version: 66.13
glider: 196
mission: 14
dive: 235
start: 9 3 117 6 37 9
data:
$ID,196
$MISSION,14
$DIVE,235
$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,60
$R_STBD_OVSHOOT,22
$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,663.0
$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
$GPS1,030917,062820,7445.1226,-15242.3516,18,0.8,22,19.8,0.3,236.1,11,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.5
$GPS2,030917,063636,7445.1167,-15242.4277,9,0.8,17,19.8,0.0,0.0,11,9.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,20.9,115290,-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,-145.9,205,2204,485,499,0.0,0.0,0,152,0.00,0.00,-101.25,0.000,16386,0.000,0.000,204,2204,2356,2303,2409,0,0,0,0,0,0,14.54,28.83,14.56
$GC,155,-0.57,-145.9,205,2205,2306,2410,4.6,-6.7,10,203,12.70,2.80,-29.77,0.000,18724,0.454,2.141,2372,3604,3962,3941,3983,0,0,0,0,0,0,13.56,12.85,14.04
$GC,338,-0.72,-145.9,2372,3608,3949,3983,43.4,-12.7,46,343,0.00,2.33,0.00,0.000,1158,0.000,0.059,2372,2236,3965,3947,3983,0,0,0,0,0,0,14.31,14.19,14.34
$GC,648,-0.83,-145.9,2372,2235,3950,3983,81.7,-10.7,78,649,0.20,0.00,0.00,0.000,4230,0.111,0.000,2293,2234,3966,3949,3983,0,0,0,0,0,0,14.23,14.37,14.36
$GC,948,-0.83,-145.9,2294,2235,3949,3984,127.7,-14.4,96,953,0.00,2.42,0.00,0.000,260,0.000,0.086,2282,3614,3966,3949,3983,0,0,0,0,0,0,14.63,14.13,14.65
$GC,988,-0.90,-145.9,2283,3614,3950,3983,133.4,-13.7,104,993,0.00,2.40,0.00,0.000,1158,0.000,0.058,2282,2196,3966,3949,3983,0,0,0,0,0,0,14.26,14.14,14.28
$GC,1308,-0.92,-145.9,2283,2197,3950,3984,178.8,-13.6,118,1313,0.00,2.50,0.00,0.000,388,0.000,0.089,2278,3616,3966,3949,3983,0,0,0,0,0,0,14.66,14.18,14.67
$GC,1398,-1.02,-145.9,2280,3616,3952,3983,189.9,-12.0,136,1403,0.00,2.42,0.00,0.000,1158,0.000,0.058,2279,2190,3966,3949,3983,0,0,0,0,0,0,14.35,14.23,14.40
$GC,1729,-1.07,-145.9,2280,2189,3950,3983,231.1,-12.0,152,1734,0.12,2.50,0.00,0.000,4484,0.142,0.086,2222,3608,3966,3949,3983,0,0,0,0,0,0,14.31,14.19,14.35
$GC,1754,-1.04,-145.9,2223,3609,3950,3984,234.9,-15.2,157,1761,0.00,2.40,0.00,0.000,1158,0.000,0.057,2222,2199,3969,3949,3990,0,0,0,0,0,0,14.36,14.26,14.39
$GC,2059,-0.99,-145.9,2222,2199,3950,3983,284.9,-15.5,168,2065,0.12,2.47,0.00,0.000,2436,0.302,0.085,2242,3608,3965,3949,3982,0,0,0,0,0,0,13.95,14.19,14.12
$GC,2172,-1.05,-145.9,2242,3609,3950,3983,298.3,-11.4,190,2176,0.00,2.38,0.00,0.000,1158,0.000,0.057,2242,2201,3966,3949,3983,0,0,0,0,0,0,14.38,14.25,14.41
$GC,2482,-1.08,-145.9,2242,2199,3950,3983,335.6,-11.7,202,2487,0.00,2.47,0.00,0.000,388,0.000,0.089,2236,3608,3965,3948,3982,0,0,0,0,0,0,14.66,14.16,14.67
$GC,2552,-1.16,-145.9,2237,3609,3950,3983,343.5,-10.9,216,2557,0.00,2.40,0.00,0.000,1158,0.000,0.057,2233,2192,3965,3949,3982,0,0,0,0,0,0,14.38,14.23,14.40
$GC,2872,-1.19,-145.9,2237,2191,3950,3982,380.4,-11.3,230,2877,0.12,2.47,0.00,0.000,4484,0.148,0.085,2172,3609,3965,3949,3982,0,0,0,0,0,0,14.30,14.18,14.33
$GC,2957,-1.12,-145.9,2172,3609,3948,3983,393.7,-16.4,247,2964,0.17,2.40,0.00,0.000,3206,0.277,0.055,2211,2198,3963,3945,3982,0,0,0,0,0,0,13.77,14.19,14.09
$GC,3262,-1.12,-145.9,2214,2196,3948,3982,435.1,-13.3,258,3267,0.00,2.47,0.00,0.000,260,0.000,0.088,2209,3608,3964,3947,3982,0,0,0,0,0,0,14.65,14.17,14.70
$GC,3338,-1.15,-145.9,2210,3609,3949,3982,444.8,-12.3,273,3343,0.00,2.35,0.00,0.000,1158,0.000,0.056,2209,2206,3964,3947,3981,0,0,0,0,0,0,14.19,14.12,14.24
$STATE,3621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3621,begin apogee
$GC,3627,-0.13,0.0,2209,2062,3948,3982,483.3,-13.4,285,3848,1.25,0.08,217.73,1.424,10246,0.240,0.178,2527,2109,3364,3384,3345,0,0,0,0,0,0,13.88,13.45,12.66
$STATE,3852,end apogee,CONTROL_FINISHED_OK
$STATE,3852,begin climb
$GC,3856,0.57,145.9,2528,2109,3377,3335,494.4,0.0,292,4415,0.75,2.65,207.52,1.384,10500,0.062,0.075,2780,3503,2753,2787,2720,0,0,0,0,0,0,13.63,13.13,12.31
$GC,4559,0.11,145.9,2780,3502,2788,2720,421.8,16.1,322,4564,0.80,2.33,0.00,0.000,5254,0.347,0.057,2623,2134,2753,2787,2720,0,0,0,0,0,0,13.68,14.06,14.07
$GC,4891,0.04,187.5,2623,2132,2788,2719,393.7,8.1,338,4957,0.00,2.60,60.20,1.403,8868,0.000,0.083,2633,691,2597,2644,2550,0,0,0,0,0,0,14.57,13.77,13.16
$GC,5045,0.02,205.9,2632,692,2638,2545,379.8,9.1,369,5077,0.20,2.47,25.40,1.469,13478,0.243,0.079,2587,2093,2521,2578,2465,0,0,0,0,0,0,13.78,14.00,13.10
$GC,5402,0.09,261.8,2588,2092,2576,2453,352.9,7.4,390,5493,0.00,2.62,85.28,1.340,8612,0.000,0.083,2587,3513,2291,2344,2239,0,0,0,0,0,0,14.42,13.82,13.07
$GC,5539,0.18,285.4,2585,3515,2335,2239,341.8,8.9,417,5579,0.17,2.45,34.97,1.387,11430,0.099,0.061,2663,2104,2200,2249,2152,0,0,0,0,0,0,13.95,13.90,12.97
$GC,5886,0.14,285.4,2664,2104,2241,2136,298.5,12.7,436,5891,0.12,2.50,0.00,0.000,4740,0.269,0.085,2641,691,2187,2239,2136,0,0,0,0,0,0,13.85,14.07,14.00
$GC,6008,0.21,289.0,2642,690,2238,2136,285.9,9.8,460,6013,0.00,2.47,0.00,0.000,1190,0.000,0.079,2641,2097,2186,2237,2136,0,0,0,0,0,0,14.23,14.10,14.25
$GC,6338,0.22,313.3,2641,2099,2237,2134,254.4,8.9,476,6381,0.00,0.00,41.65,1.366,8486,0.000,0.000,2641,2098,2088,2138,2039,0,0,0,0,0,0,14.47,14.00,13.24
$GC,6668,0.30,351.5,2638,2100,2129,2027,225.9,8.2,492,6739,0.12,2.58,61.67,1.305,10916,0.125,0.087,2704,690,1926,1965,1887,0,0,0,0,0,0,14.20,13.90,13.15
$GC,6819,0.30,351.5,2705,692,1958,1887,208.9,11.1,522,6824,0.00,2.50,0.00,0.000,1030,0.000,0.077,2704,2100,1921,1955,1888,0,0,0,0,0,0,14.12,14.00,14.14
$GC,7150,0.27,351.5,2705,2102,1955,1879,171.0,11.2,538,7155,0.12,2.50,0.00,0.000,4740,0.231,0.085,2673,691,1916,1954,1879,0,0,0,0,0,0,13.88,14.04,13.97
$GC,7207,0.41,385.9,2673,691,1953,1879,166.0,8.4,549,7275,0.15,2.47,55.53,1.278,11430,0.123,0.078,2735,2105,1787,1814,1761,0,0,0,0,0,0,14.14,14.07,13.21
$GC,7570,0.36,385.9,2736,2105,1812,1751,121.1,12.2,572,7571,0.15,0.00,0.00,0.000,4230,0.223,0.000,2703,2104,1780,1810,1751,0,0,0,0,0,0,13.85,14.10,14.06
$GC,7872,0.42,411.5,2703,2106,1810,1747,93.8,8.8,586,7893,0.00,2.50,12.73,0.486,8868,0.000,0.086,2710,688,1686,1715,1658,0,0,0,0,0,0,14.57,14.09,13.59
$GC,7990,0.53,442.7,2711,688,1716,1658,83.2,8.6,609,8013,0.12,2.47,17.58,0.453,11430,0.130,0.078,2767,2103,1558,1588,1529,0,0,0,0,0,0,14.23,14.16,13.62
$GC,8318,0.56,485.5,2767,2104,1588,1524,47.5,8.0,644,8342,0.00,0.00,22.77,0.346,8230,0.000,0.000,2768,2103,1382,1424,1341,0,0,0,0,0,0,14.58,14.07,13.71
$GC,8638,0.68,565.0,2767,2104,1424,1336,24.8,6.3,676,8685,0.00,2.53,41.50,0.285,8868,0.000,0.086,2768,689,1059,1123,995,0,0,0,0,0,0,14.57,14.07,13.74
$GC,8785,0.93,664.7,2768,690,1122,992,17.2,5.4,705,8844,0.35,2.47,52.25,0.256,11430,0.080,0.078,2898,2102,653,702,605,0,0,0,0,0,0,14.20,14.09,13.85
$STATE,8920,end climb,SURFACE_DEPTH_REACHED
$STATE,8920,begin surface coast
$FINISH,0.2,1.011700
$STATE,8929,end surface coast,CONTROL_FINISHED_OK
$STATE,8929,begin surface
$SM_CCo,8994,20.75,0.213,0,0,498,702.78
$SM_GC,1.06,8.30,0.17,20.75,0.078,0.113,0.213,201,2229,498,-7.37,-0.68,702.78,0,0,0,0,0,0,14.31,14.31,13.97
$RAFOS_CLK,191
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7445.17,-15249.53,030917,063124
$TT8_MAMPS,0.040446,0.935501
$HUMID,46.53
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,11.20
$XPDR_PINGS,12
$CP_FREE,0.000000
$PM_FREEKB_00,50999296
$24V_AH,12.31,155.528
$10V_AH,12.16,0.000
$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,26.075,79.750,936.775,20.750,0.000,0.000,0.000,242.075,3.000,0.000,18.190,0.000,6142.329,803.287,2352.638,227.730,0.000,2257.183,0.000,1039.915,2219.000,0.539,0.000
$DEVICE_MAMPS,454.410,2141.235,1468.800,212.670,0.000,0.000,0.000,131.580,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8919.000,8955.000,8947.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.603,20.000,9.902,0.000
$MEM,323472
$DATA_FILE_SIZE,26683,725
$CAP_FILE_SIZE,99512,0
$CFSIZE,2097872896,2016706560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.7
$CURRENT,0.107,258.41,1
$GPS,030917,090839,7445.800,-15240.588,22,0.7,29,19.9,0.0,0.0,12,9.9