version: 66.13
glider: 191
mission: 7
dive: 5
start: 7 26 116 21 45 28
data:
$ID,191
$MISSION,7
$DIVE,5
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,260716,212912,4743.5601,-12224.9980,17,1.0,23,16.6,0.3,18.1,8,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.9
$GPS2,260716,214504,4743.6567,-12224.9297,38,1.1,39,16.6,0.0,0.0,8,7.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,193.0,303,-21.6,-10.000,-24.78,1503
$D_GRID,179
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.89,-98.7,161,2089,725,300,0.0,0.0,0,133,0.00,0.00,-109.90,0.000,16390,0.000,0.000,161,2087,3404,3464,3344,0,0,0,0,0,0,14.87,13.94,14.90
$GC,137,-0.95,-146.6,162,2084,3463,3345,2.5,-3.2,17,161,12.43,2.67,-4.05,0.000,18724,0.434,2.190,2627,3490,3600,3720,3480,0,0,0,0,0,0,14.52,13.93,14.74
$GC,199,-0.66,-146.6,2626,3494,3719,3481,15.8,-19.3,27,208,0.32,2.35,0.00,0.000,3206,0.279,0.049,2730,2088,3599,3720,3479,0,0,0,0,0,0,14.54,14.67,14.71
$GC,271,-0.73,-146.6,2729,2088,3721,3480,26.2,-12.7,40,279,0.00,0.00,0.00,0.000,134,0.000,0.000,2730,2087,3599,3720,3479,0,0,0,0,0,0,14.86,14.88,14.88
$GC,342,-0.81,-146.6,2731,2088,3719,3480,35.1,-12.3,53,350,0.12,2.45,0.00,0.000,4484,0.154,0.087,2673,3494,3599,3720,3479,0,0,0,0,0,0,14.71,14.69,14.76
$GC,393,-0.75,-146.6,2673,3495,3719,3480,42.5,-15.4,62,402,0.08,2.38,0.00,0.000,3206,0.265,0.053,2698,2079,3599,3720,3479,0,0,0,0,0,0,14.62,14.73,14.78
$GC,464,-0.75,-146.6,2698,2080,3721,3480,52.0,-12.7,75,473,0.00,2.42,0.00,0.000,516,0.000,0.073,2706,668,3599,3720,3479,0,0,0,0,0,0,14.91,14.72,14.93
$GC,480,-0.75,-146.6,2706,668,3721,3480,54.2,-13.5,77,489,0.00,2.47,0.00,0.000,1030,0.000,0.066,2698,2103,3599,3720,3479,0,0,0,0,0,0,14.81,14.73,14.83
$GC,611,-0.75,-146.6,2694,2104,3720,3480,72.0,-12.7,102,620,0.00,2.42,0.00,0.000,260,0.000,0.090,2687,3500,3598,3720,3476,0,0,0,0,0,0,14.93,14.73,14.95
$GC,727,-0.75,-146.6,2687,3501,3720,3480,88.2,-14.8,124,736,0.00,2.38,0.00,0.000,1030,0.000,0.052,2687,2081,3599,3720,3479,0,0,0,0,0,0,14.80,14.77,14.85
$GC,861,-0.75,-146.6,2688,2081,3720,3480,106.1,-13.9,149,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2079,3599,3719,3479,0,0,0,0,0,0,14.95,14.98,15.00
$GC,992,-0.75,-146.6,2688,2079,3716,3480,124.8,-14.3,174,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2080,3599,3720,3479,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1122,-0.75,-146.6,2686,2085,3721,3480,141.2,-12.7,199,1131,0.00,2.45,0.00,0.000,260,0.000,0.090,2676,3493,3599,3720,3479,0,0,0,0,0,0,14.98,14.78,15.00
$GC,1169,-0.75,-146.6,2676,3493,3721,3476,147.3,-13.1,207,1178,0.00,2.35,0.00,0.000,1030,0.000,0.051,2683,2086,3602,3726,3479,0,0,0,0,0,0,14.85,14.81,14.88
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1195,-0.18,0.0,2677,2087,3721,3479,150.2,-13.8,210,1321,0.75,0.00,113.65,1.368,10246,0.242,0.000,2882,2085,2998,3160,2837,0,0,0,0,1,0,14.68,14.28,13.77
$STATE,1328,end apogee,CONTROL_FINISHED_OK
$STATE,1328,begin climb
$GC,1331,0.95,146.6,2883,2086,3161,2844,155.3,0.0,229,1472,1.23,2.50,122.68,1.149,10756,0.158,0.062,3260,677,2392,2556,2229,0,0,0,0,0,0,14.28,14.14,13.79
$GC,1509,0.84,146.6,3260,677,2550,2218,142.3,12.7,253,1518,0.17,2.45,0.00,0.000,5254,0.301,0.055,3225,2097,2383,2551,2216,0,0,0,0,0,0,14.25,14.41,14.43
$GC,1642,0.84,146.6,3226,2099,2550,2210,126.8,11.7,278,1650,0.00,2.45,0.00,0.000,260,0.000,0.080,3225,3502,2381,2551,2211,0,0,0,0,0,0,14.73,14.54,14.76
$GC,1688,0.76,146.6,3226,3503,2550,2210,120.8,13.5,286,1697,0.10,2.38,0.00,0.000,5254,0.283,0.045,3200,2089,2380,2551,2209,0,0,0,0,0,0,14.49,14.63,14.66
$GC,1822,0.81,146.6,3199,2083,2552,2210,107.6,10.2,311,1831,0.00,0.00,0.00,0.000,134,0.000,0.000,3199,2082,2377,2545,2209,0,0,0,0,0,0,14.83,14.88,14.87
$GC,1954,0.87,146.6,3199,2083,2552,2210,93.1,10.2,336,1962,0.00,2.45,0.00,0.000,644,0.000,0.068,3208,657,2380,2551,2209,0,0,0,0,0,0,14.88,14.71,14.91
$GC,2045,0.95,146.6,3208,658,2550,2209,83.7,10.4,353,2053,0.15,2.42,0.00,0.000,3206,0.140,0.057,3261,2098,2380,2551,2209,0,0,0,0,0,0,14.73,14.76,14.81
$GC,2179,0.77,146.6,3262,2099,2551,2209,66.0,13.2,378,2187,0.22,2.38,0.00,0.000,4484,0.299,0.076,3206,3487,2378,2551,2206,0,0,0,0,0,0,14.64,14.73,14.76
$GC,2280,0.77,146.6,3206,3487,2551,2208,55.8,11.2,397,2288,0.00,2.33,0.00,0.000,1030,0.000,0.048,3214,2083,2377,2551,2203,0,0,0,0,0,0,14.81,14.78,14.83
$GC,2414,0.85,162.8,3215,2084,2550,2208,42.9,8.9,422,2430,0.00,2.38,8.25,0.201,8868,0.000,0.064,3225,685,2340,2502,2178,0,0,0,0,0,0,14.95,14.79,14.68
$GC,2521,0.94,170.9,3225,685,2503,2193,32.9,9.4,441,2543,0.00,2.40,10.27,0.207,9382,0.000,0.057,3225,2088,2304,2464,2144,0,0,0,0,0,0,14.86,14.79,14.68
$GC,2606,0.99,175.8,3225,2089,2464,2160,24.5,9.7,456,2621,0.12,2.40,6.82,0.187,10660,0.151,0.078,3273,3488,2288,2443,2133,0,0,0,0,0,0,14.79,14.73,14.69
$GC,2659,0.80,175.8,3272,3489,2445,2144,18.0,13.3,465,2669,0.25,2.33,2.42,0.180,13446,0.291,0.047,3208,2094,2287,2450,2125,0,0,0,0,0,0,14.64,14.77,14.73
$GC,2734,0.93,184.0,3209,2093,2443,2143,10.5,9.4,478,2751,0.12,2.47,8.75,0.161,10916,0.157,0.067,3266,679,2247,2404,2090,0,0,0,0,0,0,14.76,14.76,14.71
$GC,2784,0.93,184.0,3265,679,2406,2100,4.5,12.5,486,2792,0.00,2.40,0.00,0.000,1030,0.000,0.060,3267,2077,2250,2401,2100,0,0,0,0,0,0,14.86,14.77,14.88
$STATE,2801,end climb,SURFACE_DEPTH_REACHED
$STATE,2801,begin surface coast
$FINISH,0.2,1.021545
$STATE,2817,end surface coast,CONTROL_FINISHED_OK
$STATE,2817,begin surface
$SM_CCo,2845,255.40,0.136,0,0,499,613.25
$SM_CCo,3104,-0.10,0.000,0,0,502,613.25
$SM_CCo,3108,0.70,0.249,0,0,499,613.25
$SM_GC,1.12,9.35,0.00,0.70,0.107,0.000,0.249,168,2077,499,-8.66,-0.23,613.25,0,0,0,0,0,0,14.75,15.00,14.66
$IRIDIUM_FIX,4726.11,-12222.38,260716,213531
$TT8_MAMPS,0.039697,0.463631
$HUMID,51.65
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,7767840
$PM_FREEKB,62094784
$TM_FREEKB,7802656
$24V_AH,13.77,3.033
$10V_AH,13.23,0.000
$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,25.425,58.075,272.850,256.100,0.000,0.000,0.000,474.375,0.000,0.000,42.739,0.000,722.273,622.980,2343.417,374.647,0.000,1683.092,0.000,0.000,0.000,0.547,0.000
$DEVICE_MAMPS,433.755,2190.195,1367.820,249.390,0.000,0.000,0.000,164.475,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,0.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2877.000,2807.000,2871.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.976,4.527,18.629,0.000
$MEM,311960
$DATA_FILE_SIZE,16734,492
$CAP_FILE_SIZE,78044,0
$CFSIZE,260034560,257236992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.108,43.98,1
$GPS,260716,223812,4743.494,-12225.031,14,0.9,15,16.6,0.0,0.0,9,9.6