version: 66.13
glider: 196
mission: 14
dive: 243
start: 9 4 117 5 1 6
data:
$ID,196
$MISSION,14
$DIVE,243
$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,27
$R_STBD_OVSHOOT,37
$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,684.0
$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
$GPS1,040917,044914,7450.2939,-15226.8232,18,0.7,21,20.0,0.3,331.7,12,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-77.6
$GPS2,040917,050031,7450.3276,-15226.9404,4,0.7,38,20.0,0.4,324.0,12,6.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,13.9,103772,-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,48,end surface,CONTROL_FINISHED_OK
$STATE,48,begin dive
$GC,51,-0.57,-145.9,198,2219,482,497,0.0,0.0,0,144,0.00,0.00,-92.05,0.000,16386,0.000,0.000,197,2219,2154,2088,2221,0,0,0,0,0,0,14.54,28.83,14.56
$GC,147,-0.57,-145.9,198,2219,2090,2222,3.3,-3.9,9,204,12.62,2.85,-37.85,0.000,19236,0.451,2.138,2386,792,3963,3947,3980,0,0,0,0,0,0,13.65,12.51,14.16
$GC,395,-0.70,-145.9,2386,792,3954,3981,48.1,-13.1,58,401,0.00,2.45,0.00,0.000,1158,0.000,0.089,2386,2181,3967,3953,3981,0,0,0,0,0,0,14.35,14.19,14.38
$GC,702,-0.84,-145.9,2387,2183,3953,3981,82.5,-9.5,89,707,0.22,2.53,0.00,0.000,4516,0.102,0.087,2286,3613,3967,3954,3981,0,0,0,0,0,0,14.30,14.21,14.34
$GC,842,-0.90,-145.9,2287,3614,3955,3980,103.3,-14.5,117,847,0.00,2.38,0.00,0.000,1158,0.000,0.057,2286,2202,3967,3954,3980,0,0,0,0,0,0,14.41,14.28,14.45
$GC,1152,-0.90,-145.9,2287,2201,3953,3980,150.9,-14.5,129,1157,0.00,2.50,0.00,0.000,260,0.000,0.086,2279,3623,3967,3954,3981,0,0,0,0,0,0,14.75,14.23,14.77
$GC,1192,-0.97,-145.9,2280,3624,3955,3981,156.5,-13.3,137,1197,0.00,2.40,0.00,0.000,1158,0.000,0.058,2279,2195,3967,3954,3980,0,0,0,0,0,0,14.43,14.31,14.47
$GC,1513,-1.00,-145.9,2279,2195,3954,3982,200.8,-13.6,151,1518,0.00,2.50,0.00,0.000,388,0.000,0.087,2270,3617,3967,3953,3981,0,0,0,0,0,0,14.76,14.20,14.77
$GC,1593,-1.09,-145.9,2270,3615,3955,3981,211.0,-12.0,167,1598,0.15,2.38,0.00,0.000,5254,0.120,0.057,2215,2199,3967,3954,3981,0,0,0,0,0,0,14.34,14.31,14.45
$GC,1903,-1.02,-145.9,2216,2198,3955,3981,266.5,-17.4,179,1908,0.12,2.50,0.00,0.000,2436,0.299,0.085,2236,3620,3966,3952,3980,0,0,0,0,0,0,13.85,14.16,14.05
$GC,1978,-1.07,-145.9,2236,3620,3954,3981,277.1,-12.9,194,1983,0.00,2.40,0.00,0.000,1158,0.000,0.057,2235,2201,3967,3954,3981,0,0,0,0,0,0,14.30,14.14,14.37
$GC,2293,-1.07,-145.9,2236,2200,3954,3981,318.6,-12.8,207,2298,0.00,2.50,0.00,0.000,260,0.000,0.090,2235,3619,3967,3954,3980,0,0,0,0,0,0,14.77,14.16,14.78
$GC,2384,-1.15,-145.9,2235,3620,3954,3980,329.2,-11.0,225,2388,0.00,2.40,0.00,0.000,1158,0.000,0.057,2236,2199,3966,3952,3980,0,0,0,0,0,0,14.37,14.22,14.38
$GC,2714,-1.17,-145.9,2236,2198,3953,3981,368.4,-11.8,241,2718,0.00,2.50,0.00,0.000,388,0.000,0.089,2235,3619,3966,3953,3980,0,0,0,0,0,0,14.77,14.16,14.78
$GC,2774,-1.27,-145.9,2235,3621,3953,3980,375.1,-10.6,253,2779,0.20,2.40,0.00,0.000,5254,0.109,0.057,2160,2195,3966,3952,3980,0,0,0,0,0,0,14.27,14.21,14.36
$GC,3104,-1.13,-145.9,2160,2194,3951,3981,435.3,-18.6,269,3109,0.22,2.50,0.00,0.000,2436,0.312,0.083,2199,3619,3965,3951,3980,0,0,0,0,0,0,13.78,14.12,13.97
$GC,3234,-1.13,-145.9,2199,3621,3951,3981,453.7,-13.1,295,3240,0.00,2.40,0.00,0.000,1030,0.000,0.057,2199,2194,3965,3951,3980,0,0,0,0,0,0,14.42,14.29,14.46
$STATE,3432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3432,begin apogee
$GC,3438,-0.13,0.0,2200,2065,3952,3980,481.8,-14.1,305,3664,1.30,0.08,222.15,1.453,10246,0.243,0.180,2528,2114,3365,3386,3345,0,0,0,0,0,0,13.91,13.46,12.64
$STATE,3668,end apogee,CONTROL_FINISHED_OK
$STATE,3668,begin climb
$GC,3670,0.57,145.9,2533,2114,3380,3338,493.0,0.0,312,3888,0.75,2.67,210.48,1.397,10756,0.063,0.077,2788,728,2762,2804,2720,0,0,0,0,0,0,13.62,12.89,12.25
$GC,4065,0.19,145.9,2788,727,2793,2713,474.9,15.1,396,4070,0.68,2.47,0.00,0.000,5254,0.321,0.075,2648,2096,2751,2790,2712,0,0,0,0,0,0,13.31,13.66,13.69
$GC,4397,0.03,155.1,2649,2096,2792,2708,441.8,9.6,412,4408,0.20,2.45,2.20,0.543,12964,0.265,0.082,2602,730,2739,2779,2699,0,0,0,0,0,0,13.85,14.07,12.57
$GC,4463,0.07,213.0,2603,730,2786,2703,436.4,7.3,425,4563,0.00,2.40,95.10,1.415,9254,0.000,0.079,2602,2099,2495,2554,2436,0,0,0,0,0,0,14.29,14.16,12.95
$GC,4879,0.09,241.1,2603,2099,2542,2416,401.2,8.7,458,4919,0.00,0.00,38.40,1.500,8230,0.000,0.000,2602,2099,2383,2441,2325,0,0,0,0,0,0,14.52,14.01,13.16
$GC,5209,0.14,265.2,2602,2100,2428,2315,371.9,8.9,469,5249,0.00,2.42,35.12,1.465,8868,0.000,0.082,2602,721,2279,2332,2227,0,0,0,0,0,0,14.57,13.85,13.21
$GC,5301,0.27,298.8,2603,722,2326,2227,364.0,8.5,487,5361,0.20,2.42,51.30,1.381,11430,0.097,0.078,2682,2101,2143,2193,2094,0,0,0,0,0,0,14.21,14.12,13.08
$GC,5659,0.19,298.8,2683,2102,2187,2083,312.9,14.3,509,5665,0.12,2.40,0.00,0.000,4740,0.255,0.082,2659,729,2135,2186,2084,0,0,0,0,0,0,14.01,14.19,14.15
$GC,5705,0.19,298.8,2659,730,2184,2084,307.1,12.4,518,5710,0.00,2.40,0.00,0.000,1030,0.000,0.077,2659,2109,2133,2184,2083,0,0,0,0,0,0,14.33,14.21,14.38
$GC,6020,0.17,298.8,2659,2112,2184,2082,270.8,11.1,531,6021,0.00,0.00,0.00,0.000,134,0.000,0.000,2659,2111,2131,2183,2080,0,0,0,0,0,0,14.64,14.66,14.66
$GC,6320,0.17,300.3,2658,2112,2184,2080,239.8,9.9,541,6326,0.00,2.42,0.00,0.000,548,0.000,0.085,2659,725,2131,2183,2079,0,0,0,0,0,0,14.65,14.25,14.67
$GC,6401,0.24,322.7,2660,726,2182,2080,232.3,9.0,557,6443,0.00,2.40,35.58,1.388,9382,0.000,0.078,2659,2104,2045,2092,1998,0,0,0,0,0,0,14.40,14.26,13.30
$GC,6743,0.28,345.7,2660,2103,2091,1990,200.9,8.9,575,6786,0.00,2.45,37.35,1.365,8868,0.000,0.086,2659,723,1951,1997,1905,0,0,0,0,0,0,14.59,14.12,13.27
$GC,6859,0.41,386.7,2660,723,1990,1906,191.2,8.1,598,6932,0.17,2.42,67.72,1.291,11430,0.109,0.081,2729,2102,1793,1816,1771,0,0,0,0,0,0,14.16,14.06,13.11
$GC,7253,0.38,386.7,2729,2102,1809,1745,141.2,12.5,627,7257,0.00,2.40,0.00,0.000,644,0.000,0.084,2737,729,1777,1808,1746,0,0,0,0,0,0,14.55,14.04,14.57
$GC,7288,0.38,386.7,2740,730,1806,1747,136.8,12.7,634,7293,0.15,2.40,0.00,0.000,5126,0.229,0.079,2704,2100,1775,1805,1746,0,0,0,0,0,0,13.34,14.17,13.53
$GC,7613,0.42,401.6,2707,2101,1806,1745,105.0,9.3,649,7633,0.00,2.47,16.12,1.400,8868,0.000,0.085,2712,727,1725,1755,1696,0,0,0,0,0,0,14.62,14.21,13.32
$GC,7706,0.52,420.5,2712,728,1746,1703,96.6,9.1,667,7722,0.12,2.40,10.27,0.493,11430,0.130,0.077,2769,2102,1650,1674,1626,0,0,0,0,0,0,14.22,14.16,13.66
$GC,8027,0.47,420.5,2769,2102,1676,1620,57.7,10.3,701,8033,0.12,2.40,0.00,0.000,4740,0.259,0.081,2747,729,1646,1673,1620,0,0,0,0,0,0,13.97,14.16,14.11
$GC,8130,0.59,507.1,2748,729,1674,1621,50.5,6.0,721,8184,0.00,2.40,45.12,0.353,9382,0.000,0.079,2747,2102,1295,1345,1246,0,0,0,0,0,0,14.34,14.21,13.74
$GC,8479,0.76,595.8,2748,2103,1348,1234,28.8,5.9,761,8531,0.25,0.00,46.55,0.287,10406,0.089,0.000,2842,2103,932,997,868,0,0,0,0,0,0,14.25,14.13,13.78
$STATE,8787,end climb,SURFACE_DEPTH_REACHED
$STATE,8787,begin surface coast
$FINISH,0.2,1.006961
$STATE,8807,end surface coast,CONTROL_FINISHED_OK
$STATE,8807,begin surface
$SM_CCo,8828,57.92,0.210,0,0,500,702.78
$SM_GC,1.19,8.07,0.17,57.92,0.072,0.136,0.210,201,2209,500,-7.38,-0.68,702.78,0,0,0,0,0,0,14.32,14.27,14.00
$RAFOS_CLK,407
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7450.32,-15230.95,040917,021045
$TT8_MAMPS,0.039697,0.888314
$HUMID,47.04
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,25
$CP_FREE,15968534528.000000
$PM_FREEKB_00,50773760
$24V_AH,12.25,159.318
$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,25.700,83.800,913.475,57.925,0.000,0.000,0.000,384.300,6.250,0.000,41.729,0.000,6278.574,854.879,2145.709,298.074,0.000,2095.411,0.000,1135.578,0.000,0.539,0.000
$DEVICE_MAMPS,450.585,2138.175,1500.165,210.375,0.000,0.000,0.000,180.540,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5142.000,8814.000,8781.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.771,20.000,9.860,0.000
$MEM,323300
$DATA_FILE_SIZE,26764,794
$CAP_FILE_SIZE,101521,0
$CFSIZE,2097872896,2014576640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.0
$CURRENT,0.108,248.64,1
$GPS,040917,073019,7451.037,-15225.508,15,0.8,23,20.0,0.0,336.0,10,9.7