version: 66.13
glider: 190
mission: 9
dive: 626
start: 2 24 117 17 37 47
data:
$ID,190
$MISSION,9
$DIVE,626
$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,38
$R_STBD_OVSHOOT,50
$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
$GPS1,240217,173103,903.4522,-12500.5996,35,0.8,36,9.2,0.5,64.3,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-61.5
$GPS2,240217,173726,903.4800,-12500.6055,15,0.7,19,9.2,0.0,288.5,11,8.7
$SPEED_LIMITS,0.127,0.213
$TGT_NAME,S
$TGT_LATLONG,900.000,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,164.7,6539,-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,-116.8,209,2322,737,666,0.0,0.0,0,99,0.00,0.00,-89.50,0.000,16386,0.000,0.000,207,2322,2993,3042,2944,0,0,0,0,0,0,14.66,28.83,14.69
$GC,102,-0.68,-116.8,207,2322,3044,2944,3.7,-4.9,3,128,9.07,2.85,-3.97,0.000,18948,0.405,2.041,1970,871,3222,3314,3131,0,0,0,0,0,0,13.76,12.86,14.05
$GC,230,-0.49,-116.8,1971,872,3317,3130,41.7,-22.3,21,236,0.30,2.47,0.00,0.000,3206,0.263,0.054,2032,2267,3223,3317,3129,0,0,0,0,0,0,13.88,14.29,14.21
$GC,556,-0.49,-116.8,2033,2267,3321,3127,84.9,-8.5,34,561,0.00,2.55,0.00,0.000,260,0.000,0.074,2022,3700,3223,3320,3126,0,0,0,0,0,0,14.83,14.14,14.85
$GC,773,-0.49,-116.8,2022,3700,3323,3128,104.2,-6.8,65,786,0.00,2.45,0.00,0.000,1062,0.000,0.037,2022,2269,3224,3322,3127,0,0,0,0,0,0,14.23,14.21,14.27
$GC,1122,-0.49,-116.8,2022,2269,3324,3127,129.9,-7.5,72,1127,0.00,2.45,0.00,0.000,516,0.000,0.052,2022,885,3225,3323,3127,0,0,0,0,0,0,14.91,14.14,14.90
$GC,1181,-0.49,-116.8,2023,886,3324,3127,135.1,-8.8,80,1186,0.00,2.53,0.00,0.000,1030,0.000,0.054,2015,2297,3224,3323,3126,0,0,0,0,0,0,14.28,14.17,14.33
$GC,1521,-0.49,-116.8,2017,2298,3324,3126,164.7,-8.6,93,1526,0.00,2.55,0.00,0.000,260,0.000,0.080,2012,3692,3224,3323,3125,0,0,0,0,0,0,14.88,14.00,14.90
$GC,1603,-0.49,-116.8,2012,3693,3324,3125,171.7,-7.7,105,1609,0.00,2.40,0.00,0.000,1030,0.000,0.040,2012,2281,3224,3324,3125,0,0,0,0,0,0,14.32,14.23,14.35
$GC,1973,-0.49,-116.8,2012,2281,3324,3123,201.9,-8.5,115,1978,0.00,2.50,0.00,0.000,516,0.000,0.052,2012,889,3222,3323,3122,0,0,0,0,0,0,14.90,14.08,14.92
$GC,2119,-0.49,-116.8,2012,890,3324,3121,215.2,-8.8,136,2124,0.00,2.50,0.00,0.000,1030,0.000,0.055,2012,2278,3221,3323,3120,0,0,0,0,0,0,14.21,14.09,14.26
$GC,2480,-0.49,-116.8,2012,2279,3324,3116,250.2,-10.1,145,2488,0.00,2.60,0.00,0.000,260,0.000,0.080,2011,3694,3219,3323,3116,0,0,0,0,0,0,14.90,13.90,14.92
$GC,2552,-0.49,-116.8,2011,3695,3324,3115,257.5,-9.6,155,2556,0.00,2.42,0.00,0.000,1030,0.000,0.040,2011,2279,3218,3323,3114,0,0,0,0,0,0,14.33,14.26,14.35
$GC,2878,-0.49,-116.8,2011,2279,3324,3112,287.4,-9.1,166,2882,0.00,2.53,0.00,0.000,516,0.000,0.054,2011,888,3217,3323,3111,0,0,0,0,0,0,14.90,14.03,14.92
$GC,2974,-0.49,-116.8,2012,888,3324,3110,295.9,-8.1,180,2979,0.00,2.53,0.00,0.000,1030,0.000,0.055,2011,2279,3216,3323,3110,0,0,0,0,0,0,14.18,14.06,14.23
$GC,3330,-0.49,-116.8,2011,2280,3324,3107,324.7,-8.3,188,3335,0.00,2.60,0.00,0.000,260,0.000,0.080,2009,3690,3214,3323,3106,0,0,0,0,0,0,14.89,13.90,14.92
$GC,3405,-0.49,-116.8,2009,3690,3325,3106,331.7,-8.6,199,3410,0.12,2.45,0.00,0.000,3078,0.220,0.042,2039,2267,3214,3323,3106,0,0,0,0,0,0,13.81,14.16,14.02
$GC,3725,-0.49,-116.8,2040,2268,3324,3102,355.6,-7.6,209,3731,0.00,2.47,0.00,0.000,516,0.000,0.054,2039,896,3212,3323,3101,0,0,0,0,0,0,14.90,14.00,14.92
$GC,3795,-0.55,-116.8,2039,896,3324,3101,361.5,-8.0,219,3799,0.00,2.50,0.00,0.000,1158,0.000,0.055,2039,2275,3211,3323,3100,0,0,0,0,0,0,14.16,14.03,14.21
$GC,4121,-0.55,-116.8,2039,2275,3323,3097,385.6,-7.4,230,4126,0.00,2.60,0.00,0.000,260,0.000,0.081,2032,3685,3210,3323,3097,0,0,0,0,0,0,14.90,13.87,14.91
$GC,4198,-0.62,-116.8,2033,3686,3322,3097,391.4,-7.1,241,4203,0.00,2.45,0.00,0.000,1190,0.000,0.043,2032,2274,3209,3321,3097,0,0,0,0,0,0,14.26,14.19,14.31
$GC,4516,-0.62,-116.8,2032,2275,3320,3097,414.6,-7.4,251,4521,0.00,2.53,0.00,0.000,516,0.000,0.056,2032,891,3207,3319,3096,0,0,0,0,0,0,14.90,13.95,14.92
$GC,4605,-0.67,-116.8,2033,891,3319,3096,421.9,-7.8,264,4611,0.15,2.50,0.00,0.000,5254,0.126,0.054,1972,2264,3207,3318,3096,0,0,0,0,0,0,13.99,13.99,14.12
$GC,4969,-0.62,-116.8,1972,2265,3317,3095,460.7,-11.2,273,4975,0.00,2.65,0.00,0.000,388,0.000,0.082,1967,3694,3205,3316,3095,0,0,0,0,0,0,14.88,13.85,14.90
$GC,5052,-0.62,-116.8,1967,3695,3316,3095,470.7,-10.7,285,5058,0.12,2.50,0.00,0.000,3078,0.233,0.043,1993,2257,3204,3314,3095,0,0,0,0,0,0,13.69,14.11,13.92
$GC,5423,-0.62,-116.8,1994,2258,3315,3093,505.8,-9.6,295,5428,0.00,2.47,0.00,0.000,516,0.000,0.054,1993,883,3203,3314,3092,0,0,0,0,0,0,14.88,13.92,14.90
$GC,5541,-0.62,-116.8,1995,883,3314,3092,516.6,-8.8,311,5546,0.00,2.55,0.00,0.000,1030,0.000,0.057,1986,2263,3202,3314,3091,0,0,0,0,0,0,14.08,13.95,14.14
$GC,5880,-0.62,-116.8,1987,2264,3313,3091,548.4,-9.5,324,5885,0.00,2.65,0.00,0.000,260,0.000,0.083,1982,3690,3201,3311,3091,0,0,0,0,0,0,14.89,13.83,14.91
$GC,5984,-0.62,-116.8,1981,3690,3312,3091,558.7,-9.4,339,5995,0.00,2.55,0.00,0.000,1030,0.000,0.044,1982,2266,3200,3310,3091,0,0,0,0,0,0,13.97,13.94,14.00
$GC,6331,-0.62,-116.8,1982,2267,3312,3088,593.4,-10.3,346,6336,0.00,2.53,0.00,0.000,516,0.000,0.055,1982,885,3198,3310,3087,0,0,0,0,0,0,14.90,13.88,14.92
$GC,6406,-0.62,-116.8,1982,885,3311,3087,601.8,-9.9,357,6412,0.00,2.55,0.00,0.000,1030,0.000,0.057,1975,2273,3198,3310,3087,0,0,0,0,0,0,14.06,13.93,14.12
$GC,6728,-0.62,-116.8,1976,2274,3309,3087,635.8,-10.8,367,6733,0.00,2.55,0.00,0.000,516,0.000,0.054,1975,892,3197,3309,3086,0,0,0,0,0,0,14.88,13.86,14.90
$GC,6760,-0.62,-116.8,1976,893,3309,3087,639.9,-11.0,372,6766,0.00,2.53,0.00,0.000,1030,0.000,0.057,1973,2261,3197,3308,3086,0,0,0,0,0,0,14.05,13.90,14.10
$GC,7123,-0.62,-116.8,1973,2262,3310,3084,678.3,-10.7,381,7128,0.00,2.67,0.00,0.000,260,0.000,0.086,1970,3696,3196,3309,3084,0,0,0,0,0,0,14.89,13.82,14.90
$GC,7207,-0.62,-116.8,1970,3696,3309,3085,687.2,-9.3,393,7212,0.00,2.53,0.00,0.000,1030,0.000,0.044,1970,2251,3196,3308,3084,0,0,0,0,0,0,14.15,14.07,14.18
$GC,7574,-0.62,-116.8,1971,2252,3307,3084,725.3,-10.4,403,7579,0.00,2.50,0.00,0.000,516,0.000,0.057,1970,896,3194,3306,3083,0,0,0,0,0,0,14.89,13.81,14.90
$GC,7677,-0.62,-116.8,1971,896,3306,3083,735.7,-9.4,418,7689,0.08,2.58,0.00,0.000,3078,0.232,0.058,1989,2257,3194,3306,3082,0,0,0,0,0,0,13.51,13.83,13.69
$GC,8027,-0.62,-116.8,1989,2257,3306,3080,765.3,-8.5,425,8033,0.00,2.70,0.00,0.000,260,0.000,0.086,1983,3697,3193,3306,3080,0,0,0,0,0,0,14.88,13.88,14.89
$GC,8143,-0.62,-116.8,1983,3698,3305,3080,775.2,-9.5,441,8149,0.00,2.53,0.00,0.000,1030,0.000,0.044,1983,2267,3192,3304,3080,0,0,0,0,0,0,14.13,14.06,14.16
$GC,8484,-0.62,-116.8,1983,2269,3304,3079,805.1,-8.9,454,8489,0.00,2.55,0.00,0.000,516,0.000,0.056,1983,891,3191,3303,3079,0,0,0,0,0,0,14.87,13.78,14.89
$GC,8558,-0.62,-116.8,1983,891,3304,3079,811.9,-8.2,465,8565,0.00,2.60,0.00,0.000,1030,0.000,0.060,1983,2261,3190,3303,3078,0,0,0,0,0,0,13.88,13.81,13.95
$GC,8879,-0.62,-116.8,1983,2261,3303,3078,840.3,-8.9,475,8884,0.00,2.70,0.00,0.000,260,0.000,0.084,1973,3698,3190,3303,3078,0,0,0,0,0,0,14.88,13.87,14.90
$GC,8939,-0.62,-116.8,1974,3699,3303,3078,845.7,-11.1,483,8943,0.00,2.55,0.00,0.000,1030,0.000,0.044,1973,2257,3189,3302,3077,0,0,0,0,0,0,14.12,14.03,14.14
$GC,9277,-0.62,-116.8,1973,2255,3303,3076,877.4,-9.3,496,9282,0.00,2.53,0.00,0.000,516,0.000,0.057,1973,888,3188,3301,3075,0,0,0,0,0,0,14.88,13.78,14.90
$GC,9373,-0.62,-116.8,1973,888,3302,3076,886.2,-9.2,510,9378,0.00,2.58,0.00,0.000,1030,0.000,0.060,1973,2265,3188,3301,3075,0,0,0,0,0,0,14.01,13.87,14.07
$GC,9730,-0.62,-116.8,1973,2265,3299,3074,919.5,-9.4,518,9736,0.00,2.70,0.00,0.000,260,0.000,0.090,1972,3689,3187,3300,3074,0,0,0,0,0,0,14.87,13.83,14.88
$GC,9814,-0.62,-116.8,1972,3690,3300,3074,927.1,-6.9,530,9819,0.00,2.55,0.00,0.000,1062,0.000,0.047,1972,2258,3186,3299,3074,0,0,0,0,0,0,14.09,14.00,14.12
$GC,10184,-0.62,-116.8,1972,2259,3300,3073,962.9,-9.8,540,10188,0.00,2.53,0.00,0.000,516,0.000,0.057,1972,887,3185,3299,3072,0,0,0,0,0,0,14.87,13.76,14.89
$GC,10300,-0.62,-116.8,1972,888,3299,3073,974.8,-12.6,556,10305,0.00,2.58,0.00,0.000,1030,0.000,0.060,1971,2257,3185,3298,3072,0,0,0,0,0,0,14.02,13.88,14.07
$STATE,10467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10467,begin apogee
$GC,10476,-0.19,0.0,1973,2179,3298,3073,992.0,-10.2,566,10618,0.60,0.00,134.73,2.722,10244,0.214,0.000,2128,2180,2741,2869,2613,0,0,0,0,1,0,13.69,13.64,12.55
$STATE,10618,end apogee,CONTROL_FINISHED_OK
$STATE,10619,begin climb
$GC,10624,0.68,116.8,2128,2180,2869,2613,997.0,0.0,568,10797,0.98,2.55,161.70,1.847,10756,0.141,0.056,2411,821,2259,2381,2138,0,0,0,0,0,0,13.57,13.69,12.99
$GC,10946,0.68,116.8,2412,821,2353,2128,983.6,11.0,620,10951,0.00,2.53,0.00,0.000,1030,0.000,0.057,2411,2205,2239,2352,2126,0,0,0,0,0,0,14.30,14.19,14.34
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$STATE,23437,end climb,SURFACE_DEPTH_REACHED
$STATE,23437,begin surface coast
$FINISH,2.2,1.022100
$STATE,23444,end surface coast,CONTROL_FINISHED_OK
$STATE,23444,begin surface
$SM_CCo,23469,60.60,0.136,0,0,700,500.17
$SM_GC,0.81,7.40,2.70,60.60,0.111,0.051,0.136,220,2278,700,-6.14,-0.93,500.17,0,0,0,0,0,0,14.18,14.11,14.16
$IRIDIUM_FIX,859.22,-12459.52,240217,104859
$TT8_MAMPS,0.036701,0.294357
$HUMID,60.35
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.00
$XPDR_PINGS,23
$24V_AH,12.55,242.036
$10V_AH,12.03,0.000
$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,20.075,276.150,549.775,60.600,0.000,0.000,0.000,234.125,5.750,0.000,20.861,0.000,17377.605,875.221,5027.208,607.273,0.000,2306.763,0.000,4236.626,0.000,0.538,0.000
$DEVICE_MAMPS,405.450,2041.020,2721.870,136.170,0.000,0.000,0.000,164.475,420.000,0.000,22.470,0.000,2.190,10.770,28.750,35.490,0.000,11.700,0.000,0.750,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,2960.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,25.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334372
$DATA_FILE_SIZE,56710,1276
$CAP_FILE_SIZE,182418,0
$CFSIZE,260034560,180109312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.023,12.42,1
$GPS,250217,001103,902.080,-12500.455,37,0.7,38,9.2,0.7,233.7,11,6.3