.050,2664,1819,3549,3675,3423,0,0,0,0,0,0,15.04,14.97,15.06
$GC,3259,-0.66,-146.0,2665,1818,3676,3418,476.0,-13.6,234,3265,0.12,2.33,0.00,0.000,2692,0.286,0.070,2695,441,3546,3675,3418,0,0,0,0,0,0,14.85,14.96,14.97
$GC,3352,-0.66,-146.0,2692,442,3676,3417,488.0,-12.5,252,3359,0.00,2.25,0.00,0.000,1030,0.000,0.047,2688,1812,3546,3675,3417,0,0,0,0,0,0,15.04,14.98,15.04
$GC,3686,-0.66,-146.0,2688,1812,3676,3413,528.4,-11.9,268,3699,0.00,2.40,0.00,0.000,260,0.000,0.069,2677,3250,3542,3673,3412,0,0,0,0,0,0,15.15,14.97,15.17
$GC,3750,-0.68,-146.0,2677,3251,3676,3410,535.8,-11.2,279,3764,0.00,2.38,0.00,0.000,1158,0.000,0.052,2677,1813,3542,3675,3410,0,0,0,0,0,0,15.04,14.97,15.06
$STATE,3812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3812,begin apogee
$GC,3820,-0.24,0.0,2678,1740,3676,3411,543.4,-11.7,282,3949,0.55,0.00,113.62,1.808,10244,0.229,0.000,2828,1739,2967,3166,2768,0,0,0,0,1,0,14.87,14.30,13.67
$STATE,3950,end apogee,CONTROL_FINISHED_OK
$STATE,3950,begin climb
$GC,3954,1.01,146.0,2829,1739,3167,2769,550.0,0.0,286,4094,1.40,2.47,116.35,1.751,10500,0.180,0.067,3226,3149,2371,2576,2167,0,0,0,0,1,0,14.29,14.35,13.59
$GC,4135,0.97,161.9,3226,3149,2577,2167,543.3,9.3,320,4172,0.00,2.35,15.95,1.358,9382,0.000,0.047,3236,1753,2306,2510,2103,0,0,0,0,1,0,14.52,14.45,13.81
$GC,4487,0.92,161.9,3236,1755,2511,2103,505.4,10.9,338,4501,0.12,2.42,0.00,0.000,4740,0.320,0.070,3217,347,2306,2510,2103,0,0,0,0,0,0,14.67,14.78,14.78
$GC,4527,0.87,161.9,3217,350,2512,2103,500.7,11.1,344,4544,0.00,2.35,0.00,0.000,1158,0.000,0.043,3217,1771,2307,2510,2104,0,0,0,0,0,0,14.88,14.83,14.89
$GC,4874,0.84,172.2,3217,1771,2511,2104,467.2,9.5,360,4894,0.12,2.30,13.27,1.517,12708,0.304,0.060,3189,3153,2258,2461,2055,0,0,0,0,0,0,14.76,14.70,14.23
$GC,4939,0.84,190.0,3189,3153,2461,2048,461.3,9.2,372,4963,0.00,2.33,16.02,1.513,9382,0.000,0.048,3196,1751,2187,2393,1982,0,0,0,0,0,0,14.85,14.80,14.15
$GC,5273,0.83,198.6,3196,1752,2391,1967,429.6,9.6,388,5284,0.00,2.42,3.10,0.844,8868,0.000,0.075,3207,335,2156,2361,1951,0,0,0,0,0,0,14.99,14.81,14.16
$GC,5361,0.80,198.6,3207,334,2362,1959,420.2,10.5,405,5370,0.17,2.33,0.00,0.000,5254,0.280,0.044,3170,1749,2159,2361,1958,0,0,0,0,0,0,14.72,14.86,14.88
$GC,5667,0.83,227.1,3170,1751,2362,1958,393.7,8.7,416,5703,0.00,2.35,24.83,1.479,8484,0.000,0.059,3170,3146,2039,2242,1836,0,0,0,0,1,0,15.04,14.62,14.13
$GC,5782,0.85,242.6,3169,3148,2244,1846,383.3,9.3,438,5812,0.00,2.33,15.73,1.300,9254,0.000,0.050,3176,1749,1976,2180,1773,0,0,0,0,1,0,14.82,14.75,14.07
$GC,6126,0.86,253.0,3177,1749,2182,1778,350.2,9.5,456,6150,0.00,2.42,13.00,1.414,8740,0.000,0.073,3187,348,1929,2139,1720,0,0,0,0,1,0,14.97,14.64,14.12
$GC,6201,0.86,253.0,3187,349,2140,1720,342.4,10.4,471,6208,0.00,2.30,0.00,0.000,1030,0.000,0.044,3187,1742,1929,2139,1719,0,0,0,0,0,0,14.82,14.76,14.83
$GC,6520,0.86,253.0,3187,1743,2140,1718,310.1,10.2,484,6526,0.00,2.35,0.00,0.000,260,0.000,0.061,3187,3156,1928,2139,1717,0,0,0,0,0,0,15.00,14.84,15.03
$GC,6587,0.86,253.0,3185,3157,2139,1717,302.7,10.7,497,6594,0.00,2.33,0.00,0.000,1030,0.000,0.050,3196,1755,1927,2139,1716,0,0,0,0,0,0,14.91,14.85,14.93
$GC,6916,0.86,253.0,3196,1754,2136,1717,266.5,11.1,512,6923,0.00,2.42,0.00,0.000,516,0.000,0.073,3207,343,1927,2139,1716,0,0,0,0,0,0,15.07,14.85,15.07
$GC,6944,0.85,253.0,3207,344,2140,1716,263.3,11.8,517,6953,0.00,2.33,0.00,0.000,1158,0.000,0.044,3207,1764,1927,2139,1716,0,0,0,0,0,0,14.95,14.90,14.97
$GC,7250,0.84,253.0,3207,1764,2140,1717,228.8,11.1,528,7256,0.00,2.30,0.00,0.000,388,0.000,0.061,3207,3150,1927,2139,1716,0,0,0,0,0,0,15.06,14.88,15.09
$GC,7307,0.83,253.0,3208,3150,2140,1716,221.9,11.8,539,7315,0.17,2.30,0.00,0.000,5254,0.284,0.050,3179,1760,1927,2139,1716,0,0,0,0,0,0,14.78,14.90,14.95
$GC,7613,0.84,263.2,3180,1760,2140,1716,192.4,9.5,550,7624,0.00,2.42,5.03,1.085,8740,0.000,0.073,3188,346,1894,2101,1687,0,0,0,0,0,0,15.07,14.79,14.30
$GC,7655,0.84,263.2,3188,346,2102,1701,188.1,10.5,558,7661,0.00,2.33,0.00,0.000,1030,0.000,0.044,3188,1767,1899,2101,1698,0,0,0,0,0,0,14.93,14.88,14.95
$GC,7978,0.84,263.2,3188,1765,2096,1701,154.1,10.5,572,7985,0.00,2.28,0.00,0.000,260,0.000,0.061,3188,3146,1900,2101,1700,0,0,0,0,0,0,15.05,14.89,15.07
$GC,8091,0.84,263.2,3187,3146,2102,1701,142.3,10.4,594,8097,0.00,2.22,0.00,0.000,1030,0.000,0.049,3197,1787,1898,2096,1700,0,0,0,0,0,0,14.95,14.88,14.97
$GC,8404,0.86,274.8,3197,1788,2102,1700,112.2,9.5,606,8429,0.00,2.47,13.82,1.101,8740,0.000,0.072,3209,349,1843,2050,1636,0,0,0,0,1,0,15.06,14.80,14.36
$GC,8530,0.90,311.6,3208,350,2051,1635,100.0,8.3,631,8567,0.00,2.38,31.00,0.400,9254,0.000,0.042,3208,1799,1698,1909,1487,0,0,0,0,0,0,14.88,14.83,14.56
$GC,8874,1.07,412.3,3208,1799,1910,1514,76.1,5.4,659,8970,0.12,2.55,85.90,0.347,10916,0.143,0.072,3272,355,1293,1528,1059,0,0,0,0,0,0,14.83,14.66,14.53
$GC,9133,1.16,458.6,3273,355,1529,1078,55.5,7.9,710,9183,0.00,2.30,41.03,0.284,9382,0.000,0.041,3272,1755,1107,1350,865,0,0,0,0,0,0,14.83,14.78,14.56
$GC,9495,1.36,555.0,3272,1759,1351,879,32.7,5.6,742,9576,0.22,2.45,73.53,0.218,10916,0.100,0.070,3369,345,705,918,493,0,0,0,0,0,0,14.81,14.71,14.62
$GC,9612,1.37,555.0,3369,344,919,517,21.1,12.2,755,9620,0.00,2.35,2.15,0.174,9350,0.000,0.041,3369,1768,705,918,492,0,0,0,0,0,0,14.81,14.76,14.66
$STATE,9779,end climb,SURFACE_DEPTH_REACHED
$STATE,9779,begin surface coast
$FINISH,0.3,1.003187
$STATE,9794,end surface coast,CONTROL_FINISHED_OK
$STATE,9794,begin surface
$SM_CCo,9825,26.67,0.135,0,0,538,595.59
$SM_GC,1.13,9.38,0.10,26.67,0.081,0.122,0.135,161,1870,538,-8.54,-1.33,595.59,0,0,0,0,0,0,14.79,14.83,14.74
$IRIDIUM_FIX,958.26,-12502.21,260816,201537
$TT8_MAMPS,0.038199,0.42693
$HUMID,60.31
$INTERNAL_PRESSURE,9.17486
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,7767840
$PM_FREEKB,62228864
$TM_FREEKB,7800960
$24V_AH,13.59,4.535
$10V_AH,13.27,0.000
$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,24.875,108.350,584.325,26.675,0.000,0.000,0.000,453.825,0.250,0.000,19.363,0.000,7081.878,719.441,2446.382,469.892,0.000,1990.919,0.000,1371.188,0.000,0.550,0.000
$DEVICE_MAMPS,407.745,2129.760,1807.695,134.640,0.000,0.000,0.000,169.830,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9857.000,9801.000,8860.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.239,2.794,12.052,0.000
$MEM,311984
$DATA_FILE_SIZE,26728,768
$CAP_FILE_SIZE,112614,0
$CFSIZE,260034560,256917504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,3,0
$CURRENT,0.097,229.13,1
$GPS,270816,011005,1004.845,-12502.489,16,0.9,22,9.2,0.3,351.7,10,9.0