version: 66.13
glider: 196
mission: 14
dive: 240
start: 9 3 117 20 51 27
data:
$ID,196
$MISSION,14
$DIVE,240
$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,29
$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,677.0
$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
$GPS1,030917,203451,7448.5132,-15233.0254,36,0.8,37,19.9,0.0,0.0,9,7.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.4
$GPS2,030917,205052,7448.5029,-15233.0830,11,0.9,12,19.9,0.0,31.8,9,8.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,19.1,107908,-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,-145.9,202,2216,484,496,0.0,0.0,0,141,0.00,0.00,-92.00,0.000,16386,0.000,0.000,202,2216,2146,2076,2217,0,0,0,0,0,0,14.33,28.83,14.35
$GC,144,-0.57,-145.9,203,2216,2081,2218,3.2,-3.5,9,202,12.82,2.78,-38.50,0.000,18724,0.456,2.137,2375,3606,3966,3951,3981,0,0,0,0,0,0,13.57,12.81,13.99
$GC,427,-0.71,-145.9,2376,3608,3958,3983,52.3,-12.2,65,432,0.00,2.40,0.00,0.000,1158,0.000,0.058,2375,2196,3969,3957,3981,0,0,0,0,0,0,14.30,14.17,14.33
$GC,739,-0.83,-145.9,2376,2196,3959,3983,88.2,-10.2,97,744,0.17,2.50,0.00,0.000,4484,0.122,0.086,2291,3610,3970,3959,3982,0,0,0,0,0,0,14.17,14.04,14.23
$GC,784,-0.86,-145.9,2292,3611,3960,3982,94.8,-15.1,106,790,0.00,2.40,0.00,0.000,1158,0.000,0.057,2296,2201,3969,3958,3981,0,0,0,0,0,0,14.14,14.04,14.16
$GC,1089,-0.86,-145.9,2291,2200,3959,3982,141.0,-14.2,119,1094,0.00,2.47,0.00,0.000,260,0.000,0.086,2282,3610,3970,3959,3981,0,0,0,0,0,0,14.63,14.13,14.65
$GC,1179,-0.96,-145.9,2282,3613,3958,3982,152.6,-12.1,137,1184,0.00,2.38,0.00,0.000,1158,0.000,0.057,2282,2199,3969,3958,3981,0,0,0,0,0,0,14.31,14.19,14.35
$GC,1509,-0.99,-145.9,2283,2198,3960,3982,198.1,-13.5,153,1514,0.00,2.47,0.00,0.000,388,0.000,0.088,2279,3607,3970,3959,3981,0,0,0,0,0,0,14.66,14.14,14.67
$GC,1554,-1.10,-145.9,2280,3607,3960,3981,203.7,-11.7,162,1559,0.17,2.40,0.00,0.000,5254,0.110,0.057,2214,2183,3969,3958,3981,0,0,0,0,0,0,14.25,14.19,14.34
$GC,1870,-1.02,-145.9,2215,2182,3960,3981,260.9,-17.8,175,1875,0.12,2.50,0.00,0.000,2436,0.299,0.083,2236,3610,3970,3959,3981,0,0,0,0,0,0,13.95,14.20,14.10
$GC,1955,-1.07,-145.9,2236,3610,3960,3981,273.0,-12.6,192,1962,0.00,2.42,0.00,0.000,1158,0.000,0.056,2236,2195,3970,3959,3981,0,0,0,0,0,0,14.25,14.11,14.28
$GC,2260,-1.07,-145.9,2236,2195,3959,3983,314.1,-12.9,203,2265,0.00,2.47,0.00,0.000,260,0.000,0.088,2227,3603,3970,3959,3981,0,0,0,0,0,0,14.68,14.19,14.69
$GC,2350,-1.12,-145.9,2227,3603,3959,3980,325.3,-12.0,221,2355,0.00,2.38,0.00,0.000,1158,0.000,0.057,2227,2198,3969,3958,3981,0,0,0,0,0,0,14.38,14.26,14.42
$GC,2680,-1.12,-145.9,2228,2194,3958,3981,367.4,-12.4,237,2685,0.00,2.47,0.00,0.000,260,0.000,0.089,2224,3601,3969,3958,3981,0,0,0,0,0,0,14.69,14.18,14.71
$GC,2791,-1.18,-145.9,2222,3602,3957,3977,380.5,-11.0,259,2796,0.00,2.38,0.00,0.000,1158,0.000,0.057,2222,2192,3969,3957,3981,0,0,0,0,0,0,14.39,14.26,14.42
$GC,3101,-1.18,-145.9,2223,2191,3957,3980,419.0,-12.4,271,3106,0.00,2.50,0.00,0.000,260,0.000,0.090,2224,3608,3968,3957,3980,0,0,0,0,0,0,14.69,14.15,14.70
$GC,3181,-1.25,-145.9,2223,3608,3957,3980,428.5,-11.1,287,3186,0.15,2.40,0.00,0.000,5254,0.122,0.055,2162,2193,3967,3956,3979,0,0,0,0,0,0,14.28,14.24,14.39
$STATE,3489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3489,begin apogee
$GC,3495,-0.13,0.0,2163,2065,3955,3981,483.6,-18.1,299,3716,1.55,0.03,216.73,1.472,10246,0.278,0.307,2530,2095,3363,3385,3342,0,0,0,0,0,0,13.72,13.40,12.63
$STATE,3720,end apogee,CONTROL_FINISHED_OK
$STATE,3720,begin climb
$GC,3724,0.57,145.9,2530,2095,3381,3336,495.0,0.0,306,3943,0.75,2.72,204.88,1.411,10500,0.063,0.074,2781,3511,2764,2805,2723,0,0,0,0,0,0,13.61,13.09,12.29
$GC,4169,0.11,145.9,2781,3512,2791,2723,464.7,17.3,388,4175,0.82,2.40,0.00,0.000,5254,0.346,0.057,2622,2131,2756,2790,2722,0,0,0,0,0,0,13.44,13.81,13.81
$GC,4485,0.02,179.8,2623,2131,2790,2721,436.4,8.4,401,4540,0.12,2.60,48.10,1.440,12964,0.288,0.084,2602,695,2626,2672,2580,0,0,0,0,0,0,13.86,13.98,13.13
$GC,4592,0.08,224.2,2600,695,2670,2579,428.3,8.0,422,4667,0.00,2.47,64.35,1.410,9382,0.000,0.079,2600,2101,2447,2505,2389,0,0,0,0,0,0,14.14,14.02,12.97
$GC,4965,0.09,250.0,2603,2101,2499,2380,395.5,8.8,447,5004,0.00,0.00,37.35,1.434,8230,0.000,0.000,2602,2100,2346,2399,2294,0,0,0,0,0,0,14.52,14.00,13.18
$GC,5296,0.15,273.0,2602,2101,2391,2282,366.0,8.9,458,5336,0.00,2.53,34.22,1.427,8868,0.000,0.086,2602,702,2247,2298,2197,0,0,0,0,0,0,14.57,14.09,13.23
$GC,5372,0.28,302.3,2602,703,2295,2196,359.3,8.6,473,5423,0.22,2.45,44.50,1.398,11430,0.092,0.079,2690,2098,2130,2179,2082,0,0,0,0,0,0,14.18,14.09,13.11
$GC,5748,0.20,302.3,2690,2103,2171,2070,304.8,14.5,498,5753,0.17,2.47,0.00,0.000,4740,0.236,0.083,2655,692,2120,2171,2069,0,0,0,0,0,0,13.95,14.19,14.11
$GC,5788,0.23,302.3,2655,692,2170,2072,299.9,11.5,506,5793,0.00,2.45,0.00,0.000,1158,0.000,0.079,2651,2104,2118,2168,2069,0,0,0,0,0,0,14.34,14.22,14.40
$GC,6108,0.23,302.3,2655,2105,2170,2067,264.9,10.6,520,6114,0.00,2.47,0.00,0.000,516,0.000,0.085,2655,696,2118,2169,2067,0,0,0,0,0,0,14.64,14.23,14.66
$GC,6154,0.29,304.5,2655,696,2168,2068,260.1,9.9,529,6159,0.00,2.45,0.00,0.000,1190,0.000,0.079,2655,2105,2117,2167,2067,0,0,0,0,0,0,14.42,14.25,14.42
$GC,6469,0.30,319.8,2656,2105,2168,2065,230.0,9.3,542,6500,0.00,2.47,24.00,1.444,8740,0.000,0.085,2654,697,2058,2106,2010,0,0,0,0,0,0,14.65,14.18,13.33
$GC,6582,0.42,352.1,2656,697,2102,2008,220.1,8.5,564,6647,0.20,2.45,54.45,1.342,11430,0.100,0.080,2735,2099,1924,1961,1888,0,0,0,0,0,0,14.18,14.09,13.18
$GC,6952,0.32,352.1,2736,2099,1954,1880,169.0,13.7,588,6958,0.17,2.45,0.00,0.000,4740,0.228,0.081,2699,698,1915,1952,1879,0,0,0,0,0,0,13.97,13.88,14.09
$GC,7023,0.38,355.3,2699,698,1950,1879,161.4,9.9,602,7028,0.00,2.45,0.00,0.000,1190,0.000,0.078,2699,2106,1912,1949,1876,0,0,0,0,0,0,14.35,14.21,14.38
$GC,7343,0.38,358.9,2699,2108,1950,1878,129.4,9.8,616,7349,0.00,0.00,1.70,0.492,8742,0.000,0.000,2699,2108,1903,1938,1868,0,0,0,0,0,0,14.62,14.09,13.45
$GC,7674,0.41,395.4,2700,2108,1946,1867,100.0,8.3,632,7747,0.00,2.53,65.75,1.270,8740,0.000,0.086,2699,693,1752,1775,1729,0,0,0,0,0,0,14.65,14.02,13.24
$GC,7848,0.55,447.1,2699,693,1768,1726,86.3,7.6,666,7880,0.17,2.50,26.95,0.464,11430,0.107,0.079,2771,2109,1542,1571,1514,0,0,0,0,0,0,14.09,13.97,13.62
$GC,8178,0.56,472.1,2772,2110,1572,1506,49.8,8.8,702,8192,0.00,0.00,13.30,0.354,8742,0.000,0.000,2771,2109,1438,1478,1399,0,0,0,0,0,0,14.57,14.20,13.77
$GC,8488,0.66,564.1,2772,2110,1478,1395,27.9,5.8,734,8541,0.00,2.58,48.25,0.292,8868,0.000,0.086,2772,690,1066,1134,999,0,0,0,0,0,0,14.58,14.02,13.81
$GC,8636,0.92,661.9,2772,690,1126,995,20.0,5.5,763,8696,0.32,2.47,51.38,0.266,11430,0.081,0.078,2891,2103,662,713,612,0,0,0,0,0,0,14.13,14.11,13.83
$STATE,8791,end climb,SURFACE_DEPTH_REACHED
$STATE,8791,begin surface coast
$FINISH,0.6,1.021385
$STATE,8799,end surface coast,CONTROL_FINISHED_OK
$STATE,8799,begin surface
$SM_CCo,8820,22.08,0.214,0,0,501,702.78
$SM_GC,1.03,8.30,0.17,22.08,0.078,0.117,0.214,200,2218,501,-7.38,-0.65,702.78,0,0,0,0,0,0,14.28,14.28,13.97
$RAFOS_CLK,391
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7449.36,-15223.67,030917,180256
$TT8_MAMPS,0.039697,0.903294
$HUMID,46.37
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,11
$CP_FREE,15969812480.000000
$PM_FREEKB_00,50860032
$24V_AH,12.29,157.908
$10V_AH,12.14,0.000
$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,26.275,84.600,935.900,22.075,0.000,0.000,0.000,568.925,2.750,0.000,12.741,0.000,6372.065,958.950,2175.192,311.947,0.000,2277.856,0.000,1124.573,0.000,0.540,0.000
$DEVICE_MAMPS,455.940,2136.645,1471.860,214.200,0.000,0.000,0.000,185.130,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8828.000,8800.000,8771.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.745,20.000,9.849,0.000
$MEM,323700
$DATA_FILE_SIZE,26751,785
$CAP_FILE_SIZE,103052,0
$CFSIZE,2097872896,2015363072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1448.4
$CURRENT,0.104,258.15,1
$GPS,030917,231954,7449.110,-15231.108,17,0.7,20,20.0,0.0,0.0,12,9.9