version: 66.13
glider: 191
mission: 8
dive: 55
start: 9 8 116 7 6 55
data:
$ID,191
$MISSION,8
$DIVE,55
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,120
$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,420
$T_MISSION,440
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,0.0031999999
$HD_B,0.0087299999
$HD_C,7.1299997e-05
$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,515
$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,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,3
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,90
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2793
$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,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,-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,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,080916,065303,1012.9281,-12455.3916,40,0.8,40,9.2,0.0,0.0,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.7
$GPS2,080916,070635,1013.0281,-12455.2295,14,0.8,14,9.2,0.4,65.9,11,9.0
$SPEED_LIMITS,0.136,0.221
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,257.0,33693,-14.8,-7.857,-19.56,2167
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.80,-146.0,157,1872,890,526,0.0,0.0,0,108,0.00,0.00,-84.70,0.000,16386,0.000,0.000,158,1874,3385,3445,3326,0,0,0,0,0,0,14.83,28.83,14.85
$GC,112,-0.80,-146.0,157,1871,3447,3327,7.1,-10.3,3,129,11.90,2.45,0.00,0.000,2564,0.396,0.052,2672,444,3387,3446,3328,0,0,0,0,0,0,14.50,14.68,14.71
$GC,297,-0.66,-146.0,2671,444,3450,3328,71.7,-23.8,30,304,0.20,2.22,0.00,0.000,3206,0.298,0.034,2708,1813,3389,3450,3328,0,0,0,0,0,0,14.62,14.77,14.77
$GC,633,-0.59,-146.0,2708,1817,3459,3322,114.1,-11.2,43,640,0.12,2.38,0.00,0.000,2436,0.282,0.051,2733,3253,3390,3458,3323,0,0,0,0,0,0,14.73,14.81,14.79
$GC,857,-0.56,-146.0,2733,3253,3459,3324,136.6,-8.6,75,863,0.00,2.05,0.00,0.000,1158,0.000,0.037,2733,1985,3390,3458,3323,0,0,0,0,0,0,14.90,14.85,14.90
$GC,1193,-0.56,-146.0,2733,1986,3458,3323,170.1,-10.0,88,1200,0.00,2.60,0.00,0.000,516,0.000,0.060,2738,441,3390,3458,3322,0,0,0,0,0,0,15.02,14.85,15.04
$GC,1377,-0.52,-146.0,2733,441,3459,3319,189.0,-10.2,114,1384,0.15,2.40,0.00,0.000,3206,0.252,0.036,2758,1907,3388,3458,3319,0,0,0,0,0,0,14.78,14.88,14.90
$GC,1699,-0.52,-146.0,2758,1907,3459,3315,218.8,-9.2,125,1706,0.00,2.20,0.00,0.000,260,0.000,0.056,2750,3245,3386,3458,3314,0,0,0,0,0,0,15.03,14.86,15.05
$GC,1726,-0.52,-146.0,2751,3245,3458,3314,221.4,-9.2,129,1733,0.00,2.20,0.00,0.000,1030,0.000,0.037,2750,1881,3386,3458,3314,0,0,0,0,0,0,14.94,14.88,14.95
$GC,2091,-0.52,-146.0,2751,1882,3458,3307,255.7,-9.4,139,2104,0.00,2.40,0.00,0.000,516,0.000,0.059,2750,449,3382,3458,3306,0,0,0,0,0,0,15.05,14.89,15.07
$GC,2229,-0.52,-146.0,2751,449,3458,3304,269.4,-9.6,158,2243,0.00,2.25,0.00,0.000,1030,0.000,0.034,2741,1846,3379,3454,3304,0,0,0,0,0,0,14.97,14.92,14.98
$GC,2551,-0.52,-146.0,2741,1848,3458,3299,300.4,-9.8,168,2564,0.00,2.33,0.00,0.000,260,0.000,0.057,2731,3252,3378,3457,3299,0,0,0,0,0,0,15.08,14.92,15.10
$GC,2591,-0.52,-146.0,2731,3253,3458,3298,304.5,-9.9,173,2605,0.00,2.28,0.00,0.000,1030,0.000,0.038,2731,1845,3375,3453,3298,0,0,0,0,0,0,15.02,14.94,15.00
$GC,2955,-0.52,-146.0,2731,1845,3458,3292,342.3,-10.4,182,2969,0.10,2.35,0.00,0.000,2564,0.279,0.057,2753,443,3374,3457,3292,0,0,0,0,0,0,14.85,14.92,14.97
$GC,3074,-0.52,-146.0,2754,444,3458,3293,354.6,-10.3,198,3087,0.00,2.25,0.00,0.000,1030,0.000,0.036,2747,1826,3373,3458,3289,0,0,0,0,0,0,15.01,14.96,15.02
$GC,3416,-0.52,-146.0,2747,1826,3458,3286,389.1,-10.1,211,3429,0.00,2.35,0.00,0.000,260,0.000,0.058,2738,3244,3371,3458,3284,0,0,0,0,0,0,15.10,14.93,15.12
$GC,3478,-0.52,-146.0,2736,3245,3458,3284,395.3,-10.1,219,3491,0.00,2.30,0.00,0.000,1030,0.000,0.038,2736,1833,3370,3457,3284,0,0,0,0,0,0,15.00,14.95,15.02
$GC,3820,-0.52,-146.0,2736,1833,3458,3280,430.2,-10.3,232,3833,0.00,2.35,0.00,0.000,516,0.000,0.062,2736,438,3368,3457,3279,0,0,0,0,0,0,15.11,14.94,15.12
$GC,3982,-0.52,-146.0,2736,438,3458,3278,447.1,-10.4,254,3996,0.12,2.17,0.00,0.000,3078,0.268,0.037,2753,1787,3367,3457,3277,0,0,0,0,0,0,14.85,14.97,14.99
$GC,4339,-0.52,-146.0,2753,1788,3458,3273,478.4,-8.5,262,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1787,3365,3457,3273,0,0,0,0,0,0,15.11,15.13,15.13
$GC,4675,-0.52,-146.0,2753,1788,3458,3270,505.9,-8.1,268,4688,0.00,2.45,0.00,0.000,260,0.000,0.059,2745,3253,3363,3457,3269,0,0,0,0,0,0,15.11,14.93,15.13
$GC,4715,-0.52,-146.0,2745,3254,3458,3269,509.2,-7.9,273,4728,0.00,2.38,0.00,0.000,1062,0.000,0.039,2744,1793,3366,3457,3275,0,0,0,0,0,0,15.02,14.96,15.01
$GC,5078,-0.52,-146.0,2745,1793,3458,3265,539.4,-8.4,282,5092,0.00,2.28,0.00,0.000,516,0.000,0.063,2746,440,3361,3457,3265,0,0,0,0,0,0,15.11,14.95,15.13
$GC,5141,-0.52,-146.0,2745,440,3459,3265,545.1,-9.3,290,5154,0.00,2.17,0.00,0.000,1030,0.000,0.037,2736,1783,3360,3457,3264,0,0,0,0,0,0,15.02,14.97,15.03
$GC,5483,-0.52,-146.0,2735,1783,3458,3261,577.1,-9.5,303,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1783,3358,3457,3260,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5819,-0.52,-146.0,2736,1784,3458,3258,610.3,-9.9,309,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1783,3357,3457,3257,0,0,0,0,0,0,15.09,15.14,15.13
$GC,6155,-0.52,-146.0,2736,1784,3458,3254,641.5,-9.1,315,6168,0.00,2.45,0.00,0.000,260,0.000,0.060,2725,3242,3356,3457,3255,0,0,0,0,0,0,15.10,14.95,15.13
$GC,6244,-0.52,-146.0,2724,3244,3458,3255,649.7,-9.0,327,6257,0.15,2.45,0.00,0.000,3078,0.244,0.041,2759,1745,3355,3457,3254,0,0,0,0,0,0,14.85,14.96,14.99
$GC,6615,-0.52,-146.0,2759,1745,3458,3251,678.3,-7.6,337,6628,0.00,2.20,0.00,0.000,548,0.000,0.065,2759,443,3353,3457,3250,0,0,0,0,0,0,15.11,14.94,15.13
$GC,6711,-0.52,-146.0,2759,442,3457,3251,686.4,-8.1,350,6724,0.00,2.08,0.00,0.000,1030,0.000,0.039,2754,1726,3353,3457,3249,0,0,0,0,0,0,15.01,14.97,15.02
$GC,7074,-0.52,-146.0,2754,1727,3458,3247,714.3,-7.6,359,7087,0.00,2.55,0.00,0.000,292,0.000,0.060,2743,3252,3352,3457,3247,0,0,0,0,0,0,15.11,14.94,15.12
$GC,7178,-0.52,-146.0,2743,3252,3458,3246,722.3,-7.7,373,7191,0.00,2.53,0.00,0.000,1062,0.000,0.041,2743,1726,3351,3456,3246,0,0,0,0,0,0,15.00,14.95,15.02
$GC,7534,-0.52,-146.0,2742,1726,3458,3243,750.1,-7.8,381,7547,0.00,2.17,0.00,0.000,548,0.000,0.065,2743,440,3350,3457,3243,0,0,0,0,0,0,15.10,14.93,15.11
$GC,7623,-0.52,-146.0,2743,440,3458,3250,757.7,-8.5,393,7636,0.00,2.10,0.00,0.000,1030,0.000,0.039,2734,1722,3350,3457,3243,0,0,0,0,0,0,15.01,14.95,15.02
$GC,7993,-0.52,-146.0,2734,1723,3458,3240,787.3,-8.0,403,8006,0.00,2.55,0.00,0.000,260,0.000,0.061,2723,3242,3348,3457,3240,0,0,0,0,0,0,15.11,14.92,15.11
$GC,8117,-0.52,-146.0,2723,3242,3458,3240,797.8,-8.3,420,8131,0.15,2.47,0.00,0.000,3078,0.247,0.042,2757,1736,3348,3457,3239,0,0,0,0,0,0,14.83,14.94,14.97
$GC,8453,-0.52,-146.0,2757,1736,3458,3238,822.1,-7.2,432,8466,0.00,2.17,0.00,0.000,548,0.000,0.066,2757,447,3347,3457,3237,0,0,0,0,0,0,15.09,14.92,15.14
$GC,8493,-0.52,-146.0,2757,448,3458,3237,825.4,-8.6,437,8506,0.00,2.10,0.00,0.000,1030,0.000,0.039,2753,1743,3347,3457,3237,0,0,0,0,0,0,15.00,14.95,15.02
$GC,8857,-0.52,-146.0,2751,1743,3458,3235,853.9,-8.1,446,8870,0.00,2.53,0.00,0.000,260,0.000,0.061,2740,3248,3345,3457,3234,0,0,0,0,0,0,15.08,14.92,15.10
$GC,8975,-0.52,-146.0,2741,3248,3458,3235,863.7,-8.0,462,8988,0.00,2.45,0.00,0.000,1030,0.000,0.041,2740,1763,3344,3457,3231,0,0,0,0,0,0,14.99,14.93,15.00
$GC,9317,-0.52,-146.0,2740,1761,3458,3233,892.7,-8.5,475,9330,0.00,2.25,0.00,0.000,516,0.000,0.067,2740,438,3345,3457,3233,0,0,0,0,0,0,15.08,14.91,15.13
$GC,9392,-0.52,-146.0,2741,438,3458,3233,899.5,-8.8,485,9405,0.00,2.17,0.00,0.000,1030,0.000,0.041,2732,1768,3343,3457,3230,0,0,0,0,0,0,14.99,14.94,15.00
$GC,9720,-0.52,-146.0,2731,1771,3458,3231,927.3,-8.4,496,9734,0.00,2.47,0.00,0.000,260,0.000,0.062,2727,3242,3343,3457,3230,0,0,0,0,0,0,15.07,14.90,15.10
$GC,9839,-0.52,-146.0,2721,3242,3454,3231,937.1,-8.2,512,9853,0.15,2.40,0.00,0.000,3078,0.248,0.042,2755,1787,3344,3458,3230,0,0,0,0,0,0,14.81,14.92,14.93
$GC,10184,-0.52,-146.0,2755,1788,3458,3228,961.1,-6.9,525,10198,0.00,2.28,0.00,0.000,548,0.000,0.067,2755,448,3342,3457,3228,0,0,0,0,0,0,15.07,14.90,15.09
$GC,10267,-0.52,-146.0,2755,449,3458,3228,967.5,-7.4,536,10280,0.00,2.17,0.00,0.000,1062,0.000,0.040,2749,1772,3342,3457,3228,0,0,0,0,0,0,14.97,14.93,14.99
$STATE,10585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10585,begin apogee
$GC,10593,-0.21,0.0,2750,1697,3458,3227,990.4,-7.2,546,10781,0.40,0.00,178.15,1.949,10244,0.228,0.000,2857,1697,2793,2941,2646,0,0,0,0,0,0,14.81,14.04,13.40
$STATE,10782,end apogee,CONTROL_FINISHED_OK
$STATE,10782,begin climb
$GC,10786,0.80,146.0,2857,1697,2937,2635,996.9,0.0,549,10957,1.08,2.50,151.75,2.117,10756,0.185,0.067,3177,349,2190,2362,2019,0,0,0,0,0,0,14.04,14.10,13.25
$GC,11100,0.80,146.0,3177,349,2353,1992,973.6,9.8,597,11113,0.00,2.35,0.00,0.000,1030,0.000,0.036,3177,1728,2172,2353,1991,0,0,0,0,0,0,14.44,14.39,14.45
$GC,11442,0.80,146.0,3177,1729,2354,1986,940.5,9.6,610,11455,0.00,2.42,0.00,0.000,516,0.000,0.067,3186,352,2169,2352,1986,0,0,0,0,0,0,14.81,14.59,14.80
$GC,11604,0.77,146.0,3187,349,2349,1987,924.4,10.4,632,11617,0.00,2.33,0.00,0.000,1158,0.000,0.034,3187,1755,2169,2352,1986,0,0,0,0,0,0,14.75,14.70,14.76
$GC,11960,0.73,146.0,3187,1756,2353,1984,889.5,9.8,640,11973,0.00,2.30,0.00,0.000,388,0.000,0.055,3184,3117,2168,2353,1984,0,0,0,0,0,0,14.91,14.76,14.92
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$STATE,22528,end climb,SURFACE_DEPTH_REACHED
$STATE,22528,begin surface coast
$FINISH,0.2,1.019194
$STATE,22559,end surface coast,CONTROL_FINISHED_OK
$STATE,22559,begin surface
$SM_CCo,22586,41.62,0.125,0,0,691,515.13
$SM_GC,1.27,9.18,0.10,41.62,0.071,0.112,0.125,158,1877,691,-8.61,-1.81,515.13,0,0,0,0,0,0,14.78,14.83,14.73
$IRIDIUM_FIX,1009.21,-12450.72,080916,002404
$TT8_MAMPS,0.03745,0.281624
$HUMID,54.09
$INTERNAL_PRESSURE,9.11626
$TCM_TEMP,26.40
$XPDR_PINGS,5
$SC_FREEKB,7747232
$PM_FREEKB,60134592
$TM_FREEKB,7268832
$24V_AH,13.25,25.244
$10V_AH,13.10,0.000
$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
$DEVICE_SECS,24.925,224.025,604.625,41.625,0.000,0.000,0.000,421.875,1.250,0.000,15.331,0.000,17975.152,873.386,3951.025,618.285,0.000,3116.171,0.000,2045.687,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22616.000,22565.000,2710.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.029,2.418,15.793,0.000
$MEM,312004
$DATA_FILE_SIZE,43414,1205
$CAP_FILE_SIZE,197942,0
$CFSIZE,260034560,248139776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.025,65.69,1
$GPS,080916,132521,1013.090,-12457.459,36,0.9,36,9.2,0.0,0.0,10,8.0