version: 66.13
glider: 191
mission: 8
dive: 6
start: 8 27 116 1 26 31
data:
$ID,191
$MISSION,8
$DIVE,6
$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
$GPS1,270816,011005,1004.8451,-12502.4893,16,0.9,22,9.2,0.3,351.7,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.3
$GPS2,270816,012610,1004.9436,-12502.4326,18,0.8,23,9.2,0.7,45.9,11,9.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,320.1,25953,-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,-146.0,153,1870,663,447,0.0,0.0,0,96,0.00,0.00,-75.12,0.000,16386,0.000,0.000,148,1871,2762,2768,2757,0,0,0,0,0,0,14.90,28.83,14.92
$GC,100,-1.01,-146.0,149,1871,2769,2757,3.7,-3.6,5,133,12.00,2.62,-11.73,0.000,18980,0.415,2.136,2584,453,3566,3677,3456,0,0,0,0,0,0,14.54,13.96,14.78
$GC,187,-0.83,-146.0,2584,454,3678,3456,41.3,-41.1,21,195,0.28,2.28,0.00,0.000,3206,0.325,0.045,2635,1828,3565,3677,3454,0,0,0,0,0,0,14.57,14.73,14.76
$GC,504,-0.75,-146.0,2636,1832,3678,3457,116.5,-16.4,40,511,0.12,2.33,0.00,0.000,2692,0.307,0.063,2666,447,3567,3677,3457,0,0,0,0,0,0,14.73,14.83,14.84
$GC,737,-0.71,-146.0,2665,447,3678,3458,150.0,-14.3,86,743,0.00,2.22,0.00,0.000,1158,0.000,0.041,2659,1824,3567,3677,3458,0,0,0,0,0,0,14.95,14.90,14.96
$GC,1050,-0.67,-146.0,2659,1825,3678,3457,196.1,-15.4,98,1057,0.12,2.35,0.00,0.000,2436,0.302,0.061,2680,3247,3569,3682,3457,0,0,0,0,0,0,14.81,14.90,14.90
$GC,1160,-0.67,-146.0,2680,3247,3678,3457,210.8,-12.8,119,1167,0.00,2.33,0.00,0.000,1030,0.000,0.047,2680,1817,3566,3677,3456,0,0,0,0,0,0,14.97,14.91,15.00
$GC,1479,-0.66,-146.0,2681,1817,3685,3451,253.6,-13.6,132,1485,0.00,2.30,0.00,0.000,644,0.000,0.067,2680,442,3564,3677,3451,0,0,0,0,0,0,15.11,14.92,15.13
$GC,1542,-0.64,-146.0,2680,444,3677,3452,262.4,-13.9,144,1549,0.12,2.22,0.00,0.000,3206,0.287,0.044,2700,1808,3563,3677,3450,0,0,0,0,0,0,14.83,14.95,14.98
$GC,1876,-0.64,-146.0,2698,1810,3677,3444,303.6,-12.1,160,1882,0.00,2.40,0.00,0.000,260,0.000,0.067,2689,3252,3561,3677,3445,0,0,0,0,0,0,15.09,14.92,15.17
$GC,1943,-0.65,-146.0,2689,3254,3678,3443,311.7,-11.4,173,1950,0.00,2.35,0.00,0.000,1158,0.000,0.048,2689,1811,3559,3677,3442,0,0,0,0,0,0,15.01,14.95,15.02
$GC,2272,-0.65,-146.0,2689,1812,3678,3437,352.2,-12.2,188,2279,0.00,2.30,0.00,0.000,516,0.000,0.070,2689,444,3556,3676,3437,0,0,0,0,0,0,15.11,14.97,15.14
$GC,2345,-0.65,-146.0,2693,444,3678,3437,361.6,-12.8,202,2351,0.00,2.22,0.00,0.000,1030,0.000,0.046,2679,1813,3556,3677,3435,0,0,0,0,0,0,15.02,14.97,15.03
$GC,2668,-0.65,-146.0,2679,1813,3677,3430,402.2,-12.5,216,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1814,3553,3677,3429,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2968,-0.65,-146.0,2679,1814,3677,3425,438.6,-12.0,226,2974,0.00,2.40,0.00,0.000,260,0.000,0.067,2668,3256,3550,3676,3424,0,0,0,0,0,0,15.10,14.94,15.14
$GC,3005,-0.65,-146.0,2669,3256,3676,3423,443.1,-11.6,233,3012,0.12,2.35,0.00,0.000,3078,0.268,0.050,2695,1821,3551,3680,3423,0,0,0,0,0,0,14.85,14.95,14.98
$GC,3334,-0.65,-146.0,2695,1822,3678,3419,478.3,-10.7,248,3340,0.00,2.33,0.00,0.000,516,0.000,0.072,2694,444,3548,3677,3419,0,0,0,0,0,0,15.12,14.94,15.14
$GC,3411,-0.65,-146.0,2695,445,3677,3418,486.8,-10.8,263,3418,0.00,2.22,0.00,0.000,1030,0.000,0.047,2687,1813,3547,3676,3418,0,0,0,0,0,0,15.02,14.97,15.03
$GC,3730,-0.65,-146.0,2688,1814,3677,3414,521.9,-11.2,276,3743,0.00,2.40,0.00,0.000,260,0.000,0.068,2677,3254,3545,3677,3414,0,0,0,0,0,0,15.11,14.95,15.15
$GC,3789,-0.67,-146.0,2678,3254,3677,3409,528.6,-10.8,286,3802,0.00,2.38,0.00,0.000,1158,0.000,0.052,2677,1808,3544,3676,3413,0,0,0,0,0,0,15.02,14.95,15.04
$STATE,3896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3896,begin apogee
$GC,3903,-0.24,0.0,2678,1735,3678,3410,541.0,-11.5,291,4033,0.55,0.00,115.10,1.814,10244,0.231,0.000,2828,1734,2967,3160,2774,0,0,0,0,1,0,14.86,14.25,13.63
$STATE,4035,end apogee,CONTROL_FINISHED_OK
$STATE,4035,begin climb
$GC,4038,1.01,146.0,2829,1734,3161,2774,547.3,0.0,295,4179,1.40,2.50,117.05,1.762,10500,0.179,0.065,3226,3149,2371,2571,2172,0,0,0,0,1,0,14.23,14.31,13.54
$GC,4225,0.97,159.1,3226,3154,2571,2172,540.0,9.4,330,4257,0.00,2.38,13.50,1.457,9382,0.000,0.047,3235,1754,2315,2519,2112,0,0,0,0,1,0,14.47,14.41,13.82
$GC,4572,0.92,159.1,3236,1755,2520,2111,504.6,10.2,347,4585,0.12,2.42,0.00,0.000,4740,0.315,0.070,3216,350,2315,2518,2112,0,0,0,0,0,0,14.63,14.73,14.74
$GC,4620,0.88,159.1,3216,351,2519,2111,499.5,10.5,354,4627,0.00,2.33,0.00,0.000,1158,0.000,0.043,3216,1765,2314,2518,2111,0,0,0,0,0,0,14.83,14.78,14.83
$GC,4949,0.84,159.8,3216,1768,2525,2111,466.9,10.0,369,4956,0.12,2.30,0.00,0.000,4516,0.308,0.059,3185,3152,2314,2517,2111,0,0,0,0,0,0,14.72,14.84,14.83
$GC,5032,0.85,187.1,3186,3153,2519,2112,459.3,8.7,385,5068,0.00,2.30,22.98,1.519,9382,0.000,0.048,3192,1754,2202,2402,2003,0,0,0,0,1,0,14.91,14.85,14.08
$GC,5378,0.85,202.5,3191,1754,2403,2010,427.6,9.3,403,5402,0.00,2.45,17.95,1.508,8868,0.000,0.073,3203,350,2135,2335,1936,0,0,0,0,0,0,14.96,14.61,14.15
$GC,5453,0.83,202.5,3200,351,2341,1930,419.8,10.4,418,5460,0.00,2.33,0.00,0.000,1158,0.000,0.044,3203,1755,2131,2334,1929,0,0,0,0,0,0,14.78,14.72,14.79
$GC,5772,0.81,202.5,3204,1756,2335,1927,387.8,10.0,431,5778,0.12,2.30,0.00,0.000,4484,0.300,0.059,3172,3146,2129,2334,1925,0,0,0,0,0,0,14.71,14.81,14.81
$GC,5850,0.83,221.3,3172,3150,2335,1925,380.5,9.1,446,5875,0.00,2.30,16.77,1.465,9254,0.000,0.049,3178,1753,2059,2264,1855,0,0,0,0,0,0,14.90,14.85,14.19
$GC,6199,0.84,229.8,3179,1754,2263,1841,347.7,9.6,465,6211,0.00,2.47,3.12,0.835,8740,0.000,0.073,3190,349,2030,2232,1828,0,0,0,0,0,0,14.97,14.77,14.16
$GC,6252,0.84,229.8,3195,350,2234,1837,341.9,10.7,475,6258,0.00,2.33,0.00,0.000,1030,0.000,0.044,3190,1763,2035,2233,1837,0,0,0,0,0,0,14.88,14.83,14.89
$GC,6565,0.84,229.8,3190,1764,2238,1836,308.9,10.6,487,6572,0.00,2.30,0.00,0.000,260,0.000,0.061,3189,3149,2035,2233,1837,0,0,0,0,0,0,15.02,14.85,15.04
$GC,6672,0.84,229.8,3190,3150,2234,1843,297.0,11.0,508,6679,0.00,2.28,0.00,0.000,1030,0.000,0.050,3199,1768,2034,2232,1837,0,0,0,0,0,0,14.92,14.86,14.93
$GC,6991,0.83,229.8,3199,1770,2234,1836,262.3,10.8,521,6993,0.00,0.00,0.00,0.000,134,0.000,0.000,3199,1768,2035,2233,1837,0,0,0,0,0,0,15.04,15.06,15.06
$GC,7291,0.83,229.8,3199,1768,2228,1838,230.9,10.4,531,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1768,2034,2233,1836,0,0,0,0,0,0,15.06,15.08,15.07
$GC,7590,0.83,229.8,3199,1768,2234,1838,199.9,10.5,541,7597,0.00,2.30,0.00,0.000,260,0.000,0.060,3199,3155,2035,2233,1837,0,0,0,0,0,0,15.07,14.90,15.09
$GC,7664,0.82,229.8,3200,3156,2232,1836,191.7,10.9,555,7670,0.15,2.28,0.00,0.000,5254,0.299,0.049,3178,1776,2035,2233,1837,0,0,0,0,0,0,14.77,14.89,14.93
$GC,7987,0.84,244.5,3178,1777,2234,1836,161.4,9.3,569,8012,0.00,0.00,17.60,1.244,8742,0.000,0.000,3178,1776,1964,2168,1760,0,0,0,0,0,0,15.06,14.71,14.32
$GC,8319,0.86,249.9,3178,1775,2166,1750,128.4,9.7,585,8326,0.00,2.28,0.00,0.000,420,0.000,0.059,3178,3143,1957,2165,1749,0,0,0,0,0,0,15.00,14.83,15.02
$GC,8362,0.89,256.4,3177,3153,2166,1748,124.1,9.7,593,8374,0.00,2.25,5.80,1.086,9382,0.000,0.050,3184,1782,1921,2125,1718,0,0,0,0,0,0,14.90,14.83,14.27
$GC,8689,0.97,305.6,3184,1782,2125,1727,96.6,7.7,608,8741,0.12,2.47,44.25,0.402,10916,0.142,0.072,3246,350,1726,1931,1522,0,0,0,0,0,0,14.83,14.73,14.56
$GC,8753,1.03,355.9,3246,351,1932,1533,91.3,7.7,620,8809,0.00,2.38,46.55,0.392,9254,0.000,0.042,3246,1793,1521,1737,1306,0,0,0,0,0,0,14.83,14.78,14.48
$GC,9116,1.20,455.9,3246,1794,1738,1321,63.1,5.4,652,9208,0.12,2.33,83.57,0.308,10660,0.149,0.057,3295,3143,1111,1358,864,0,0,0,0,0,0,14.76,14.66,14.52
$GC,9240,1.24,469.2,3295,3144,1359,882,52.8,9.4,676,9261,0.00,2.30,13.20,0.265,9382,0.000,0.048,3301,1766,1061,1305,818,0,0,0,0,0,0,14.73,14.68,14.52
$GC,9573,1.36,524.7,3304,1766,1306,833,27.0,7.4,702,9625,0.12,2.47,43.12,0.205,10916,0.138,0.073,3370,352,830,1063,598,0,0,0,0,0,0,14.76,14.69,14.64
$GC,9727,1.37,524.7,3370,350,1064,622,10.8,11.9,732,9739,0.00,2.30,2.50,0.164,9350,0.000,0.040,3370,1762,833,1064,602,0,0,0,0,0,0,14.81,14.76,14.68
$STATE,9803,end climb,SURFACE_DEPTH_REACHED
$STATE,9803,begin surface coast
$FINISH,0.2,1.020541
$STATE,9818,end surface coast,CONTROL_FINISHED_OK
$STATE,9818,begin surface
$SM_CCo,9846,43.42,0.135,0,0,539,595.59
$SM_GC,1.20,9.30,0.10,43.42,0.074,0.123,0.135,165,1864,539,-8.53,-1.50,595.59,0,0,0,0,0,0,14.78,14.81,14.72
$IRIDIUM_FIX,958.26,-12502.21,260816,221651
$TT8_MAMPS,0.039697,0.393225
$HUMID,59.05
$INTERNAL_PRESSURE,9.15533
$TCM_TEMP,25.90
$XPDR_PINGS,1
$SC_FREEKB,7767456
$PM_FREEKB,62202368
$TM_FREEKB,7786944
$24V_AH,13.54,4.841
$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,24.925,98.525,563.075,43.425,0.000,0.000,0.000,501.850,0.250,0.000,24.523,0.000,7223.904,686.392,2470.958,464.308,0.000,1976.041,0.000,1334.661,0.000,0.549,0.000
$DEVICE_MAMPS,415.395,2135.880,1813.815,134.640,0.000,0.000,0.000,178.245,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9885.000,9821.000,8898.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.157,2.771,11.992,0.000
$MEM,311972
$DATA_FILE_SIZE,26694,740
$CAP_FILE_SIZE,111711,0
$CFSIZE,260034560,256770048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.119,224.12,1
$GPS,270816,041234,1005.344,-12503.560,31,0.7,32,9.2,0.6,98.1,11,9.6