version: 66.13
glider: 196
mission: 14
dive: 129
start: 8 21 117 17 48 57
data:
$ID,196
$MISSION,14
$DIVE,129
$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,23
$R_STBD_OVSHOOT,21
$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,366.0
$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
$GPS1,210817,172120,7310.8208,-14951.8955,14,0.7,19,20.8,0.0,0.0,12,9.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-78.7
$GPS2,210817,174824,7310.6787,-14951.2402,5,0.8,45,20.8,0.3,151.9,10,15.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T3
$TGT_LATLONG,7310.800,-14958.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,254.8,3844,-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,-145.9,205,2208,513,480,0.0,0.0,0,140,0.00,0.00,-91.43,0.000,16386,0.000,0.000,204,2208,2249,2186,2312,0,0,0,0,0,0,14.50,28.83,14.52
$GC,143,-0.57,-145.9,205,2208,2189,2312,4.8,-6.9,9,191,12.48,2.75,-30.00,0.000,19236,0.454,2.142,2384,790,3961,3938,3985,0,0,0,0,0,0,13.68,12.93,14.15
$GC,356,-0.65,-145.9,2384,790,3946,3986,57.0,-15.3,51,361,0.00,2.50,0.00,0.000,1158,0.000,0.086,2379,2199,3965,3945,3985,0,0,0,0,0,0,14.26,14.12,14.29
$GC,686,-0.68,-145.9,2378,2201,3946,3986,107.7,-12.9,81,691,0.00,2.50,0.00,0.000,388,0.000,0.093,2376,3608,3965,3946,3985,0,0,0,0,0,0,14.55,14.12,14.57
$GC,901,-0.84,-145.9,2377,3609,3947,3985,129.5,-9.5,124,907,0.22,2.38,0.00,0.000,5286,0.096,0.054,2289,2196,3965,3946,3985,0,0,0,0,0,0,14.07,14.19,14.28
$GC,1228,-0.78,-145.9,2290,2195,3947,3985,187.0,-17.4,139,1233,0.12,2.50,0.00,0.000,2436,0.278,0.085,2311,3616,3965,3946,3984,0,0,0,0,0,0,13.93,14.17,14.08
$GC,1325,-0.86,-145.9,2312,3617,3954,3984,200.0,-12.1,158,1330,0.00,2.38,0.00,0.000,1158,0.000,0.054,2311,2198,3965,3946,3984,0,0,0,0,0,0,14.39,14.28,14.41
$GC,1650,-0.88,-145.9,2311,2197,3949,3986,242.3,-12.2,173,1655,0.00,2.47,0.00,0.000,388,0.000,0.090,2306,3608,3965,3946,3985,0,0,0,0,0,0,14.66,14.18,14.65
$GC,1750,-0.98,-145.9,2306,3610,3947,3985,253.3,-10.4,193,1756,0.15,2.40,0.00,0.000,5254,0.121,0.057,2248,2191,3966,3946,3986,0,0,0,0,0,0,14.34,14.28,14.40
$GC,2071,-0.92,-145.9,2249,2191,3947,3984,303.7,-15.5,207,2076,0.12,2.50,0.00,0.000,2436,0.299,0.086,2267,3614,3964,3946,3982,0,0,0,0,0,0,13.96,14.20,14.14
$GC,2231,-0.98,-145.9,2267,3614,3947,3982,323.6,-11.4,239,2236,0.00,2.38,0.00,0.000,1158,0.000,0.055,2264,2198,3965,3946,3984,0,0,0,0,0,0,14.40,14.30,14.43
$GC,2551,-0.98,-145.9,2267,2197,3946,3984,363.9,-12.5,253,2556,0.00,2.50,0.00,0.000,260,0.000,0.089,2258,3619,3964,3945,3983,0,0,0,0,0,0,14.65,14.21,14.66
$GC,2693,-1.01,-145.9,2258,3621,3946,3984,380.8,-11.8,281,2698,0.00,2.38,0.00,0.000,1158,0.000,0.056,2257,2202,3964,3945,3983,0,0,0,0,0,0,14.42,14.29,14.45
$GC,3003,-1.01,-145.9,2257,2199,3946,3983,421.2,-13.1,293,3008,0.00,2.47,0.00,0.000,260,0.000,0.088,2249,3614,3963,3945,3982,0,0,0,0,0,0,14.64,14.21,14.66
$GC,3093,-1.03,-145.9,2249,3614,3946,3983,433.0,-12.7,311,3098,0.00,2.38,0.00,0.000,1158,0.000,0.055,2249,2201,3963,3945,3982,0,0,0,0,0,0,14.36,14.25,14.40
$GC,3423,-1.01,-145.9,2249,2199,3946,3982,477.8,-13.4,327,3428,0.00,2.47,0.00,0.000,388,0.000,0.088,2242,3610,3963,3945,3982,0,0,0,0,0,0,14.62,14.19,14.64
$STATE,3440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3440,begin apogee
$GC,3448,-0.13,0.0,2243,2096,3946,3982,480.5,-14.1,331,3932,1.15,0.00,480.23,1.159,10246,0.251,0.000,2530,2095,3368,3387,3350,0,0,0,0,0,0,13.97,13.24,12.57
$STATE,3938,end apogee,CONTROL_FINISHED_OK
$STATE,3938,begin climb
$GC,3940,0.57,145.9,2531,2096,3381,3342,507.9,0.0,347,4169,0.75,2.67,215.45,1.298,11012,0.064,0.080,2781,694,2763,2805,2721,0,0,0,0,0,0,13.35,13.15,12.47
$GC,4394,0.22,145.9,2781,694,2788,2711,477.8,15.1,432,4400,0.57,2.53,0.00,0.000,5254,0.324,0.076,2661,2101,2747,2787,2708,0,0,0,0,0,0,13.45,13.75,13.83
$GC,4720,0.07,148.7,2661,2101,2788,2703,444.8,9.9,447,4725,0.20,2.47,0.00,0.000,4772,0.291,0.077,2621,687,2745,2787,2703,0,0,0,0,0,0,13.83,14.08,13.97
$GC,4950,0.11,207.2,2621,688,2788,2704,427.2,7.3,493,5072,0.00,2.47,116.35,1.233,9254,0.000,0.079,2620,2106,2521,2577,2465,0,0,0,0,0,0,14.30,14.18,13.09
$GC,5382,0.12,226.8,2621,2106,2560,2437,388.8,9.1,529,5414,0.00,2.58,26.38,1.347,8740,0.000,0.082,2630,688,2435,2491,2379,0,0,0,0,0,0,14.40,14.01,13.25
$GC,5506,0.18,248.7,2629,688,2483,2373,377.6,9.0,553,5549,0.00,2.50,35.97,1.314,9382,0.000,0.078,2630,2109,2351,2400,2302,0,0,0,0,0,0,14.13,14.02,13.21
$GC,5866,0.18,253.3,2637,2109,2390,2278,342.4,9.8,575,5867,0.00,0.00,0.00,0.000,38,0.000,0.000,2627,2108,2333,2389,2277,0,0,0,0,0,0,14.50,14.50,14.50
$GC,6165,0.19,269.0,2631,2108,2389,2277,314.1,9.3,585,6200,0.00,2.50,30.73,1.330,8740,0.000,0.083,2634,686,2266,2319,2214,0,0,0,0,0,0,14.59,13.94,13.38
$GC,6262,0.29,293.2,2635,687,2308,2209,305.3,8.9,604,6307,0.12,2.47,38.97,1.309,11430,0.129,0.079,2687,2101,2167,2217,2118,0,0,0,0,0,0,14.21,14.16,13.26
$GC,6619,0.24,293.2,2687,2102,2201,2098,258.6,13.1,625,6620,0.00,0.00,0.00,0.000,134,0.000,0.000,2687,2101,2149,2200,2098,0,0,0,0,0,0,14.50,14.52,14.52
$GC,6917,0.19,293.2,2687,2100,2199,2096,223.5,11.0,635,6923,0.15,2.45,0.00,0.000,4740,0.242,0.080,2658,689,2147,2198,2096,0,0,0,0,0,0,13.96,14.21,14.10
$GC,7015,0.31,342.9,2659,690,2197,2096,215.7,7.7,654,7104,0.00,2.45,83.65,1.228,9382,0.000,0.079,2655,2097,1969,2013,1925,0,0,0,0,0,0,14.33,14.24,13.27
$GC,7429,0.42,386.4,2659,2101,1997,1899,181.8,8.0,687,7510,0.17,2.58,72.97,1.215,10916,0.112,0.086,2737,692,1782,1812,1753,0,0,0,0,0,0,14.23,13.87,13.19
$GC,7570,0.42,386.4,2738,693,1799,1749,164.5,12.6,710,7575,0.00,2.53,0.00,0.000,1030,0.000,0.078,2737,2107,1773,1797,1749,0,0,0,0,0,0,14.06,13.97,14.12
$GC,7882,0.40,386.4,2737,2109,1797,1741,126.1,12.1,722,7887,0.00,2.50,0.00,0.000,644,0.000,0.085,2743,687,1768,1796,1740,0,0,0,0,0,0,14.38,14.08,14.41
$GC,7926,0.40,386.4,2743,688,1795,1741,120.8,10.9,731,7932,0.15,2.50,0.00,0.000,5126,0.239,0.079,2712,2111,1767,1795,1740,0,0,0,0,0,0,13.96,14.12,14.20
$GC,8234,0.48,426.7,2712,2113,1795,1738,93.4,8.1,747,8260,0.00,2.58,18.45,0.469,8868,0.000,0.085,2712,691,1626,1657,1596,0,0,0,0,0,0,14.39,14.04,13.59
$GC,8300,0.63,476.0,2713,691,1664,1601,88.0,7.7,760,8333,0.22,2.47,27.38,0.462,11430,0.095,0.078,2795,2100,1422,1462,1383,0,0,0,0,0,0,14.06,14.09,13.64
$GC,8638,0.67,533.6,2796,2101,1467,1391,50.2,7.3,797,8674,0.00,2.47,30.85,0.350,8484,0.000,0.080,2796,3509,1188,1246,1130,0,0,0,0,0,0,14.38,13.94,13.70
$GC,8844,0.73,549.9,2793,3507,1246,1139,31.0,9.3,838,8862,0.00,2.42,9.98,0.300,9382,0.000,0.065,2804,2099,1120,1183,1057,0,0,0,0,0,0,14.14,14.03,13.39
$GC,9159,0.98,701.2,2804,2100,1184,1072,12.1,3.0,871,9252,0.28,2.58,82.80,0.240,10916,0.086,0.090,2907,689,498,520,477,0,0,0,0,0,0,14.15,13.96,13.80
$GC,9279,1.02,701.2,2907,687,521,476,2.7,10.6,890,9284,0.00,2.50,0.00,0.000,1158,0.000,0.075,2906,2110,497,520,475,0,0,0,0,0,0,14.10,13.98,14.13
$STATE,9289,end climb,SURFACE_DEPTH_REACHED
$STATE,9290,begin surface coast
$FINISH,0.2,1.020494
$STATE,9300,end surface coast,CONTROL_FINISHED_OK
$STATE,9300,begin surface
$SM_CCo,9426,0.00,0.000,0,0,494,704.50
$SM_GC,1.17,8.32,0.17,0.00,0.076,0.114,0.000,203,2225,494,-7.38,-0.42,704.50,0,0,0,0,0,0,14.13,14.13,14.23
$RAFOS_CLK,76
$RAFOS_FIX,7310.928711,-14949.879883,210817,161620,4,255,0.21
$IRIDIUM_FIX,7309.39,-14956.90,210817,174113
$TT8_MAMPS,0.086135,0.854609
$HUMID,43.38
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,15
$CP_FREE,0.000000
$PM_FREEKB_00,54177344
$24V_AH,12.47,104.390
$10V_AH,12.34,0.000
$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,25.200,89.975,1270.150,0.000,0.000,0.000,0.000,1070.225,3.750,0.000,46.962,0.000,6556.110,1224.243,2922.539,356.003,0.000,3126.167,0.000,1277.465,2206.000,0.540,0.000
$DEVICE_MAMPS,453.645,2142.000,1347.165,0.000,0.000,0.000,0.000,170.595,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9328.000,9371.000,9319.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.842,20.000,10.232,0.000
$MEM,323484
$DATA_FILE_SIZE,30087,893
$CAP_FILE_SIZE,115234,0
$CFSIZE,2097872896,2048622592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.3
$CURRENT,0.029,284.88,1
$GPS,210817,202720,7311.188,-14954.906,36,0.8,36,20.8,0.0,0.0,10,9.0