version: 66.13
glider: 191
mission: 7
dive: 3
start: 7 26 116 19 35 20
data:
$ID,191
$MISSION,7
$DIVE,3
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,50
$T_MISSION,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,54173
$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,627.77997
$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,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2085
$C_ROLL_CLIMB,2085
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3000
$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,-151.86458
$PRESSURE_SLOPE,0.00010696654
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,2052
$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,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260716,192912,4743.7119,-12224.7803,17,0.9,18,16.6,0.0,0.0,9,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.6
$GPS2,260716,193458,4743.7324,-12224.7656,17,0.9,22,16.6,0.0,288.3,9,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,202.5,520,-22.8,-10.000,-25.92,1351
$D_GRID,175
$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,-0.92,-88.7,167,2093,715,302,0.0,0.0,0,133,0.00,0.00,-109.30,0.000,16390,0.000,0.000,166,2093,3363,3418,3308,0,0,0,0,0,0,14.98,13.95,15.00
$GC,136,-1.00,-146.6,167,2093,3420,3308,2.4,-3.2,17,161,12.05,2.65,-4.95,0.000,18980,0.427,2.178,2631,681,3598,3719,3477,0,0,0,0,0,0,14.59,13.96,14.82
$GC,204,-0.83,-146.6,2633,681,3721,3478,16.5,-19.0,28,212,0.25,2.45,0.00,0.000,3206,0.304,0.064,2678,2112,3599,3721,3477,0,0,0,0,0,0,14.62,14.73,14.78
$GC,275,-0.83,-146.6,2679,2112,3720,3478,28.1,-15.3,41,283,0.00,2.42,0.00,0.000,260,0.000,0.089,2670,3514,3598,3718,3478,0,0,0,0,0,0,14.94,14.74,14.95
$GC,296,-0.83,-146.6,2671,3514,3721,3478,31.4,-14.9,44,304,0.00,2.40,0.00,0.000,1030,0.000,0.054,2668,2082,3599,3721,3477,0,0,0,0,0,0,14.84,14.77,14.84
$GC,366,-0.83,-146.6,2668,2078,3722,3478,43.1,-17.5,57,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2084,3598,3720,3477,0,0,0,0,0,0,14.95,14.97,14.97
$GC,437,-0.83,-146.6,2669,2082,3725,3478,55.2,-16.2,70,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2080,3599,3721,3477,0,0,0,0,0,0,14.96,14.99,14.97
$GC,568,-0.83,-146.6,2671,2081,3720,3478,73.2,-14.9,95,577,0.00,2.42,0.00,0.000,260,0.000,0.088,2660,3490,3598,3720,3477,0,0,0,0,0,0,14.99,14.77,15.01
$GC,634,-0.83,-146.6,2660,3491,3723,3478,83.5,-14.4,107,643,0.00,2.35,0.00,0.000,1030,0.000,0.052,2660,2079,3598,3720,3477,0,0,0,0,0,0,14.86,14.81,14.88
$GC,766,-0.83,-146.6,2661,2079,3720,3477,103.5,-15.6,132,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2079,3598,3720,3477,0,0,0,0,0,0,15.00,15.03,15.02
$GC,897,-0.83,-146.6,2667,2079,3720,3478,123.8,-15.2,157,905,0.00,2.45,0.00,0.000,260,0.000,0.089,2650,3502,3598,3720,3477,0,0,0,0,0,0,15.01,14.80,15.03
$GC,993,-0.83,-146.6,2650,3498,3720,3478,138.4,-14.4,175,1002,0.08,2.35,0.00,0.000,3078,0.287,0.050,2678,2079,3602,3720,3484,0,0,0,0,0,0,14.71,14.84,14.88
$STATE,1076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1076,begin apogee
$GC,1084,-0.18,0.0,2678,2079,3722,3478,150.5,-14.1,191,1210,0.73,0.00,120.88,1.186,10246,0.230,0.000,2885,2078,2998,3166,2831,0,0,0,0,0,0,14.73,14.38,13.93
$STATE,1213,end apogee,CONTROL_FINISHED_OK
$STATE,1214,begin climb
$GC,1217,1.00,146.6,2884,2078,3161,2818,155.5,0.0,209,1353,1.25,2.53,120.65,1.121,10756,0.165,0.063,3269,678,2392,2563,2222,0,0,0,0,0,0,14.34,14.26,13.87
$GC,1381,0.90,146.6,3268,678,2553,2212,142.3,14.2,230,1389,0.00,2.45,0.00,0.000,1158,0.000,0.055,3269,2096,2382,2555,2210,0,0,0,0,0,0,14.46,14.39,14.48
$GC,1515,0.80,146.6,3268,2097,2556,2205,122.7,14.9,255,1524,0.22,0.00,0.00,0.000,4230,0.301,0.000,3216,2097,2377,2551,2203,0,0,0,0,0,0,14.49,14.66,14.62
$GC,1649,0.86,146.6,3217,2097,2554,2203,107.2,11.5,280,1658,0.00,2.45,0.00,0.000,644,0.000,0.065,3224,666,2379,2555,2203,0,0,0,0,0,0,14.87,14.70,14.88
$GC,1686,0.94,146.6,3224,667,2556,2204,102.7,11.8,286,1694,0.00,2.42,0.00,0.000,1158,0.000,0.058,3225,2104,2378,2555,2202,0,0,0,0,0,0,14.78,14.72,14.79
$GC,1819,0.99,146.6,3224,2105,2556,2202,87.5,11.2,311,1828,0.12,0.00,0.00,0.000,2182,0.155,0.000,3271,2104,2378,2555,2201,0,0,0,0,0,0,14.75,14.83,14.80
$GC,1954,0.88,146.6,3271,2105,2559,2202,69.2,14.1,336,1962,0.15,0.00,0.00,0.000,4230,0.305,0.000,3241,2104,2378,2555,2201,0,0,0,0,0,0,14.66,14.83,14.78
$GC,2087,0.88,146.6,3238,2110,2546,2202,53.9,10.9,361,2096,0.00,2.40,0.00,0.000,260,0.000,0.080,3237,3477,2378,2556,2201,0,0,0,0,0,0,14.97,14.76,15.00
$GC,2226,0.88,146.6,3243,3478,2555,2200,35.7,12.8,387,2235,0.00,2.30,0.00,0.000,1030,0.000,0.046,3245,2081,2377,2555,2199,0,0,0,0,0,0,14.87,14.83,14.88
$GC,2298,0.88,146.6,3245,2080,2556,2200,27.1,11.4,400,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2080,2377,2555,2199,0,0,0,0,0,0,14.99,15.02,15.01
$GC,2369,0.89,155.4,3245,2080,2556,2200,20.2,9.3,413,2384,0.00,2.45,4.20,0.145,8484,0.000,0.079,3245,3488,2360,2534,2187,0,0,0,0,0,0,15.00,14.76,14.78
$GC,2412,0.84,155.4,3245,3488,2539,2189,15.5,11.9,420,2420,0.10,2.33,0.00,0.000,5254,0.288,0.047,3218,2087,2363,2538,2189,0,0,0,0,0,0,14.70,14.81,14.87
$GC,2483,0.98,160.6,3218,2087,2540,2190,8.7,9.6,433,2493,0.12,2.45,3.58,0.155,10916,0.158,0.067,3274,675,2346,2516,2177,0,0,0,0,0,0,14.80,14.80,14.76
$STATE,2542,end climb,SURFACE_DEPTH_REACHED
$STATE,2542,begin surface coast
$FINISH,0.5,1.021641
$STATE,2560,end surface coast,CONTROL_FINISHED_OK
$STATE,2560,begin surface
$SM_CCo,2592,268.77,0.136,0,0,499,613.25
$SM_CCo,2864,-0.10,0.000,0,0,501,613.25
$SM_CCo,2868,0.62,0.263,0,0,499,613.25
$SM_GC,1.13,9.18,2.45,0.62,0.092,0.063,0.263,165,2091,499,-8.67,-0.71,613.25,0,0,0,0,0,0,14.80,14.84,14.70
$IRIDIUM_FIX,4722.92,-12225.08,260716,192543
$TT8_MAMPS,0.039697,0.460635
$HUMID,52.20
$INTERNAL_PRESSURE,8.81352
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,7768608
$PM_FREEKB,62190016
$TM_FREEKB,7820864
$24V_AH,13.87,2.675
$10V_AH,13.28,0.000
$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,24.250,43.725,249.300,269.400,0.000,0.000,0.000,0.000,0.000,0.000,22.991,0.000,609.154,600.946,1627.327,128.354,0.000,1130.613,0.000,0.000,0.000,0.546,0.000
$DEVICE_MAMPS,426.870,2177.955,1185.750,263.160,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,0.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2564.000,2533.000,2541.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.220,4.487,19.038,0.000
$MEM,312024
$DATA_FILE_SIZE,13431,447
$CAP_FILE_SIZE,79719,0
$CFSIZE,260034560,257454080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1080.46,0x213b6c,2,24
$CURRENT,0.095,36.95,1
$GPS,260716,202419,4743.604,-12224.956,17,2.0,30,16.6,0.2,0.0,6,9.5