version: 66.13
glider: 196
mission: 14
dive: 221
start: 9 1 117 16 7 35
data:
$ID,196
$MISSION,14
$DIVE,221
$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,36
$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,1.4
$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,622.0
$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
$GPS1,010917,160027,7432.4082,-15315.2178,35,0.8,36,19.5,0.0,0.0,11,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.3
$GPS2,010917,160700,7432.4233,-15315.3037,7,0.7,9,19.5,0.0,0.0,12,9.7
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,10.9,142755,-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,46,end surface,CONTROL_FINISHED_OK
$STATE,46,begin dive
$GC,49,-0.57,-145.9,195,2225,493,498,0.0,0.0,0,139,0.00,0.00,-88.40,0.000,16386,0.000,0.000,194,2226,2065,1995,2135,0,0,0,0,0,0,14.53,28.83,14.56
$GC,142,-0.57,-145.9,194,2225,1996,2132,3.7,-4.8,9,204,12.75,2.78,-40.28,0.000,18724,0.453,2.144,2377,3587,3962,3944,3980,0,0,0,0,0,0,13.59,12.62,14.08
$GC,304,-0.69,-145.9,2378,3588,3950,3984,37.8,-14.5,41,309,0.00,2.38,0.00,0.000,1158,0.000,0.060,2377,2201,3964,3944,3985,0,0,0,0,0,0,14.19,14.08,14.23
$GC,616,-0.78,-145.9,2377,2203,3952,3985,82.6,-11.0,73,621,0.12,2.50,0.00,0.000,4740,0.139,0.081,2324,789,3968,3951,3985,0,0,0,0,0,0,14.12,14.06,14.16
$GC,631,-0.85,-145.9,2325,790,3952,3986,84.8,-12.2,76,638,0.00,2.50,0.00,0.000,1158,0.000,0.083,2319,2190,3967,3950,3984,0,0,0,0,0,0,14.12,13.99,14.16
$GC,946,-0.89,-145.9,2320,2191,3952,3983,130.5,-13.5,94,951,0.00,2.53,0.00,0.000,388,0.000,0.089,2319,3613,3967,3950,3985,0,0,0,0,0,0,14.44,14.04,14.49
$GC,1051,-1.03,-145.9,2315,3615,3951,3985,142.2,-10.6,115,1056,0.22,2.42,0.00,0.000,5254,0.097,0.055,2239,2197,3968,3951,3985,0,0,0,0,0,0,14.13,14.06,14.23
$GC,1367,-0.96,-145.9,2240,2191,3950,3985,200.3,-18.0,128,1372,0.12,2.53,0.00,0.000,2436,0.291,0.083,2258,3613,3968,3951,3985,0,0,0,0,0,0,13.83,14.07,14.00
$GC,1469,-1.02,-145.9,2259,3614,3952,3985,214.8,-12.8,148,1475,0.00,2.42,0.00,0.000,1158,0.000,0.057,2258,2190,3967,3950,3984,0,0,0,0,0,0,14.24,14.12,14.27
$GC,1790,-1.02,-145.9,2258,2189,3952,3985,260.4,-13.6,162,1795,0.00,2.50,0.00,0.000,260,0.000,0.086,2249,3620,3968,3952,3985,0,0,0,0,0,0,14.45,14.00,14.47
$GC,1845,-1.11,-145.9,2249,3621,3951,3986,267.4,-11.9,173,1852,0.00,2.42,0.00,0.000,1158,0.000,0.057,2249,2202,3965,3945,3985,0,0,0,0,0,0,14.09,13.95,14.12
$GC,2150,-1.11,-145.9,2249,2201,3952,3985,306.5,-12.6,184,2156,0.00,2.50,0.00,0.000,260,0.000,0.088,2241,3620,3967,3951,3984,0,0,0,0,0,0,14.59,14.15,14.61
$GC,2261,-1.18,-145.9,2241,3620,3952,3984,319.8,-11.6,206,2266,0.12,2.42,0.00,0.000,5254,0.139,0.058,2192,2190,3967,3950,3984,0,0,0,0,0,0,13.74,14.18,13.73
$GC,2571,-1.09,-145.9,2192,2189,3951,3984,371.3,-16.7,218,2577,0.12,2.50,0.00,0.000,2436,0.309,0.084,2209,3613,3967,3950,3984,0,0,0,0,0,0,13.93,14.18,14.11
$GC,2671,-1.09,-145.9,2210,3613,3952,3984,385.6,-13.5,238,2676,0.00,2.38,0.00,0.000,1030,0.000,0.057,2209,2199,3967,3950,3984,0,0,0,0,0,0,14.38,14.25,14.41
$GC,2992,-1.06,-145.9,2210,2199,3951,3985,431.0,-14.1,252,2998,0.00,2.47,0.00,0.000,388,0.000,0.088,2202,3607,3966,3950,3983,0,0,0,0,0,0,14.64,14.19,14.66
$GC,3108,-1.06,-145.9,2203,3609,3951,3984,447.0,-13.5,275,3114,0.15,2.40,0.00,0.000,3078,0.248,0.056,2233,2196,3962,3941,3983,0,0,0,0,0,0,13.95,14.19,14.23
$STATE,3410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3411,begin apogee
$GC,3416,-0.13,0.0,2234,2068,3951,3984,483.5,-11.8,286,3639,1.12,0.08,218.15,1.423,10246,0.228,0.183,2527,2112,3362,3382,3343,0,0,0,0,0,0,13.94,13.45,12.68
$STATE,3642,end apogee,CONTROL_FINISHED_OK
$STATE,3642,begin climb
$GC,3647,0.57,145.9,2528,2113,3378,3338,494.9,0.0,293,3868,0.75,2.67,209.82,1.381,11012,0.063,0.081,2780,729,2763,2804,2722,0,0,0,0,0,0,13.62,12.94,12.33
$GC,3992,0.20,145.9,2781,730,2798,2719,485.9,14.9,318,3998,0.62,2.50,0.00,0.000,5254,0.319,0.076,2652,2096,2756,2797,2716,0,0,0,0,0,0,13.25,13.58,13.62
$GC,4319,0.03,149.8,2652,2097,2797,2711,452.9,9.8,333,4320,0.25,0.00,0.00,0.000,4262,0.268,0.000,2596,2096,2754,2796,2712,0,0,0,0,0,0,13.81,14.19,14.09
$GC,4619,0.03,211.6,2596,2096,2802,2711,431.0,7.2,343,4720,0.00,2.53,95.25,1.379,8868,0.000,0.083,2602,727,2502,2557,2448,0,0,0,0,0,0,14.60,13.87,13.07
$GC,4765,0.11,247.9,2602,728,2550,2438,419.4,8.3,372,4825,0.00,2.45,53.67,1.393,9382,0.000,0.078,2602,2105,2350,2407,2293,0,0,0,0,0,0,14.01,13.89,12.93
$GC,5132,0.16,272.1,2603,2106,2398,2282,386.6,8.9,395,5168,0.00,0.00,34.17,1.436,8358,0.000,0.000,2601,2106,2256,2312,2200,0,0,0,0,0,0,14.48,14.00,13.18
$GC,5461,0.23,297.6,2603,2106,2304,2186,357.2,8.8,406,5501,0.17,0.00,38.45,1.422,10406,0.105,0.000,2679,2106,2150,2202,2099,0,0,0,0,0,0,14.33,14.05,13.24
$GC,5791,0.16,297.6,2680,2106,2192,2086,311.2,14.1,417,5796,0.17,2.42,0.00,0.000,4740,0.246,0.083,2644,726,2138,2191,2086,0,0,0,0,0,0,13.98,14.20,14.13
$GC,5866,0.22,297.6,2644,726,2189,2087,302.8,10.2,432,5871,0.00,2.40,0.00,0.000,1158,0.000,0.078,2644,2101,2136,2188,2085,0,0,0,0,0,0,14.35,14.23,14.40
$GC,6181,0.22,297.6,2644,2102,2188,2085,269.2,10.4,445,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2101,2133,2183,2084,0,0,0,0,0,0,14.64,14.65,14.66
$GC,6481,0.25,317.3,2645,2101,2189,2083,240.3,9.1,455,6516,0.00,2.50,27.62,1.416,8868,0.000,0.085,2644,719,2068,2118,2019,0,0,0,0,0,0,14.65,14.14,13.33
$GC,6604,0.37,356.7,2644,720,2112,2020,230.2,8.2,479,6677,0.17,2.42,65.32,1.306,11430,0.106,0.080,2711,2104,1908,1945,1871,0,0,0,0,0,0,14.27,14.16,13.17
$GC,6992,0.33,356.7,2708,2107,1931,1862,182.2,12.0,507,6993,0.00,0.00,0.00,0.000,134,0.000,0.000,2711,2104,1898,1935,1862,0,0,0,0,0,0,14.54,14.57,14.56
$GC,7292,0.30,356.7,2711,2104,1935,1861,148.3,11.0,517,7298,0.12,2.40,0.00,0.000,4740,0.230,0.083,2685,726,1897,1933,1861,0,0,0,0,0,0,14.12,14.24,14.24
$GC,7380,0.41,387.9,2686,727,1931,1862,140.5,8.6,534,7438,0.00,2.40,51.62,1.292,9382,0.000,0.079,2685,2101,1780,1808,1752,0,0,0,0,0,0,14.35,14.23,13.29
$GC,7745,0.49,417.6,2685,2102,1804,1742,108.4,8.6,557,7798,0.17,0.00,46.85,1.255,10918,0.109,0.000,2761,2101,1658,1685,1631,0,0,0,0,0,0,14.32,14.04,13.29
$GC,8103,0.45,417.6,2761,2101,1685,1620,65.0,10.7,592,8108,0.12,2.42,0.00,0.000,4740,0.250,0.083,2739,723,1651,1684,1619,0,0,0,0,0,0,14.00,14.06,14.14
$GC,8284,0.58,508.1,2740,723,1681,1619,51.5,5.8,628,8336,0.00,2.40,46.12,0.356,9382,0.000,0.078,2739,2103,1295,1345,1245,0,0,0,0,0,0,14.23,14.12,13.75
$GC,8634,0.79,609.1,2739,2103,1345,1230,32.4,5.3,668,8692,0.28,2.42,52.40,0.295,10916,0.088,0.086,2860,728,879,948,811,0,0,0,0,0,0,14.27,14.02,13.79
$GC,8734,0.79,609.1,2860,729,949,810,21.5,11.7,687,8740,0.00,2.40,0.00,0.000,1030,0.000,0.076,2860,2094,879,948,810,0,0,0,0,0,0,14.12,13.99,14.14
$STATE,8935,end climb,SURFACE_DEPTH_REACHED
$STATE,8935,begin surface coast
$FINISH,0.1,1.021227
$STATE,8957,end surface coast,CONTROL_FINISHED_OK
$STATE,8957,begin surface
$SM_CCo,8978,50.88,0.210,0,0,501,702.78
$SM_GC,1.30,8.12,0.20,50.88,0.075,0.106,0.210,203,2219,501,-7.37,-0.23,702.78,0,0,0,0,0,0,14.33,14.32,14.03
$RAFOS_CLK,418
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7434.44,-15318.87,010917,132111
$TT8_MAMPS,0.040446,0.938497
$HUMID,47.12
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,7
$CP_FREE,15977775104.000000
$PM_FREEKB_00,51399680
$24V_AH,12.33,149.002
$10V_AH,12.21,0.000
$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,25.725,74.425,939.475,50.875,0.000,0.000,0.000,173.100,1.750,0.000,9.998,0.000,6454.340,804.812,1943.892,234.230,0.000,1877.655,0.000,1018.755,1646.000,0.539,0.000
$DEVICE_MAMPS,452.880,2143.530,1435.905,209.610,0.000,0.000,0.000,132.345,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8732.000,8972.000,8930.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.819,20.000,9.895,0.000
$MEM,323752
$DATA_FILE_SIZE,23403,710
$CAP_FILE_SIZE,97514,0
$CFSIZE,2097872896,2020016128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.4
$CURRENT,0.047,285.08,1
$GPS,010917,183924,7433.375,-15312.643,15,0.8,35,19.6,0.9,316.6,9,9.8