version: 66.13
glider: 190
mission: 9
dive: 675
start: 3 10 117 12 11 28
data:
$ID,190
$MISSION,9
$DIVE,675
$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,67
$R_STBD_OVSHOOT,59
$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
$GPS1,100317,120502,1035.3033,-12504.7881,63,0.8,63,9.3,0.0,0.0,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-59.9
$GPS2,100317,121103,1035.3173,-12504.8457,19,0.9,19,9.3,0.7,221.3,10,9.1
$SPEED_LIMITS,0.127,0.213
$TGT_NAME,N
$TGT_LATLONG,1100.000,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,18.0,46554,-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,7,-0.68,-116.8,201,2238,739,677,0.0,0.0,0,100,0.00,0.00,-90.70,0.000,16386,0.000,0.000,200,2238,3095,3160,3031,0,0,0,0,0,0,14.61,28.83,14.63
$GC,104,-0.68,-116.8,200,2238,3162,3031,4.2,-5.9,3,125,8.98,0.00,-2.03,0.000,18438,0.395,0.000,1971,2238,3220,3307,3134,0,0,0,0,0,0,13.82,13.27,14.26
$GC,435,-0.55,-116.8,1971,2238,3315,3129,85.3,-13.2,15,440,0.17,2.40,0.00,0.000,2692,0.267,0.048,2017,902,3221,3314,3128,0,0,0,0,0,0,13.71,14.00,13.87
$GC,580,-0.55,-116.8,2018,903,3316,3128,96.8,-7.7,35,585,0.00,2.45,0.00,0.000,1030,0.000,0.054,2015,2264,3221,3315,3127,0,0,0,0,0,0,14.28,14.17,14.33
$GC,918,-0.55,-116.8,2015,2265,3318,3128,126.1,-8.7,45,923,0.00,2.60,0.00,0.000,260,0.000,0.076,2010,3697,3221,3316,3127,0,0,0,0,0,0,14.83,13.95,14.84
$GC,1035,-0.55,-116.8,2010,3698,3317,3127,136.0,-8.7,61,1039,0.00,2.38,0.00,0.000,1030,0.000,0.037,2010,2308,3221,3316,3127,0,0,0,0,0,0,14.26,14.19,14.27
$GC,1373,-0.55,-116.8,2011,2309,3317,3127,166.9,-9.1,74,1379,0.00,2.55,0.00,0.000,516,0.000,0.051,2010,893,3221,3316,3127,0,0,0,0,0,0,14.84,13.93,14.86
$GC,1457,-0.55,-116.8,2011,893,3317,3126,174.7,-8.5,86,1463,0.00,2.53,0.00,0.000,1030,0.000,0.053,2009,2293,3220,3316,3125,0,0,0,0,0,0,14.14,14.03,14.19
$GC,1826,-0.55,-116.8,2009,2294,3317,3123,207.9,-9.2,96,1831,0.00,2.58,0.00,0.000,260,0.000,0.078,2002,3699,3219,3316,3123,0,0,0,0,0,0,14.84,13.93,14.86
$GC,1894,-0.55,-116.8,2003,3700,3317,3122,214.6,-9.3,106,1900,0.00,2.42,0.00,0.000,1030,0.000,0.039,2002,2286,3219,3316,3122,0,0,0,0,0,0,14.17,14.09,14.21
$GC,2222,-0.55,-116.8,2002,2288,3317,3119,246.6,-10.1,117,2227,0.00,2.55,0.00,0.000,516,0.000,0.054,2002,890,3217,3316,3118,0,0,0,0,0,0,14.84,13.88,14.85
$GC,2297,-0.55,-116.8,2001,890,3317,3117,254.8,-9.9,128,2303,0.00,2.55,0.00,0.000,1030,0.000,0.054,1999,2284,3216,3316,3117,0,0,0,0,0,0,14.11,13.98,14.15
$GC,2618,-0.55,-116.8,2000,2284,3316,3114,287.3,-10.4,138,2623,0.00,2.60,0.00,0.000,260,0.000,0.081,1998,3689,3214,3316,3113,0,0,0,0,0,0,14.85,13.93,14.86
$GC,2708,-0.55,-116.8,1998,3689,3317,3114,296.7,-9.4,151,2713,0.00,2.42,0.00,0.000,1030,0.000,0.041,1998,2290,3214,3316,3113,0,0,0,0,0,0,14.15,14.07,14.18
$GC,3069,-0.55,-116.8,1998,2291,3316,3109,329.7,-9.0,160,3074,0.00,2.58,0.00,0.000,516,0.000,0.055,1997,888,3213,3316,3111,0,0,0,0,0,0,14.88,13.84,14.87
$GC,3130,-0.55,-116.8,1998,887,3317,3110,335.5,-8.6,169,3135,0.00,2.58,0.00,0.000,1030,0.000,0.056,1997,2297,3212,3316,3109,0,0,0,0,0,0,14.11,13.98,14.16
$GC,3466,-0.55,-116.8,1998,2298,3317,3106,366.5,-9.6,181,3471,0.00,2.58,0.00,0.000,260,0.000,0.080,1995,3701,3211,3316,3106,0,0,0,0,0,0,14.84,13.93,14.85
$GC,3562,-0.55,-116.8,1996,3701,3316,3106,376.4,-9.8,195,3567,0.00,2.42,0.00,0.000,1030,0.000,0.040,1995,2291,3211,3316,3106,0,0,0,0,0,0,14.12,14.02,14.14
$GC,3917,-0.55,-116.8,1996,2291,3316,3102,414.5,-11.1,203,3922,0.00,2.55,0.00,0.000,516,0.000,0.054,1996,892,3208,3315,3102,0,0,0,0,0,0,14.85,13.85,14.86
$GC,4007,-0.55,-116.8,1996,893,3316,3101,424.9,-10.6,216,4012,0.00,2.55,0.00,0.000,1030,0.000,0.055,1995,2286,3208,3316,3100,0,0,0,0,0,0,14.07,13.95,14.12
$GC,4369,-0.55,-116.8,1995,2287,3316,3098,463.5,-10.7,225,4373,0.00,2.58,0.00,0.000,260,0.000,0.082,1988,3689,3206,3315,3097,0,0,0,0,0,0,14.85,13.91,14.87
$GC,4485,-0.55,-116.8,1988,3690,3315,3097,475.5,-10.2,241,4490,0.12,2.47,0.00,0.000,3078,0.226,0.044,2016,2282,3205,3314,3097,0,0,0,0,0,0,13.67,14.04,13.90
$GC,4824,-0.55,-116.8,2016,2283,3315,3096,503.1,-7.8,254,4830,0.00,2.55,0.00,0.000,516,0.000,0.054,2016,888,3205,3314,3096,0,0,0,0,0,0,14.85,13.84,14.86
$GC,4914,-0.55,-116.8,2017,888,3314,3096,509.8,-6.8,267,4919,0.00,2.60,0.00,0.000,1062,0.000,0.056,2015,2296,3204,3313,3095,0,0,0,0,0,0,14.12,13.98,14.16
$GC,5277,-0.55,-116.8,2016,2296,3313,3093,534.9,-7.2,276,5282,0.00,2.58,0.00,0.000,292,0.000,0.082,2012,3689,3202,3312,3093,0,0,0,0,0,0,14.84,13.91,14.85
$GC,5345,-0.60,-116.8,2012,3689,3312,3093,540.4,-7.1,286,5352,0.00,2.45,0.00,0.000,1190,0.000,0.042,2012,2283,3202,3311,3093,0,0,0,0,0,0,14.12,14.02,14.15
$GC,5674,-0.60,-116.8,2012,2283,3310,3092,568.3,-9.0,297,5679,0.00,2.53,0.00,0.000,516,0.000,0.054,2012,894,3199,3309,3090,0,0,0,0,0,0,14.83,13.85,14.85
$GC,5763,-0.60,-116.8,2012,894,3310,3092,577.1,-9.0,310,5769,0.00,2.58,0.00,0.000,1030,0.000,0.055,2012,2294,3199,3308,3091,0,0,0,0,0,0,14.10,13.97,14.14
$GC,6125,-0.60,-116.8,2012,2294,3309,3089,609.4,-9.0,319,6130,0.00,2.62,0.00,0.000,260,0.000,0.086,2011,3695,3198,3309,3088,0,0,0,0,0,0,14.85,13.92,14.86
$GC,6223,-0.67,-116.8,2012,3695,3309,3089,617.6,-7.8,333,6227,0.00,2.45,0.00,0.000,1158,0.000,0.043,2011,2283,3198,3308,3088,0,0,0,0,0,0,14.09,14.02,14.13
$GC,6577,-0.67,-116.8,2012,2282,3307,3088,645.9,-8.1,341,6582,0.00,2.53,0.00,0.000,516,0.000,0.054,2011,901,3197,3307,3088,0,0,0,0,0,0,14.84,13.88,14.85
$GC,6652,-0.67,-116.8,2012,901,3307,3088,652.3,-7.8,352,6657,0.00,2.55,0.00,0.000,1030,0.000,0.057,2011,2283,3196,3306,3087,0,0,0,0,0,0,14.12,13.99,14.16
$GC,6973,-0.67,-116.8,2012,2283,3307,3086,677.2,-7.9,362,6979,0.00,2.65,0.00,0.000,260,0.000,0.088,2012,3701,3196,3307,3086,0,0,0,0,0,0,14.82,13.94,14.84
$GC,7035,-0.74,-116.8,2011,3701,3307,3085,682.2,-7.7,371,7041,0.15,2.45,0.00,0.000,5254,0.116,0.044,1951,2287,3195,3305,3086,0,0,0,0,0,0,13.95,14.01,14.05
$GC,7370,-0.68,-116.8,1951,2288,3305,3086,718.0,-11.0,383,7374,0.00,2.53,0.00,0.000,644,0.000,0.056,1950,904,3194,3302,3086,0,0,0,0,0,0,14.83,13.88,14.85
$GC,7430,-0.68,-116.8,1951,906,3304,3086,724.4,-11.5,391,7435,0.15,2.58,0.00,0.000,3078,0.277,0.060,1977,2286,3194,3303,3086,0,0,0,0,0,0,13.59,13.96,13.91
$GC,7769,-0.68,-116.8,1977,2286,3303,3085,757.3,-9.7,404,7773,0.00,2.62,0.00,0.000,260,0.000,0.087,1972,3700,3193,3303,3084,0,0,0,0,0,0,14.83,13.94,14.85
$GC,7865,-0.68,-116.8,1972,3699,3303,3084,767.0,-10.0,418,7871,0.00,2.45,0.00,0.000,1030,0.000,0.044,1971,2305,3193,3302,3084,0,0,0,0,0,0,14.11,14.03,14.14
$GC,8220,-0.68,-116.8,1972,2306,3303,3082,806.2,-11.4,426,8226,0.00,2.62,0.00,0.000,516,0.000,0.056,1971,876,3191,3301,3082,0,0,0,0,0,0,14.83,13.89,14.85
$GC,8309,-0.68,-116.8,1972,876,3302,3082,816.6,-10.9,439,8315,0.00,2.62,0.00,0.000,1030,0.000,0.060,1972,2291,3191,3302,3081,0,0,0,0,0,0,14.12,13.98,14.16
$GC,8673,-0.68,-116.8,1972,2293,3302,3080,857.4,-11.3,448,8678,0.00,2.62,0.00,0.000,260,0.000,0.090,1969,3699,3190,3301,3080,0,0,0,0,0,0,14.81,13.95,14.83
$GC,8734,-0.68,-116.8,1969,3700,3300,3080,864.1,-11.3,457,8740,0.00,2.55,0.00,0.000,1030,0.000,0.045,1969,2279,3190,3300,3080,0,0,0,0,0,0,13.98,13.94,14.01
$GC,9069,-0.68,-116.8,1969,2280,3299,3080,900.3,-10.7,469,9074,0.00,2.58,0.00,0.000,516,0.000,0.057,1969,883,3188,3298,3079,0,0,0,0,0,0,14.82,13.93,14.84
$GC,9138,-0.68,-116.8,1969,883,3299,3080,907.1,-10.4,479,9143,0.00,2.60,0.00,0.000,1030,0.000,0.060,1968,2285,3188,3298,3079,0,0,0,0,0,0,14.10,13.96,14.15
$GC,9464,-0.68,-116.8,1968,2285,3299,3079,940.2,-10.1,490,9470,0.00,2.65,0.00,0.000,260,0.000,0.090,1961,3699,3188,3298,3078,0,0,0,0,0,0,14.83,13.96,14.84
$GC,9561,-0.68,-116.8,1962,3700,3298,3079,949.5,-9.7,504,9566,0.00,2.50,0.00,0.000,1030,0.000,0.046,1960,2285,3187,3297,3078,0,0,0,0,0,0,14.13,14.04,14.16
$GC,9918,-0.68,-116.8,1961,2276,3297,3078,985.7,-10.1,512,9923,0.00,2.58,0.00,0.000,516,0.000,0.056,1961,887,3187,3297,3077,0,0,0,0,0,0,14.81,13.92,14.83
$STATE,9955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9955,begin apogee
$GC,9966,-0.19,0.0,1961,2201,3297,3077,990.4,-10.4,518,10115,0.68,0.00,141.90,2.473,10244,0.222,0.000,2134,2202,2740,2867,2613,0,0,0,0,1,0,13.75,13.56,12.43
$STATE,10116,end apogee,CONTROL_FINISHED_OK
$STATE,10116,begin climb
$GC,10120,0.68,116.8,2134,2202,2869,2619,994.7,0.0,520,10303,0.98,2.72,165.82,1.817,10756,0.135,0.059,2413,800,2250,2369,2131,0,0,0,0,0,0,13.35,13.46,12.83
$GC,10352,0.69,135.1,2414,801,2351,2122,991.8,6.6,559,10379,0.00,2.65,18.92,1.794,9254,0.000,0.056,2414,2201,2182,2290,2075,0,0,0,0,0,0,13.85,13.77,13.04
$GC,10702,0.64,135.1,2414,2200,2267,2063,965.5,8.1,573,10706,0.00,2.55,0.00,0.000,388,0.000,0.087,2413,3607,2164,2266,2062,0,0,0,0,0,0,14.69,14.14,14.71
$GC,10761,0.57,152.0,2414,3607,2265,2063,960.2,6.6,581,10783,0.15,2.45,18.08,1.838,13478,0.264,0.054,2390,2204,2120,2223,2017,0,0,0,0,0,0,13.92,14.28,13.43
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$STATE,21979,end climb,SURFACE_DEPTH_REACHED
$STATE,21979,begin surface coast
$FINISH,-0.0,1.022100
$STATE,22006,end surface coast,CONTROL_FINISHED_OK
$STATE,22006,begin surface
$SM_CCo,22028,53.92,0.132,0,0,698,500.17
$SM_GC,0.79,6.97,0.22,53.92,0.063,0.066,0.132,223,2300,698,-6.13,-0.99,500.17,0,0,0,0,0,0,14.03,14.31,14.11
$IRIDIUM_FIX,1028.94,-12502.94,100317,053028
$TT8_MAMPS,0.038199,0.292859
$HUMID,60.75
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,19.10
$XPDR_PINGS,31
$24V_AH,12.43,259.560
$10V_AH,11.69,0.000
$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,19.225,256.575,658.400,53.925,0.000,0.000,0.000,212.850,7.750,0.000,21.155,0.000,16212.072,908.322,4710.006,595.214,0.000,2273.240,0.000,3979.721,0.000,0.829,0.000
$DEVICE_MAMPS,394.740,135.405,2473.245,131.580,0.000,0.000,0.000,167.535,420.000,0.000,22.470,0.000,2.190,10.770,28.750,35.490,0.000,11.700,0.000,0.750,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,2795.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,25.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334328
$DATA_FILE_SIZE,53327,1188
$CAP_FILE_SIZE,169998,0
$CFSIZE,260034560,176087040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.055,316.09,1
$GPS,100317,182032,1036.761,-12504.642,30,0.8,30,9.3,0.0,0.0,10,9.7