version: 66.13
glider: 191
mission: 7
dive: 4
start: 7 26 116 20 37 39
data:
$ID,191
$MISSION,7
$DIVE,4
$N_DIVES,6
$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,34
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3000
$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
$GPS1,260716,202419,4743.6035,-12224.9561,17,2.0,30,16.6,0.2,0.0,6,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.6
$GPS2,260716,203717,4743.7041,-12224.8750,29,1.6,31,16.6,0.3,67.2,7,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,191.8,409,-20.5,-10.000,-23.73,1665
$D_GRID,176
$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,15,begin dive
$GC,19,-0.87,-109.5,165,2093,725,302,0.0,0.0,0,134,0.00,0.00,-110.62,0.000,16390,0.000,0.000,165,2093,3446,3521,3372,0,0,0,0,0,0,14.88,13.94,14.90
$GC,137,-0.91,-146.6,166,2093,3521,3376,2.7,-4.0,17,161,12.35,2.60,-2.95,0.000,18724,0.430,2.198,2640,3488,3598,3717,3480,0,0,0,0,0,0,14.52,13.94,14.76
$GC,305,-0.64,-146.6,2640,3489,3717,3481,38.1,-18.6,48,314,0.32,2.35,0.00,0.000,3206,0.269,0.049,2740,2077,3598,3717,3480,0,0,0,0,0,0,14.60,14.73,14.76
$GC,377,-0.71,-146.6,2740,2076,3717,3481,48.8,-13.5,61,385,0.00,0.00,0.00,0.000,134,0.000,0.000,2739,2076,3598,3717,3480,0,0,0,0,0,0,14.91,14.92,14.92
$GC,448,-0.77,-146.6,2740,2075,3718,3481,57.1,-11.5,74,456,0.12,2.45,0.00,0.000,4484,0.151,0.086,2679,3494,3599,3717,3481,0,0,0,0,0,0,14.76,14.73,14.80
$GC,479,-0.67,-146.6,2679,3494,3718,3481,61.4,-14.0,79,489,0.12,2.35,0.00,0.000,3206,0.261,0.052,2726,2086,3598,3717,3480,0,0,0,0,0,0,14.66,14.76,14.81
$GC,614,-0.76,-146.6,2726,2085,3718,3481,76.2,-10.4,104,622,0.00,2.42,0.00,0.000,388,0.000,0.090,2718,3489,3598,3717,3480,0,0,0,0,0,0,14.96,14.74,14.97
$GC,705,-0.86,-146.6,2718,3489,3718,3481,87.4,-12.8,121,714,0.10,2.35,0.00,0.000,5254,0.096,0.051,2666,2081,3598,3717,3480,0,0,0,0,0,0,14.80,14.79,14.87
$GC,839,-0.73,-146.6,2662,2080,3718,3481,109.0,-17.3,146,848,0.17,2.40,0.00,0.000,2692,0.287,0.073,2708,678,3598,3717,3480,0,0,0,0,0,0,14.68,14.78,14.81
$GC,876,-0.78,-146.6,2708,678,3718,3479,115.2,-15.2,152,884,0.00,2.42,0.00,0.000,1158,0.000,0.067,2699,2080,3598,3717,3480,0,0,0,0,0,0,14.88,14.80,14.90
$GC,1009,-0.78,-146.6,2699,2081,3718,3481,133.0,-13.1,177,1018,0.00,2.45,0.00,0.000,260,0.000,0.090,2689,3494,3598,3717,3480,0,0,0,0,0,0,14.99,14.78,15.00
$GC,1106,-0.78,-146.6,2689,3496,3717,3481,144.9,-11.6,195,1115,0.00,2.35,0.00,0.000,1030,0.000,0.052,2689,2085,3598,3717,3480,0,0,0,0,0,0,14.86,14.82,14.88
$STATE,1149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1149,begin apogee
$GC,1156,-0.18,0.0,2690,2084,3717,3481,150.6,-12.1,203,1284,0.70,0.00,112.88,1.335,10246,0.238,0.000,2882,2084,2996,3156,2837,0,0,0,0,1,0,14.70,14.20,13.78
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1294,0.91,146.6,2882,2084,3162,2837,156.5,0.0,222,1435,1.17,2.47,122.80,1.143,10756,0.158,0.063,3247,678,2389,2557,2222,0,0,0,0,0,0,14.31,14.16,13.82
$GC,1478,0.79,146.6,3246,679,2554,2215,143.7,13.1,247,1488,0.17,2.45,0.00,0.000,5254,0.291,0.056,3211,2099,2382,2553,2211,0,0,0,0,0,0,14.29,14.42,14.46
$GC,1611,0.79,146.6,3212,2095,2551,2209,129.3,10.2,272,1620,0.00,2.42,0.00,0.000,260,0.000,0.079,3211,3495,2380,2553,2208,0,0,0,0,0,0,14.76,14.57,14.81
$GC,1673,0.71,146.6,3212,3496,2553,2204,122.3,11.3,283,1682,0.10,2.38,0.00,0.000,5254,0.271,0.045,3184,2069,2378,2550,2207,0,0,0,0,0,0,14.53,14.65,14.70
$GC,1806,0.80,164.4,3185,2069,2549,2207,110.0,8.9,308,1828,0.00,2.45,15.05,1.079,8868,0.000,0.068,3189,681,2327,2498,2157,0,0,0,0,0,0,14.87,14.63,14.23
$GC,1881,0.93,182.3,3192,680,2496,2152,103.4,8.9,321,1904,0.17,2.40,16.58,1.103,11430,0.135,0.057,3252,2077,2255,2420,2091,0,0,0,0,0,0,14.66,14.68,14.18
$GC,2028,0.80,182.3,3253,2077,2413,2069,83.8,14.9,348,2037,0.15,2.45,0.00,0.000,4484,0.291,0.078,3217,3498,2240,2413,2067,0,0,0,0,0,0,14.57,14.64,14.69
$GC,2157,0.71,182.3,3216,3497,2414,2067,66.8,12.5,372,2166,0.12,2.35,0.00,0.000,5254,0.273,0.046,3181,2084,2239,2413,2066,0,0,0,0,0,0,14.62,14.74,14.78
$GC,2290,0.88,182.3,3181,2083,2414,2066,53.1,10.3,397,2299,0.15,2.42,0.00,0.000,2436,0.141,0.078,3237,3494,2242,2413,2071,0,0,0,0,0,0,14.76,14.73,14.80
$GC,2331,0.77,182.3,3237,3495,2414,2066,47.7,14.0,404,2340,0.12,2.35,0.00,0.000,5254,0.278,0.047,3205,2079,2243,2420,2066,0,0,0,0,0,0,14.64,14.78,14.83
$GC,2403,0.86,182.3,3206,2078,2412,2066,39.3,10.8,417,2411,0.00,2.42,0.00,0.000,644,0.000,0.068,3209,678,2239,2413,2066,0,0,0,0,0,0,14.94,14.75,14.95
$GC,2469,0.97,186.3,3213,678,2413,2065,32.6,9.8,429,2478,0.15,2.40,0.00,0.000,3238,0.144,0.057,3265,2087,2239,2413,2065,0,0,0,0,0,0,14.81,14.78,14.85
$GC,2541,0.84,186.3,3272,2087,2413,2066,24.3,12.7,442,2549,0.15,2.40,0.00,0.000,4484,0.298,0.078,3230,3490,2238,2413,2064,0,0,0,0,0,0,14.66,14.74,14.77
$GC,2602,0.84,186.3,3230,3490,2413,2064,16.3,13.1,453,2611,0.00,2.33,0.00,0.000,1030,0.000,0.046,3238,2082,2238,2413,2064,0,0,0,0,0,0,14.84,14.81,14.86
$GC,2673,0.84,186.3,3237,2081,2414,2064,7.6,11.6,466,2681,0.00,2.40,0.00,0.000,516,0.000,0.067,3249,687,2240,2413,2067,0,0,0,0,0,0,14.99,14.78,14.98
$GC,2714,0.84,186.3,3249,690,2413,2064,3.1,11.2,473,2722,0.00,2.38,0.00,0.000,1030,0.000,0.057,3249,2084,2238,2412,2064,0,0,0,0,0,0,14.84,14.79,14.89
$STATE,2726,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,0.2,0.999009
$STATE,2742,end surface coast,CONTROL_FINISHED_OK
$STATE,2742,begin surface
$SM_CCo,2769,251.57,0.136,0,0,496,613.25
$SM_CCo,3025,-0.17,0.000,0,0,502,613.25
$SM_CCo,3029,0.70,0.254,0,0,499,613.25
$SM_GC,1.13,9.27,0.00,0.70,0.104,0.000,0.254,161,2084,499,-8.68,-0.03,613.25,0,0,0,0,0,0,14.78,15.02,14.68
$IRIDIUM_FIX,4726.11,-12222.38,260716,193221
$TT8_MAMPS,0.039697,0.466627
$HUMID,52.28
$INTERNAL_PRESSURE,8.79398
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,7768224
$PM_FREEKB,62142848
$TM_FREEKB,7811872
$24V_AH,13.78,2.854
$10V_AH,13.25,0.000
$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,25.650,62.625,267.300,252.275,0.000,0.000,0.000,374.925,0.000,0.000,31.944,0.000,636.701,609.941,2190.813,369.862,0.000,1557.181,0.000,0.000,0.000,0.546,0.000
$DEVICE_MAMPS,429.930,2197.845,1334.925,253.980,0.000,0.000,0.000,167.535,420.000,0.000,20.970,0.000,2.190,9.670,29.150,34.390,0.000,11.300,0.000,0.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2800.000,2731.000,2792.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.840,4.489,18.622,0.000
$MEM,311928
$DATA_FILE_SIZE,16780,478
$CAP_FILE_SIZE,76799,0
$CFSIZE,260034560,257351680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.120,40.26,1
$GPS,260716,212912,4743.560,-12224.998,17,1.0,23,16.6,0.3,18.1,8,9.9