version: 66.13
glider: 196
mission: 14
dive: 112
start: 8 19 117 17 27 30
data:
$ID,196
$MISSION,14
$DIVE,112
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,480
$D_ABORT,650
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$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,160
$T_MISSION,195
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,55566
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0103
$HD_C,1.06e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,702.78448
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3950
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3365
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.29706
$PRESSURE_SLOPE,0.00010687162
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,135
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043055275
$SEABIRD_T_H,0.00061896152
$SEABIRD_T_I,2.1649632e-05
$SEABIRD_T_J,2.1628491e-06
$SEABIRD_C_G,-9.8804169
$SEABIRD_C_H,1.1388741
$SEABIRD_C_I,-0.0017082796
$SEABIRD_C_J,0.00021409935
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$CP_RECORDABOVE,1000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,318.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,190817,171533,7256.0508,-14906.3145,28,0.7,29,21.1,0.0,0.0,12,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-78.8
$GPS2,190817,172655,7255.9575,-14906.3193,9,0.7,10,21.0,0.0,183.2,11,7.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,305.2,39174,-17.9,-10.000,-21.31,2227
$D_GRID,480
$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,44,end surface,CONTROL_FINISHED_OK
$STATE,44,begin dive
$GC,47,-0.57,-145.9,200,2234,504,489,0.0,0.0,0,140,0.00,0.00,-91.93,0.000,16386,0.000,0.000,199,2234,2239,2170,2308,0,0,0,0,0,0,14.41,28.83,14.43
$GC,143,-0.57,-145.9,200,2235,2175,2310,4.8,-7.0,9,190,12.62,0.00,-31.77,0.000,18726,0.456,0.000,2387,2234,3964,3945,3983,0,0,0,0,0,0,13.69,12.64,14.13
$GC,488,-0.57,-145.9,2387,2235,3957,3984,83.2,-15.8,45,493,0.00,2.38,0.00,0.000,260,0.000,0.086,2378,3580,3968,3956,3981,0,0,0,0,0,0,14.47,14.13,14.49
$GC,718,-0.71,-145.9,2378,3581,3957,3983,110.3,-10.4,91,724,0.00,2.33,0.00,0.000,1158,0.000,0.056,2378,2199,3969,3956,3983,0,0,0,0,0,0,14.33,14.21,14.35
$GC,1029,-0.80,-145.9,2378,2198,3957,3983,144.7,-10.6,103,1035,0.15,2.45,0.00,0.000,4484,0.125,0.085,2306,3588,3969,3956,3983,0,0,0,0,0,0,14.24,14.16,14.28
$GC,1190,-0.85,-145.9,2306,3589,3957,3983,167.0,-13.3,135,1196,0.00,2.35,0.00,0.000,1158,0.000,0.054,2306,2196,3969,3956,3983,0,0,0,0,0,0,14.26,14.16,14.29
$GC,1511,-0.85,-145.9,2306,2198,3957,3983,215.3,-14.5,149,1516,0.00,2.42,0.00,0.000,260,0.000,0.087,2298,3580,3969,3956,3983,0,0,0,0,0,0,14.57,14.18,14.58
$GC,1623,-0.92,-145.9,2298,3581,3957,3983,229.6,-12.1,171,1629,0.00,2.33,0.00,0.000,1158,0.000,0.056,2298,2198,3969,3956,3982,0,0,0,0,0,0,14.34,14.22,14.37
$GC,1934,-0.92,-145.9,2298,2196,3957,3983,270.1,-12.4,183,1940,0.00,2.42,0.00,0.000,260,0.000,0.088,2290,3582,3969,3956,3983,0,0,0,0,0,0,14.59,14.16,14.60
$GC,2025,-0.99,-145.9,2291,3582,3957,3983,280.6,-11.1,201,2030,0.00,2.35,0.00,0.000,1158,0.000,0.057,2290,2192,3969,3956,3983,0,0,0,0,0,0,14.38,14.29,14.44
$GC,2355,-1.01,-145.9,2290,2192,3957,3983,319.2,-11.6,217,2360,0.12,2.45,0.00,0.000,4484,0.139,0.087,2236,3586,3969,3956,3982,0,0,0,0,0,0,14.28,14.22,14.32
$GC,2485,-0.97,-145.9,2237,3587,3956,3981,339.0,-15.2,243,2491,0.12,2.35,0.00,0.000,3206,0.256,0.057,2259,2194,3968,3955,3982,0,0,0,0,0,0,14.04,14.28,14.29
$GC,2807,-0.95,-145.9,2260,2193,3956,3982,383.2,-13.5,257,2811,0.00,2.45,0.00,0.000,388,0.000,0.087,2250,3588,3968,3955,3981,0,0,0,0,0,0,14.60,14.19,14.62
$GC,2916,-0.95,-145.9,2252,3589,3955,3982,397.9,-13.1,279,2922,0.00,2.35,0.00,0.000,1030,0.000,0.056,2252,2194,3967,3954,3981,0,0,0,0,0,0,13.90,13.89,14.09
$GC,3227,-0.92,-145.9,2252,2194,3956,3980,441.0,-13.8,291,3233,0.12,2.45,0.00,0.000,2436,0.308,0.085,2271,3589,3967,3953,3981,0,0,0,0,0,0,13.96,14.19,14.18
$GC,3353,-0.99,-145.9,2272,3590,3956,3981,455.2,-10.5,316,3358,0.00,2.35,0.00,0.000,1158,0.000,0.055,2271,2195,3967,3955,3980,0,0,0,0,0,0,14.34,14.23,14.37
$STATE,3586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3586,begin apogee
$GC,3592,-0.13,0.0,2272,2067,3960,3980,482.2,-11.6,328,3821,1.00,0.00,227.07,1.398,10246,0.231,0.000,2530,2067,3365,3388,3342,0,0,0,0,0,0,13.95,13.46,12.73
$STATE,3826,end apogee,CONTROL_FINISHED_OK
$STATE,3826,begin climb
$GC,3828,0.57,145.9,2530,2067,3380,3332,492.6,0.0,335,4050,0.75,2.15,206.65,1.363,10500,0.064,0.072,2781,3500,2755,2796,2715,0,0,0,0,0,0,13.54,13.00,12.47
$GC,4275,0.13,145.9,2781,3500,2785,2714,457.9,17.9,382,4282,0.80,2.40,0.00,0.000,5254,0.352,0.057,2628,2128,2748,2784,2713,0,0,0,0,0,0,13.43,13.73,13.76
$GC,4580,0.06,174.4,2630,2129,2785,2711,429.8,8.7,393,4620,0.00,0.00,38.08,1.422,8358,0.000,0.000,2629,2129,2655,2698,2612,0,0,0,0,0,0,14.34,13.90,13.12
$GC,4910,0.01,187.8,2630,2129,2689,2592,398.9,9.4,404,4936,0.15,2.58,16.95,1.546,12964,0.281,0.086,2602,699,2592,2645,2540,0,0,0,0,0,0,13.90,14.04,13.24
$GC,4988,0.12,241.4,2601,701,2643,2538,392.9,7.5,419,5082,0.00,2.42,86.50,1.340,9382,0.000,0.079,2601,2081,2376,2434,2319,0,0,0,0,0,0,14.19,14.08,13.04
$GC,5392,0.22,287.0,2602,2081,2419,2304,360.9,7.9,450,5464,0.15,0.00,70.43,1.327,10406,0.118,0.000,2669,2081,2194,2247,2142,0,0,0,0,0,0,14.16,13.82,13.10
$GC,5752,0.19,287.0,2670,2080,2231,2122,316.5,12.3,462,5757,0.00,2.45,0.00,0.000,644,0.000,0.086,2672,697,2176,2230,2122,0,0,0,0,0,0,14.38,14.09,14.42
$GC,5792,0.19,287.0,2669,698,2224,2122,311.7,11.9,470,5797,0.12,2.45,0.00,0.000,5126,0.252,0.077,2647,2099,2174,2227,2121,0,0,0,0,0,0,13.96,13.97,14.21
$GC,6113,0.19,289.2,2647,2100,2227,2120,279.2,9.9,484,6118,0.00,2.47,0.00,0.000,548,0.000,0.086,2647,690,2173,2227,2119,0,0,0,0,0,0,14.53,14.09,14.55
$GC,6163,0.28,304.5,2647,690,2226,2121,274.3,9.3,494,6193,0.00,2.45,22.50,1.408,9382,0.000,0.078,2654,2106,2119,2171,2067,0,0,0,0,0,0,14.33,14.21,13.35
$GC,6505,0.34,319.9,2647,2107,2163,2057,241.8,9.3,512,6536,0.12,0.00,22.60,1.418,10406,0.133,0.000,2698,2106,2053,2103,2004,0,0,0,0,0,0,14.20,14.12,13.37
$GC,6833,0.31,319.9,2699,2106,2098,1995,204.0,11.1,523,6838,0.00,2.47,0.00,0.000,644,0.000,0.086,2699,697,2046,2097,1996,0,0,0,0,0,0,14.52,14.12,14.53
$GC,6899,0.35,328.8,2699,698,2095,1998,197.5,9.6,536,6909,0.00,2.42,4.62,1.532,9382,0.000,0.078,2699,2099,2027,2077,1977,0,0,0,0,0,0,14.35,14.23,13.19
$GC,7224,0.35,331.3,2699,2100,2082,1977,164.7,9.9,551,7235,0.00,2.45,3.80,1.502,8740,0.000,0.086,2699,695,2017,2068,1966,0,0,0,0,0,0,14.55,14.23,12.99
$GC,7295,0.42,345.3,2700,695,2069,1970,158.1,9.4,565,7330,0.00,2.45,29.23,1.401,9382,0.000,0.078,2699,2105,1956,2006,1907,0,0,0,0,0,0,14.31,14.24,13.34
$GC,7647,0.46,377.6,2699,2106,1998,1900,126.6,8.5,585,7707,0.00,2.53,51.47,1.301,8868,0.000,0.086,2698,701,1822,1855,1789,0,0,0,0,0,0,14.47,13.97,13.27
$GC,7734,0.59,417.0,2699,696,1848,1790,119.2,8.2,602,7803,0.22,2.50,63.72,1.217,11430,0.095,0.076,2785,2107,1666,1699,1633,0,0,0,0,0,0,14.06,14.00,13.11
$GC,8109,0.51,417.1,2785,2108,1694,1617,69.5,10.0,645,8114,0.15,2.50,0.00,0.000,4772,0.265,0.080,2760,691,1652,1693,1612,0,0,0,0,0,0,13.83,14.00,14.02
$GC,8164,0.57,475.2,2760,689,1690,1612,65.1,7.3,656,8202,0.00,2.50,29.05,0.402,9382,0.000,0.079,2760,2109,1425,1472,1379,0,0,0,0,0,0,14.16,14.04,13.67
$GC,8499,0.72,550.4,2760,2109,1472,1371,42.1,6.5,693,8543,0.12,2.55,38.78,0.330,10660,0.132,0.080,2818,3516,1118,1184,1053,0,0,0,0,0,0,14.20,14.04,13.83
$GC,8708,0.75,550.4,2818,3518,1185,1050,20.5,10.4,734,8715,0.00,2.42,0.00,0.000,1158,0.000,0.065,2825,2105,1117,1184,1050,0,0,0,0,0,0,14.16,14.07,14.20
$GC,9014,0.93,679.0,2825,2106,1185,1044,4.3,4.1,765,9051,0.15,0.00,34.97,0.219,10658,0.116,0.000,2893,2104,840,910,770,0,0,0,0,0,0,14.23,28.83,14.28
$STATE,9051,end climb,SURFACE_DEPTH_REACHED
$STATE,9051,begin surface coast
$FINISH,0.1,1.011533
$STATE,9074,end surface coast,CONTROL_FINISHED_OK
$STATE,9074,begin surface
$SM_CCo,9096,44.78,0.213,0,0,499,703.03
$SM_GC,1.19,8.02,0.17,44.78,0.059,0.114,0.213,201,2224,499,-7.37,-0.62,703.03,0,0,0,0,0,0,14.28,14.28,14.02
$RAFOS_CLK,416
$RAFOS_FIX,7256.203125,-14909.283203,190817,161646,3,255,0.60
$IRIDIUM_FIX,7300.06,-14849.56,190817,143709
$TT8_MAMPS,0.040446,0.904792
$HUMID,48.14
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,16000319488.000000
$PM_FREEKB_00,54851136
$24V_AH,12.47,96.041
$10V_AH,12.36,0.000
$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,24.925,77.925,946.425,44.775,0.000,0.000,0.000,408.350,3.000,0.000,10.794,0.000,6443.844,906.488,2199.317,288.914,0.000,2172.431,0.000,1110.846,0.000,0.540,0.000
$DEVICE_MAMPS,455.940,113.985,1546.065,213.435,0.000,0.000,0.000,175.185,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9102.000,9093.000,9051.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.498,20.000,16.574,0.000
$MEM,323416
$DATA_FILE_SIZE,26773,775
$CAP_FILE_SIZE,102505,0
$CFSIZE,2097872896,2054094848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.4
$CURRENT,0.053,262.37,1
$GPS,190817,200052,7256.957,-14908.494,15,0.8,16,21.0,0.5,223.5,10,9.5