version: 66.13
glider: 196
mission: 14
dive: 180
start: 8 27 117 21 27 28
data:
$ID,196
$MISSION,14
$DIVE,180
$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,25
$R_STBD_OVSHOOT,25
$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,509.0
$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
$GPS1,270817,211557,7402.4150,-15220.9424,39,0.9,40,19.9,0.3,241.8,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-77.6
$GPS2,270817,212653,7402.4141,-15221.1357,5,0.9,11,19.9,0.0,0.0,9,8.6
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T4
$TGT_LATLONG,7418.100,-15357.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,282.5,56138,-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,45,end surface,CONTROL_FINISHED_OK
$STATE,45,begin dive
$GC,48,-0.57,-145.9,194,2212,518,492,0.0,0.0,0,141,0.00,0.00,-91.93,0.000,16386,0.000,0.000,192,2213,2200,2133,2267,0,0,0,0,0,0,14.45,28.83,14.48
$GC,144,-0.57,-145.9,193,2214,2138,2269,4.1,-5.8,9,197,12.55,2.75,-33.55,0.000,18724,0.451,2.141,2376,3606,3962,3945,3980,0,0,0,0,0,0,13.59,12.86,14.03
$GC,422,-0.70,-145.9,2377,3607,3952,3987,61.4,-13.4,64,430,0.00,2.42,0.00,0.000,1158,0.000,0.060,2377,2192,3965,3951,3980,0,0,0,0,0,0,14.27,14.15,14.31
$GC,729,-0.78,-145.9,2378,2190,3952,3980,104.5,-11.8,93,734,0.12,2.50,0.00,0.000,4484,0.149,0.086,2319,3607,3966,3951,3981,0,0,0,0,0,0,14.22,14.09,14.28
$GC,784,-0.84,-145.9,2319,3608,3952,3981,112.3,-13.9,104,791,0.00,2.40,0.00,0.000,1158,0.000,0.059,2319,2189,3965,3951,3980,0,0,0,0,0,0,14.27,14.20,14.29
$GC,1090,-0.86,-145.9,2319,2189,3954,3981,157.1,-14.2,115,1094,0.00,2.50,0.00,0.000,388,0.000,0.087,2311,3609,3965,3951,3980,0,0,0,0,0,0,14.62,14.17,14.64
$GC,1130,-0.94,-145.9,2311,3611,3952,3981,162.4,-12.7,123,1134,0.00,2.40,0.00,0.000,1158,0.000,0.058,2311,2191,3965,3951,3980,0,0,0,0,0,0,14.29,14.21,14.31
$GC,1450,-0.97,-145.9,2311,2192,3952,3981,204.9,-13.0,137,1455,0.12,2.50,0.00,0.000,4484,0.137,0.086,2246,3610,3965,3951,3980,0,0,0,0,0,0,14.27,14.17,14.30
$GC,1535,-0.97,-145.9,2246,3613,3951,3981,218.7,-16.2,154,1541,0.00,2.40,0.00,0.000,1030,0.000,0.057,2246,2194,3965,3951,3980,0,0,0,0,0,0,14.21,14.10,14.24
$GC,1840,-0.91,-145.9,2246,2194,3952,3981,270.7,-16.3,165,1845,0.15,2.47,0.00,0.000,2436,0.294,0.084,2270,3610,3965,3951,3980,0,0,0,0,0,0,13.91,14.21,14.09
$GC,1911,-0.99,-145.9,2270,3611,3952,3981,279.8,-11.6,179,1916,0.00,2.40,0.00,0.000,1158,0.000,0.057,2270,2189,3966,3951,3981,0,0,0,0,0,0,14.23,14.12,14.26
$GC,2231,-1.01,-145.9,2275,2189,3953,3981,318.4,-11.9,193,2236,0.00,2.50,0.00,0.000,388,0.000,0.090,2267,3614,3965,3951,3980,0,0,0,0,0,0,14.67,14.22,14.69
$GC,2311,-1.12,-145.9,2267,3615,3952,3981,327.2,-10.2,209,2316,0.15,2.38,0.00,0.000,5254,0.125,0.055,2210,2195,3965,3951,3980,0,0,0,0,0,0,14.31,14.28,14.41
$GC,2621,-1.04,-145.9,2208,2196,3952,3981,376.0,-15.7,221,2627,0.12,2.50,0.00,0.000,2436,0.309,0.085,2229,3614,3965,3951,3980,0,0,0,0,0,0,13.96,14.23,14.14
$GC,2719,-1.06,-145.9,2231,3615,3952,3979,388.7,-12.0,240,2724,0.00,2.38,0.00,0.000,1158,0.000,0.055,2230,2201,3965,3951,3979,0,0,0,0,0,0,14.40,14.28,14.44
$GC,3045,-1.04,-145.9,2230,2200,3951,3979,433.0,-13.5,255,3049,0.00,2.47,0.00,0.000,388,0.000,0.088,2222,3607,3965,3951,3979,0,0,0,0,0,0,14.65,14.16,14.67
$GC,3129,-1.04,-145.9,2223,3608,3951,3980,444.3,-12.9,272,3136,0.00,2.38,0.00,0.000,1030,0.000,0.056,2222,2202,3963,3950,3977,0,0,0,0,0,0,14.33,14.22,14.38
$STATE,3402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3402,begin apogee
$GC,3408,-0.13,0.0,2222,2056,3948,3978,482.6,-13.9,282,3872,1.23,0.08,460.33,1.187,10246,0.251,0.181,2531,2105,3365,3388,3343,0,0,0,0,0,0,13.90,13.18,12.51
$STATE,3878,end apogee,CONTROL_FINISHED_OK
$STATE,3878,begin climb
$GC,3880,0.57,145.9,2532,2105,3382,3339,507.7,0.0,297,4273,0.75,2.10,209.12,1.344,10500,0.063,0.080,2781,3498,2744,2778,2711,0,0,0,0,0,0,13.35,13.09,12.34
$GC,4500,0.12,145.9,2781,3500,2775,2712,446.0,17.2,344,4506,0.80,2.35,0.00,0.000,5254,0.353,0.057,2625,2126,2741,2774,2709,0,0,0,0,0,0,13.63,13.99,14.00
$GC,4803,0.04,183.2,2625,2128,2775,2711,418.9,8.3,355,4866,0.00,0.00,60.95,1.297,8358,0.000,0.000,2625,2129,2623,2665,2581,0,0,0,0,0,0,14.53,13.94,13.19
$GC,5163,-0.01,196.8,2625,2127,2654,2551,385.8,9.4,367,5185,0.17,2.58,16.02,1.491,12964,0.279,0.086,2589,694,2557,2611,2504,0,0,0,0,0,0,13.95,14.15,13.30
$GC,5247,0.12,257.8,2589,694,2604,2494,379.7,7.2,383,5352,0.00,2.45,99.20,1.293,9382,0.000,0.080,2588,2092,2314,2367,2261,0,0,0,0,0,0,14.28,14.16,13.05
$GC,5677,0.24,314.7,2589,2092,2347,2235,347.2,7.4,419,5775,0.22,2.53,91.55,1.275,10916,0.093,0.087,2685,691,2076,2126,2027,0,0,0,0,0,0,14.23,13.68,13.10
$GC,5790,0.19,314.7,2685,692,2113,2020,332.5,14.4,426,5796,0.17,2.53,0.00,0.000,5254,0.237,0.079,2649,2107,2066,2113,2019,0,0,0,0,0,0,13.74,13.88,13.97
$GC,6102,0.21,314.7,2648,2107,2113,2005,297.4,11.0,438,6102,0.00,0.00,0.00,0.000,134,0.000,0.000,2647,2107,2058,2112,2005,0,0,0,0,0,0,14.50,14.52,14.52
$GC,6401,0.25,319.6,2648,2108,2110,2001,267.1,9.8,448,6406,0.00,2.47,0.00,0.000,676,0.000,0.088,2647,687,2057,2110,2004,0,0,0,0,0,0,14.61,14.24,14.62
$GC,6487,0.36,341.7,2648,687,2107,2004,259.2,9.0,465,6532,0.17,2.45,37.88,1.316,11430,0.112,0.079,2714,2101,1968,2017,1920,0,0,0,0,0,0,14.28,14.21,13.30
$GC,6852,0.30,341.7,2715,2101,2004,1906,211.2,12.5,488,6857,0.15,2.47,0.00,0.000,4740,0.233,0.083,2685,686,1957,2002,1913,0,0,0,0,0,0,14.04,14.19,14.14
$GC,6903,0.36,354.8,2686,686,2002,1906,206.1,9.4,498,6923,0.00,2.47,14.62,1.416,9382,0.000,0.079,2685,2107,1917,1961,1874,0,0,0,0,0,0,14.36,14.23,13.35
$GC,7245,0.39,366.3,2685,2109,1945,1866,173.4,9.5,516,7264,0.00,2.47,12.98,1.458,8868,0.000,0.086,2686,694,1869,1905,1833,0,0,0,0,0,0,14.59,14.23,13.33
$GC,7284,0.47,391.6,2685,694,1896,1833,169.6,8.8,524,7336,0.15,2.45,44.08,1.287,11430,0.122,0.080,2751,2100,1765,1792,1739,0,0,0,0,0,0,14.28,14.22,13.26
$GC,7636,0.41,391.6,2752,2101,1778,1724,122.7,13.2,544,7641,0.12,2.47,0.00,0.000,4740,0.245,0.083,2728,690,1750,1777,1723,0,0,0,0,0,0,14.06,14.18,14.19
$GC,7723,0.46,392.7,2728,690,1776,1723,113.3,9.9,561,7729,0.00,2.47,0.00,0.000,1190,0.000,0.078,2728,2103,1748,1775,1722,0,0,0,0,0,0,14.33,14.20,14.38
$GC,8026,0.48,428.9,2728,2104,1776,1720,83.8,8.3,582,8047,0.00,0.00,17.85,0.441,8230,0.000,0.000,2731,2101,1615,1643,1587,0,0,0,0,0,0,14.59,14.19,13.71
$GC,8346,0.61,522.1,2729,2103,1657,1587,60.5,5.7,614,8401,0.12,2.58,49.72,0.379,10916,0.132,0.087,2795,688,1234,1292,1177,0,0,0,0,0,0,14.31,14.09,13.76
$GC,8481,0.70,564.6,2794,689,1294,1189,49.2,8.0,640,8513,0.00,2.47,23.33,0.346,9382,0.000,0.078,2794,2100,1059,1129,990,0,0,0,0,0,0,14.23,14.11,13.66
$GC,8811,0.82,624.3,2794,2100,1130,1005,23.4,7.2,676,8850,0.12,2.47,32.47,0.278,10916,0.134,0.086,2862,692,817,882,753,0,0,0,0,0,0,14.23,14.06,13.85
$GC,8860,0.82,624.4,2863,693,885,755,18.8,10.0,685,8866,0.00,2.47,0.00,0.000,1062,0.000,0.080,2859,2102,819,884,755,0,0,0,0,0,0,14.17,14.05,14.20
$STATE,9052,end climb,SURFACE_DEPTH_REACHED
$STATE,9052,begin surface coast
$FINISH,0.2,1.021087
$STATE,9075,end surface coast,CONTROL_FINISHED_OK
$STATE,9075,begin surface
$SM_CCo,9095,44.05,0.212,0,0,500,702.78
$SM_GC,1.14,8.10,0.17,44.05,0.078,0.119,0.212,205,2221,500,-7.36,-0.68,702.78,0,0,0,0,0,0,14.34,14.33,14.01
$RAFOS_CLK,415
$RAFOS_FIX,7400.629883,-15220.530273,270817,202028,2,255,0.41
$IRIDIUM_FIX,7343.92,-15839.01,270817,183640
$TT8_MAMPS,0.038948,0.926513
$HUMID,47.28
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,10
$CP_FREE,15988621312.000000
$PM_FREEKB_00,52609024
$24V_AH,12.34,129.266
$10V_AH,12.20,0.000
$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,25.525,84.050,1170.100,44.050,0.000,0.000,0.000,371.425,2.500,0.000,12.542,0.000,6170.053,1121.070,2226.551,294.604,0.000,2483.344,0.000,1014.663,0.000,0.539,0.000
$DEVICE_MAMPS,451.350,2141.235,1490.985,211.905,0.000,0.000,0.000,178.245,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9103.000,9092.000,9050.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.313,20.000,10.207,0.000
$MEM,323356
$DATA_FILE_SIZE,23435,707
$CAP_FILE_SIZE,100952,0
$CFSIZE,2097872896,2032435200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.4
$CURRENT,0.038,227.45,1
$GPS,280817,000053,7403.179,-15224.846,18,0.8,19,19.8,0.0,0.0,10,9.6