version: 66.13
glider: 191
mission: 6
dive: 3
start: 7 20 116 20 8 20
data:
$ID,191
$MISSION,6
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,160
$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,40
$T_MISSION,57
$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,618.45856
$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,33
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3100
$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,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,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,200716,200348,4743.6528,-12224.1836,17,1.0,18,16.6,0.0,0.0,9,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.3
$GPS2,200716,200759,4743.6245,-12224.1875,17,1.0,19,16.6,0.0,0.0,9,8.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,243.4,1038,-17.5,-10.000,-21.04,2225
$D_GRID,173
$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,-0.80,-146.6,164,2084,788,367,0.0,0.0,0,142,0.00,0.00,-119.75,0.000,16390,0.000,0.000,164,2083,3699,3829,3569,0,0,0,0,0,0,15.02,13.93,15.02
$GC,146,-0.80,-146.6,164,2084,3830,3570,3.9,-7.0,18,168,12.77,2.38,0.00,0.000,2852,0.439,0.073,2673,3487,3701,3833,3569,0,0,0,0,0,0,14.57,14.76,14.82
$GC,402,-0.67,-146.6,2672,3487,3834,3569,54.1,-14.5,66,410,0.20,2.28,0.00,0.000,3206,0.279,0.046,2726,2078,3700,3833,3568,0,0,0,0,0,0,14.71,14.84,14.87
$GC,538,-0.67,-146.6,2726,2077,3835,3569,69.5,-10.6,91,547,0.00,2.42,0.00,0.000,260,0.000,0.087,2721,3483,3700,3833,3568,0,0,0,0,0,0,15.02,14.79,15.04
$GC,662,-0.67,-146.6,2719,3484,3833,3569,83.7,-11.8,114,670,0.00,2.28,0.00,0.000,1030,0.000,0.049,2718,2083,3701,3833,3569,0,0,0,0,0,0,14.92,14.85,14.92
$GC,795,-0.67,-146.6,2718,2087,3835,3569,99.8,-12.5,139,804,0.00,2.42,0.00,0.000,260,0.000,0.088,2708,3490,3701,3833,3569,0,0,0,0,0,0,15.02,14.80,15.04
$GC,837,-0.67,-146.6,2709,3490,3833,3569,105.0,-12.8,146,845,0.00,2.30,0.00,0.000,1030,0.000,0.051,2708,2077,3700,3833,3568,0,0,0,0,0,0,14.92,14.85,14.94
$STATE,951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,959,-0.18,0.0,2709,2076,3833,3569,120.1,-13.5,168,1084,0.60,0.00,117.10,1.183,10246,0.233,0.000,2875,2076,3093,3266,2920,0,0,0,0,0,0,14.73,14.32,13.97
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1090,begin climb
$GC,1093,0.80,146.6,2876,2077,3265,2914,127.0,0.0,186,1233,1.08,2.53,119.68,1.084,11012,0.164,0.076,3197,3472,2490,2642,2339,0,0,0,0,0,0,14.40,14.28,13.92
$GC,1276,0.59,176.2,3199,3473,2642,2330,120.4,8.6,211,1321,0.28,2.30,29.95,0.982,13478,0.294,0.043,3148,2074,2379,2541,2217,0,0,0,0,1,0,14.38,14.52,13.99
$GC,1449,0.71,224.1,3148,2074,2543,2218,108.2,7.8,241,1499,0.00,2.40,36.95,1.120,8868,0.000,0.064,3157,689,2185,2349,2022,0,0,0,0,1,0,14.80,14.42,14.03
$GC,1524,0.86,246.4,3157,689,2349,2030,101.9,9.0,252,1562,0.22,2.38,20.25,1.026,11430,0.121,0.055,3231,2082,2093,2259,1928,0,0,0,0,1,0,14.54,14.56,14.04
$GC,1687,0.70,246.4,3232,2083,2259,1929,78.0,15.4,281,1695,0.20,2.42,0.00,0.000,4484,0.278,0.077,3182,3484,2094,2259,1929,0,0,0,0,0,0,14.54,14.62,14.66
$GC,1718,0.65,246.4,3183,3481,2259,1929,73.1,15.2,286,1727,0.12,2.35,0.00,0.000,5254,0.301,0.046,3167,2079,2094,2259,1929,0,0,0,0,0,0,14.57,14.68,14.73
$GC,1855,0.72,246.4,3167,2078,2259,1929,57.5,10.5,311,1863,0.00,2.42,0.00,0.000,388,0.000,0.079,3167,3492,2093,2258,1929,0,0,0,0,0,0,14.90,14.71,14.95
$GC,1906,0.73,248.4,3166,3489,2260,1930,51.9,9.9,320,1915,0.00,2.33,0.00,0.000,1062,0.000,0.046,3174,2072,2093,2258,1929,0,0,0,0,0,0,14.83,14.77,14.84
$GC,2043,0.81,280.2,3174,2073,2261,1929,40.5,8.5,345,2080,0.12,2.35,26.85,0.241,10916,0.151,0.065,3236,686,1957,2127,1787,0,0,0,0,0,0,14.76,14.74,14.64
$GC,2123,0.81,280.2,3232,687,2128,1805,31.3,10.9,358,2132,0.00,2.38,0.00,0.000,1030,0.000,0.057,3233,2094,1965,2126,1804,0,0,0,0,0,0,14.84,14.77,14.85
$GC,2195,0.71,280.2,3232,2095,2128,1808,22.2,12.7,371,2204,0.17,2.40,0.00,0.000,4484,0.285,0.077,3190,3488,1966,2126,1807,0,0,0,0,0,0,14.66,14.73,14.78
$GC,2226,0.71,280.2,3190,3488,2126,1808,18.8,10.3,376,2236,0.00,2.30,0.00,0.000,1030,0.000,0.046,3197,2079,1966,2126,1807,0,0,0,0,0,0,14.85,14.78,14.85
$GC,2300,0.73,295.0,3198,2080,2127,1807,12.1,9.3,389,2321,0.00,2.38,13.12,0.171,8740,0.000,0.065,3208,688,1896,2065,1728,0,0,0,0,0,0,14.96,14.77,14.71
$GC,2334,0.80,295.0,3212,689,2066,1730,8.6,10.0,394,2343,0.00,2.35,0.00,0.000,1158,0.000,0.057,3208,2091,1900,2069,1731,0,0,0,0,0,0,14.84,14.78,14.85
$STATE,2400,end climb,SURFACE_DEPTH_REACHED
$STATE,2400,begin surface coast
$FINISH,0.2,1.021523
$STATE,2414,end surface coast,CONTROL_FINISHED_OK
$STATE,2414,begin surface
$SM_CCo,2445,201.98,0.141,0,0,575,618.65
$SM_GC,1.14,9.10,0.00,201.98,0.101,0.000,0.141,168,2091,575,-8.66,0.17,618.65,0,0,0,0,0,0,14.77,15.02,14.71
$IRIDIUM_FIX,4722.92,-12222.38,200716,195947
$TT8_MAMPS,0.038948,0.473368
$HUMID,52.91
$INTERNAL_PRESSURE,9.21392
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,7768736
$TM_FREEKB,7832000
$24V_AH,13.92,1.981
$10V_AH,13.40,0.000
$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,24.875,47.350,363.900,201.975,0.000,0.000,0.000,0.000,0.000,0.000,19.720,0.000,532.564,621.860,1315.505,260.439,0.000,1127.851,0.000,1087.873,0.000,0.547,0.000
$DEVICE_MAMPS,439.110,87.975,1182.690,140.760,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2399.000,2394.000,2402.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.931,9.313,19.043,0.000
$MEM,312064
$DATA_FILE_SIZE,13450,409
$CAP_FILE_SIZE,200664,0
$CFSIZE,260034560,257966080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.165,188.72,1
$GPS,200716,205324,4743.396,-12224.612,15,1.2,15,16.6,0.3,0.0,7,8.0