version: 66.13
glider: 191
mission: 7
dive: 2
start: 7 26 116 18 15 28
data:
$ID,191
$MISSION,7
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,50
$T_MISSION,70
$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,627.77997
$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,37
$R_STBD_OVSHOOT,32
$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,2052
$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
$GPS1,260716,181111,4743.6230,-12224.4092,17,1.0,34,16.6,0.0,0.0,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.6
$GPS2,260716,181506,4743.6299,-12224.3789,19,0.9,31,16.6,0.0,0.0,9,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,247.9,810,-17.9,-10.000,-21.44,2124
$D_GRID,174
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.81,-139.9,164,2086,766,329,0.0,0.0,0,144,0.00,0.00,-118.53,0.000,16390,0.000,0.000,162,2088,3673,3794,3552,0,0,0,0,0,0,15.03,13.87,15.03
$GC,148,-0.82,-146.6,167,2087,3795,3552,3.9,-7.8,18,164,12.27,0.00,-0.45,0.000,18982,0.425,0.000,2679,2087,3699,3834,3564,0,0,0,0,0,0,14.60,14.00,14.85
$GC,226,-0.60,-146.6,2675,2086,3833,3586,25.2,-18.4,32,236,0.28,0.00,0.00,0.000,2182,0.264,0.000,2749,2086,3708,3831,3585,0,0,0,0,0,0,14.68,14.85,14.79
$GC,299,-0.66,-146.6,2749,2086,3831,3586,35.3,-12.9,45,307,0.00,2.42,0.00,0.000,388,0.000,0.088,2741,3491,3709,3832,3586,0,0,0,0,0,0,15.00,14.78,15.02
$GC,375,-0.78,-146.6,2741,3492,3832,3586,43.6,-9.4,59,383,0.08,2.33,0.00,0.000,5286,0.099,0.048,2682,2090,3708,3831,3586,0,0,0,0,0,0,14.83,14.84,14.90
$GC,446,-0.62,-146.6,2683,2089,3831,3587,52.6,-13.7,72,456,0.22,2.40,0.00,0.000,2692,0.256,0.069,2749,677,3707,3831,3584,0,0,0,0,0,0,14.71,14.83,14.83
$GC,509,-0.76,-146.6,2750,678,3831,3586,59.7,-9.8,83,517,0.05,2.40,0.00,0.000,5286,0.063,0.064,2691,2071,3708,3831,3586,0,0,0,0,0,0,14.83,14.82,14.91
$GC,643,-0.70,-146.6,2692,2072,3831,3586,75.9,-13.6,108,652,0.12,2.42,0.00,0.000,2436,0.291,0.086,2712,3490,3708,3831,3586,0,0,0,0,0,0,14.73,14.81,14.85
$GC,750,-0.70,-146.6,2712,3490,3833,3587,89.9,-12.7,128,759,0.00,2.33,0.00,0.000,1030,0.000,0.050,2713,2085,3708,3831,3586,0,0,0,0,0,0,14.90,14.86,14.93
$GC,881,-0.70,-146.6,2712,2084,3833,3587,107.3,-13.1,153,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2084,3708,3831,3586,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1012,-0.70,-146.6,2713,2084,3831,3586,122.9,-11.7,178,1020,0.00,2.42,0.00,0.000,260,0.000,0.089,2702,3491,3708,3831,3586,0,0,0,0,0,0,15.05,14.81,15.07
$GC,1128,-0.70,-146.6,2702,3492,3834,3586,137.1,-12.8,200,1137,0.00,2.33,0.00,0.000,1030,0.000,0.050,2702,2086,3708,3831,3586,0,0,0,0,0,0,14.92,14.88,14.94
$STATE,1242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1242,begin apogee
$GC,1249,-0.18,0.0,2703,2085,3831,3586,150.3,-11.0,222,1376,0.65,0.00,120.45,1.199,10246,0.233,0.000,2883,2084,3095,3240,2951,0,0,0,0,0,0,14.76,14.42,13.97
$STATE,1379,end apogee,CONTROL_FINISHED_OK
$STATE,1381,begin climb
$GC,1385,0.82,146.6,2884,2085,3239,2942,154.3,0.0,241,1518,1.05,2.53,119.62,1.121,10756,0.154,0.064,3213,679,2494,2649,2340,0,0,0,0,0,0,14.42,14.33,13.94
$GC,1678,0.68,146.6,3213,679,2646,2324,130.6,10.8,288,1688,0.17,2.42,0.00,0.000,5254,0.275,0.055,3175,2094,2484,2646,2322,0,0,0,0,0,0,14.57,14.67,14.72
$GC,1812,0.73,185.0,3177,2094,2646,2321,118.7,8.2,313,1854,0.00,2.47,31.48,1.063,8484,0.000,0.081,3176,3481,2342,2510,2174,0,0,0,0,1,0,14.92,14.57,14.15
$GC,1901,0.75,198.6,3177,3481,2509,2175,110.8,9.3,328,1930,0.00,2.35,13.82,1.020,9254,0.000,0.046,3183,2082,2286,2454,2118,0,0,0,0,1,0,14.72,14.69,14.20
$GC,2054,0.75,198.6,3183,2083,2455,2115,96.4,10.9,356,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2082,2286,2454,2118,0,0,0,0,0,0,14.90,14.92,14.92
$GC,2185,0.76,205.1,3183,2083,2455,2118,83.4,9.7,381,2195,0.00,2.45,3.58,0.168,8740,0.000,0.064,3195,678,2264,2430,2099,0,0,0,0,0,0,14.95,14.77,14.69
$GC,2247,0.76,205.1,3194,678,2432,2118,77.3,10.1,392,2257,0.00,2.40,2.62,0.168,9222,0.000,0.057,3195,2087,2264,2429,2099,0,0,0,0,0,0,14.86,14.77,14.73
$GC,2381,0.76,205.1,3195,2088,2429,2117,62.1,11.6,417,2390,0.00,2.47,2.47,0.168,8452,0.000,0.081,3194,3491,2262,2429,2096,0,0,0,0,0,0,14.99,14.78,14.76
$GC,2413,0.70,205.1,3194,3492,2431,2110,58.0,13.5,422,2421,0.00,2.33,0.00,0.000,1158,0.000,0.047,3204,2088,2271,2429,2113,0,0,0,0,0,0,14.86,14.83,14.89
$GC,2547,0.67,221.8,3204,2087,2431,2116,44.5,9.2,447,2570,0.15,2.47,16.70,0.239,12964,0.295,0.067,3177,670,2197,2362,2033,0,0,0,0,0,0,14.71,14.79,14.69
$GC,2661,0.85,240.7,3177,671,2363,2056,34.3,9.1,467,2690,0.15,2.40,18.70,0.221,11430,0.132,0.058,3231,2076,2119,2284,1954,0,0,0,0,0,0,14.83,14.82,14.69
$GC,2755,0.76,240.7,3232,2077,2284,1977,24.0,12.5,483,2765,0.12,2.50,2.78,0.158,12676,0.289,0.081,3203,3494,2121,2284,1958,0,0,0,0,0,0,14.71,14.77,14.74
$GC,2842,0.76,240.7,3203,3495,2284,1975,14.0,11.0,499,2851,0.00,2.33,2.40,0.153,9222,0.000,0.047,3210,2094,2118,2284,1953,0,0,0,0,0,0,14.87,14.83,14.76
$GC,2914,0.76,240.7,3210,2093,2282,1974,6.4,10.9,512,2923,0.00,0.00,2.30,0.170,8198,0.000,0.000,3210,2093,2118,2284,1953,0,0,0,0,0,0,15.00,14.84,14.77
$STATE,2962,end climb,SURFACE_DEPTH_REACHED
$STATE,2962,begin surface coast
$FINISH,0.2,1.002605
$STATE,2982,end surface coast,CONTROL_FINISHED_OK
$STATE,2983,begin surface
$SM_CCo,3014,227.60,0.137,0,0,540,627.97
$SM_GC,1.12,9.02,0.00,227.60,0.096,0.000,0.137,166,2093,540,-8.66,0.23,627.97,0,0,0,0,0,0,14.82,15.06,14.73
$IRIDIUM_FIX,4722.92,-12220.67,260716,180713
$TT8_MAMPS,0.039697,0.394723
$HUMID,53.07
$INTERNAL_PRESSURE,8.83305
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,7768992
$PM_FREEKB,62233088
$TM_FREEKB,7829280
$24V_AH,13.87,2.496
$10V_AH,13.33,0.000
$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,24.350,48.175,336.925,227.600,0.000,0.000,0.000,0.000,0.000,0.000,31.925,0.000,713.317,620.559,1882.115,131.113,0.000,1218.986,0.000,0.000,0.000,0.547,0.000
$DEVICE_MAMPS,424.575,88.740,1198.755,136.935,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,0.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2987.000,2956.000,2961.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.064,4.520,19.059,0.000
$MEM,311996
$DATA_FILE_SIZE,16726,525
$CAP_FILE_SIZE,80485,0
$CFSIZE,260034560,257564672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.038,61.33,1
$GPS,260716,191057,4743.688,-12224.837,42,0.9,48,16.6,0.0,0.0,8,9.7