version: 66.13
glider: 196
mission: 14
dive: 223
start: 9 1 117 21 26 43
data:
$ID,196
$MISSION,14
$DIVE,223
$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,17
$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,627.0
$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
$GPS1,010917,212021,7434.3726,-15309.8799,36,0.8,37,19.6,0.0,281.8,10,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.4
$GPS2,010917,212607,7434.3794,-15309.8574,6,0.7,7,19.6,0.0,0.0,11,9.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,13.9,138443,-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,-145.9,196,2197,496,493,0.0,0.0,0,141,0.00,0.00,-91.95,0.000,16386,0.000,0.000,194,2197,2147,2078,2217,0,0,0,0,0,0,14.54,28.83,14.56
$GC,144,-0.57,-145.9,195,2198,2082,2218,3.6,-4.4,9,201,12.73,2.88,-35.90,0.000,18724,0.454,2.143,2372,3605,3964,3941,3987,0,0,0,0,0,0,13.59,12.54,14.07
$GC,342,-0.70,-145.9,2376,3608,3948,3989,45.6,-14.2,48,349,0.00,2.40,0.00,0.000,1158,0.000,0.060,2376,2202,3967,3948,3987,0,0,0,0,0,0,14.28,14.15,14.31
$GC,648,-0.80,-145.9,2376,2201,3951,3987,86.0,-10.8,79,650,0.17,0.00,0.00,0.000,4230,0.119,0.000,2308,2201,3968,3950,3987,0,0,0,0,0,0,14.22,14.35,14.32
$GC,947,-0.80,-145.9,2308,2202,3950,3988,131.6,-14.6,95,951,0.00,2.50,0.00,0.000,260,0.000,0.086,2301,3620,3968,3950,3987,0,0,0,0,0,0,14.62,14.12,14.64
$GC,1037,-0.91,-145.9,2301,3625,3951,3988,143.0,-12.0,113,1042,0.00,2.42,0.00,0.000,1158,0.000,0.058,2301,2195,3969,3950,3988,0,0,0,0,0,0,14.32,14.19,14.37
$GC,1368,-0.95,-145.9,2301,2194,3951,3987,185.7,-12.4,129,1368,0.00,0.00,0.00,0.000,134,0.000,0.000,2300,2193,3968,3950,3987,0,0,0,0,0,0,14.65,14.67,14.67
$GC,1667,-1.01,-145.9,2301,2194,3951,3988,221.4,-11.6,139,1672,0.12,2.50,0.00,0.000,4484,0.137,0.085,2238,3617,3968,3950,3987,0,0,0,0,0,0,14.23,14.20,14.26
$GC,1753,-1.04,-145.9,2238,3620,3950,3988,233.6,-14.3,156,1759,0.00,2.40,0.00,0.000,1158,0.000,0.058,2238,2199,3968,3950,3987,0,0,0,0,0,0,14.31,14.18,14.35
$GC,2058,-1.01,-145.9,2239,2198,3951,3987,279.3,-14.5,167,2062,0.00,2.50,0.00,0.000,388,0.000,0.089,2235,3619,3972,3949,3995,0,0,0,0,0,0,14.68,14.20,14.70
$GC,2180,-1.06,-145.9,2235,3620,3951,3987,295.1,-12.6,191,2184,0.00,2.40,0.00,0.000,1158,0.000,0.057,2235,2199,3968,3950,3987,0,0,0,0,0,0,14.38,14.26,14.42
$GC,2509,-1.06,-145.9,2236,2199,3950,3988,338.3,-12.7,207,2514,0.00,2.50,0.00,0.000,260,0.000,0.090,2236,3619,3968,3949,3987,0,0,0,0,0,0,14.68,14.20,14.70
$GC,2589,-1.13,-145.9,2236,3621,3950,3988,347.8,-11.3,223,2594,0.00,2.40,0.00,0.000,1158,0.000,0.058,2235,2197,3968,3949,3987,0,0,0,0,0,0,14.38,14.26,14.42
$GC,2899,-1.13,-145.9,2236,2196,3951,3986,386.2,-12.3,235,2904,0.00,2.50,0.00,0.000,260,0.000,0.089,2235,3620,3968,3950,3986,0,0,0,0,0,0,14.68,14.19,14.70
$GC,2990,-1.22,-145.9,2236,3620,3951,3986,396.5,-10.8,253,2995,0.15,2.40,0.00,0.000,5254,0.129,0.057,2172,2192,3967,3949,3985,0,0,0,0,0,0,14.28,14.26,14.42
$GC,3320,-1.10,-145.9,2172,2192,3951,3985,453.9,-17.7,269,3325,0.20,2.50,0.00,0.000,2436,0.295,0.083,2208,3620,3966,3950,3983,0,0,0,0,0,0,13.86,14.19,14.07
$GC,3461,-1.13,-145.9,2208,3620,3951,3984,473.1,-12.3,297,3466,0.00,2.40,0.00,0.000,1158,0.000,0.056,2208,2194,3966,3949,3984,0,0,0,0,0,0,14.33,14.18,14.34
$STATE,3528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3528,begin apogee
$GC,3534,-0.13,0.0,2208,2069,3950,3985,482.9,-14.0,301,3758,1.27,0.08,220.15,1.418,10246,0.245,0.180,2529,2114,3364,3388,3341,0,0,0,0,0,0,13.88,13.45,12.67
$STATE,3762,end apogee,CONTROL_FINISHED_OK
$STATE,3762,begin climb
$GC,3766,0.57,145.9,2530,2114,3382,3334,493.9,0.0,308,4159,0.75,2.67,210.57,1.375,11012,0.063,0.077,2793,723,2755,2797,2714,0,0,0,0,0,0,13.62,12.93,12.31
$GC,4169,0.57,145.9,2793,722,2800,2713,476.6,4.7,311,4179,0.00,2.45,0.00,0.000,1030,0.000,0.075,2793,2088,2755,2799,2712,0,0,0,0,0,0,13.60,13.59,13.60
$GC,4494,0.14,145.9,2793,2089,2797,2709,423.9,15.9,324,4499,0.70,2.47,0.00,0.000,4484,0.317,0.075,2636,3510,2752,2797,2708,0,0,0,0,0,0,13.69,14.01,13.94
$GC,4584,-0.04,145.9,2636,3512,2795,2709,413.7,10.4,342,4590,0.30,2.35,0.00,0.000,5254,0.278,0.057,2576,2127,2750,2792,2708,0,0,0,0,0,0,13.83,14.14,14.11
$GC,4915,0.02,233.8,2577,2127,2795,2708,393.2,5.9,358,5055,0.00,2.65,130.27,1.333,8740,0.000,0.086,2576,697,2404,2464,2345,0,0,0,0,0,0,14.62,13.78,13.00
$GC,5103,0.20,294.5,2573,698,2459,2346,380.5,7.2,395,5199,0.22,2.53,91.10,1.312,11430,0.096,0.081,2665,2106,2165,2224,2106,0,0,0,0,0,0,13.96,13.88,12.81
$GC,5520,0.15,294.5,2666,2106,2210,2088,326.4,12.9,428,5525,0.12,2.50,0.00,0.000,4740,0.257,0.083,2645,694,2148,2209,2088,0,0,0,0,0,0,13.88,14.08,14.02
$GC,5580,0.20,294.5,2645,695,2206,2089,319.7,10.4,440,5585,0.00,2.47,0.00,0.000,1158,0.000,0.079,2645,2101,2146,2205,2087,0,0,0,0,0,0,14.27,14.14,14.31
$GC,5910,0.20,294.5,2645,2102,2206,2088,284.0,10.6,456,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2101,2149,2205,2093,0,0,0,0,0,0,14.62,14.63,14.64
$GC,6210,0.21,302.6,2645,2101,2205,2086,254.2,9.6,466,6215,0.00,0.00,3.22,1.349,8230,0.000,0.000,2645,2101,2131,2188,2075,0,0,0,0,0,0,14.66,14.19,12.86
$GC,6510,0.26,341.3,2645,2101,2195,2078,228.2,8.2,476,6589,0.00,2.58,70.82,1.308,8868,0.000,0.086,2646,691,1968,2019,1918,0,0,0,0,0,0,14.66,14.01,13.23
$GC,6635,0.41,383.9,2647,691,2014,1918,218.0,8.0,501,6710,0.22,2.50,70.03,1.253,11430,0.093,0.080,2730,2103,1800,1834,1767,0,0,0,0,0,0,13.51,14.00,13.06
$GC,7020,0.36,383.9,2730,2104,1826,1751,167.3,12.9,528,7025,0.12,2.47,0.00,0.000,4740,0.239,0.083,2699,697,1788,1825,1751,0,0,0,0,0,0,14.02,14.04,14.14
$GC,7066,0.42,383.9,2699,698,1821,1752,162.4,10.0,537,7072,0.00,2.47,0.00,0.000,1158,0.000,0.078,2699,2109,1785,1820,1751,0,0,0,0,0,0,14.21,14.08,14.24
$GC,7382,0.46,394.3,2699,2110,1820,1749,131.7,9.5,550,7397,0.00,2.55,10.85,1.490,8868,0.000,0.086,2699,690,1754,1790,1719,0,0,0,0,0,0,14.61,14.21,13.19
$GC,7448,0.57,423.7,2699,690,1783,1720,125.7,8.6,563,7505,0.20,2.45,48.80,1.265,11430,0.099,0.076,2777,2103,1633,1666,1600,0,0,0,0,0,0,14.25,14.16,13.26
$GC,7803,0.49,423.7,2780,2102,1665,1587,75.5,13.1,594,7808,0.15,2.47,0.00,0.000,4740,0.272,0.082,2754,696,1625,1664,1587,0,0,0,0,0,0,13.82,14.08,13.99
$GC,7848,0.52,423.7,2754,698,1662,1588,70.1,10.8,603,7854,0.00,2.45,0.00,0.000,1158,0.000,0.077,2754,2099,1624,1662,1587,0,0,0,0,0,0,14.26,14.14,14.31
$GC,8153,0.58,511.5,2754,2102,1663,1586,44.7,5.9,634,8206,0.00,2.53,44.70,0.337,8740,0.000,0.086,2754,694,1273,1326,1221,0,0,0,0,0,0,14.55,14.09,13.77
$GC,8263,0.77,590.2,2755,694,1332,1221,38.3,6.4,655,8312,0.22,2.50,41.35,0.314,11430,0.099,0.079,2842,2112,956,1027,885,0,0,0,0,0,0,14.20,14.15,13.71
$GC,8607,0.80,640.1,2842,2112,1026,876,5.6,7.7,694,8639,0.00,2.50,26.20,0.222,8740,0.000,0.083,2850,692,750,817,684,0,0,0,0,0,0,14.57,14.01,13.82
$STATE,8647,end climb,SURFACE_DEPTH_REACHED
$STATE,8647,begin surface coast
$FINISH,0.7,1.021277
$STATE,8657,end surface coast,CONTROL_FINISHED_OK
$STATE,8657,begin surface
$SM_CCo,8681,36.28,0.208,0,0,498,703.03
$SM_GC,1.15,8.20,2.67,36.28,0.083,0.075,0.208,198,2205,498,-7.38,-0.68,703.03,0,0,0,0,0,0,14.31,14.22,14.00
$RAFOS_CLK,400
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7432.59,-15322.49,010917,184243
$TT8_MAMPS,0.039697,0.871836
$HUMID,47.00
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,16
$CP_FREE,15976923136.000000
$PM_FREEKB_00,51344000
$24V_AH,12.31,149.891
$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,25.875,85.175,968.075,36.275,0.000,0.000,0.000,159.450,4.000,0.000,10.580,0.000,5999.478,857.548,1995.923,228.026,0.000,2044.057,0.000,1011.636,0.000,0.539,0.000
$DEVICE_MAMPS,453.645,2142.765,1490.220,208.080,0.000,0.000,0.000,135.405,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8260.000,8649.000,8632.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.928,20.000,9.855,0.000
$MEM,323740
$DATA_FILE_SIZE,23395,704
$CAP_FILE_SIZE,95422,0
$CFSIZE,2097872896,2019622912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.6
$CURRENT,0.022,288.73,1
$GPS,010917,235307,7435.306,-15307.106,17,0.8,21,19.6,0.3,73.2,12,9.9