version: 66.13
glider: 196
mission: 14
dive: 264
start: 9 6 117 14 3 23
data:
$ID,196
$MISSION,14
$DIVE,264
$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,40
$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,738.0
$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
$GPS1,060917,135411,7511.9023,-15139.2080,18,0.7,19,20.4,0.5,355.4,12,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.6
$GPS2,060917,140250,7511.9414,-15139.2637,6,0.7,27,20.4,0.0,338.3,11,9.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,359.8,59174,-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,49,end surface,CONTROL_FINISHED_OK
$STATE,49,begin dive
$GC,52,-0.57,-145.9,199,2224,497,501,0.0,0.0,0,145,0.00,0.00,-91.95,0.000,16386,0.000,0.000,200,2224,2188,2127,2250,0,0,0,0,0,0,14.56,28.83,14.58
$GC,148,-0.57,-145.9,199,2225,2131,2251,3.9,-5.4,9,201,12.85,2.78,-34.58,0.000,18724,0.457,2.140,2376,3588,3962,3946,3979,0,0,0,0,0,0,13.64,12.57,14.14
$GC,392,-0.73,-145.9,2376,3589,3954,3979,49.4,-12.6,57,397,0.00,2.38,0.00,0.000,1158,0.000,0.055,2376,2193,3965,3952,3979,0,0,0,0,0,0,14.35,14.23,14.39
$GC,704,-0.85,-145.9,2377,2192,3954,3979,88.3,-10.3,89,705,0.22,0.00,0.00,0.000,4230,0.097,0.000,2289,2191,3966,3953,3979,0,0,0,0,0,0,13.93,14.00,13.92
$GC,1022,-0.85,-145.9,2289,2192,3954,3979,138.4,-14.9,105,1027,0.00,2.45,0.00,0.000,260,0.000,0.086,2279,3592,3966,3953,3979,0,0,0,0,0,0,14.75,14.21,14.76
$GC,1177,-0.96,-145.9,2280,3594,3954,3979,157.8,-11.7,136,1183,0.00,2.35,0.00,0.000,1158,0.000,0.058,2279,2201,3966,3953,3979,0,0,0,0,0,0,14.41,14.28,14.48
$GC,1503,-1.00,-145.9,2280,2200,3954,3980,200.4,-12.9,151,1508,0.00,2.45,0.00,0.000,388,0.000,0.086,2271,3600,3966,3953,3979,0,0,0,0,0,0,14.76,14.21,14.78
$GC,1558,-1.12,-145.9,2271,3600,3954,3979,207.2,-11.4,162,1564,0.17,2.38,0.00,0.000,5254,0.112,0.057,2206,2199,3966,3953,3979,0,0,0,0,0,0,14.26,14.19,14.34
$GC,1863,-1.03,-145.9,2207,2199,3955,3978,263.4,-17.9,173,1868,0.15,2.45,0.00,0.000,2436,0.297,0.085,2235,3595,3966,3953,3979,0,0,0,0,0,0,13.93,14.21,14.11
$GC,1993,-1.10,-145.9,2236,3596,3954,3979,280.4,-11.8,199,1998,0.00,2.38,0.00,0.000,1158,0.000,0.057,2235,2200,3966,3953,3979,0,0,0,0,0,0,14.34,14.18,14.40
$GC,2313,-1.10,-145.9,2236,2198,3954,3979,320.6,-12.4,213,2318,0.00,2.45,0.00,0.000,260,0.000,0.090,2235,3594,3966,3953,3979,0,0,0,0,0,0,14.77,14.20,14.78
$GC,2369,-1.20,-145.9,2235,3595,3961,3980,327.1,-11.0,224,2376,0.15,2.38,0.00,0.000,5254,0.125,0.057,2174,2189,3966,3953,3979,0,0,0,0,0,0,14.30,14.26,14.40
$GC,2673,-1.10,-145.9,2175,2190,3953,3980,378.8,-17.1,235,2678,0.17,2.45,0.00,0.000,2436,0.304,0.083,2204,3592,3965,3952,3979,0,0,0,0,0,0,13.88,14.21,14.07
$GC,2771,-1.14,-145.9,2205,3594,3953,3980,391.8,-12.5,254,2775,0.00,2.35,0.00,0.000,1158,0.000,0.055,2204,2198,3965,3952,3979,0,0,0,0,0,0,14.40,14.28,14.44
$GC,3096,-1.14,-145.9,2205,2196,3953,3979,436.1,-13.5,269,3101,0.00,2.47,0.00,0.000,260,0.000,0.087,2197,3597,3965,3952,3978,0,0,0,0,0,0,14.76,14.13,14.78
$GC,3181,-1.17,-145.9,2198,3597,3953,3979,447.5,-12.9,286,3187,0.00,2.35,0.00,0.000,1158,0.000,0.056,2197,2196,3965,3951,3979,0,0,0,0,0,0,14.40,14.28,14.43
$STATE,3423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3423,begin apogee
$GC,3429,-0.13,0.0,2198,2063,3953,3979,481.6,-14.0,295,3660,1.30,0.00,227.40,1.426,10246,0.241,0.000,2527,2062,3366,3381,3352,0,0,0,0,0,0,13.83,13.54,12.65
$STATE,3663,end apogee,CONTROL_FINISHED_OK
$STATE,3664,begin climb
$GC,3666,0.57,145.9,2528,2063,3374,3344,493.0,0.0,302,3889,0.75,0.00,213.35,1.372,11014,0.061,0.000,2782,2059,2760,2797,2723,0,0,0,0,0,0,13.65,12.88,12.28
$GC,4211,0.15,145.9,2780,2063,2786,2714,457.7,15.0,318,4217,0.65,2.35,0.00,0.000,4740,0.321,0.077,2647,728,2747,2785,2709,0,0,0,0,0,0,13.56,13.94,13.81
$GC,4367,0.04,175.8,2647,730,2786,2715,442.9,8.6,349,4413,0.22,2.38,41.05,1.425,13478,0.267,0.081,2599,2087,2650,2694,2606,0,0,0,0,0,0,13.74,14.02,13.12
$GC,4723,0.03,220.7,2598,2087,2684,2583,414.8,7.9,370,4795,0.00,0.00,70.25,1.375,8358,0.000,0.000,2599,2086,2466,2520,2413,0,0,0,0,0,0,14.57,13.94,13.12
$GC,5083,0.06,253.6,2599,2088,2506,2395,384.4,8.5,382,5139,0.00,2.42,49.92,1.387,8740,0.000,0.083,2602,721,2326,2375,2278,0,0,0,0,0,0,14.55,13.78,13.18
$GC,5171,0.14,281.1,2603,721,2369,2272,377.0,8.7,399,5221,0.00,2.42,42.97,1.381,9382,0.000,0.078,2602,2099,2214,2266,2163,0,0,0,0,0,0,14.16,14.04,13.06
$GC,5538,0.22,305.9,2602,2100,2256,2146,343.9,8.9,422,5581,0.12,2.47,35.20,1.395,10916,0.130,0.087,2668,712,2109,2156,2063,0,0,0,0,0,0,14.24,14.07,13.21
$GC,5616,0.22,305.9,2670,716,2148,2062,333.9,13.0,438,5621,0.00,2.42,0.00,0.000,1030,0.000,0.079,2669,2099,2103,2146,2061,0,0,0,0,0,0,14.21,14.10,14.26
$GC,5927,0.17,305.9,2670,2100,2146,2053,292.9,13.0,450,5932,0.12,2.40,0.00,0.000,4740,0.269,0.082,2644,729,2096,2141,2052,0,0,0,0,0,0,14.01,14.14,14.14
$GC,5987,0.22,305.9,2645,730,2144,2053,286.4,10.1,462,5992,0.00,2.40,0.00,0.000,1158,0.000,0.078,2644,2101,2098,2144,2052,0,0,0,0,0,0,14.28,14.16,14.32
$GC,6317,0.23,314.1,2645,2103,2144,2052,253.1,9.6,478,6322,0.00,0.00,1.80,0.271,8742,0.000,0.000,2645,2100,2084,2130,2038,0,0,0,0,0,0,14.66,13.85,13.66
$GC,6647,0.25,343.5,2645,2103,2141,2046,223.5,8.6,494,6717,0.00,2.47,62.72,1.320,8740,0.000,0.085,2646,724,1959,2002,1917,0,0,0,0,0,0,14.67,14.04,13.23
$GC,6783,0.39,394.2,2647,718,1990,1914,212.7,7.7,521,6883,0.17,2.42,90.32,1.236,11430,0.106,0.080,2712,2099,1754,1779,1729,0,0,0,0,0,0,14.18,14.10,13.07
$GC,7188,0.39,394.2,2712,2100,1774,1712,163.8,12.0,552,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2099,1742,1773,1712,0,0,0,0,0,0,14.40,14.42,14.43
$GC,7488,0.39,394.2,2713,2099,1777,1709,130.3,11.0,562,7492,0.00,2.42,0.00,0.000,516,0.000,0.086,2713,730,1740,1772,1709,0,0,0,0,0,0,14.47,14.13,14.48
$GC,7635,0.46,406.0,2714,730,1769,1708,115.9,9.5,591,7647,0.00,2.42,4.97,1.476,9382,0.000,0.077,2713,2104,1712,1741,1683,0,0,0,0,0,0,14.23,14.07,13.07
$GC,7952,0.48,437.8,2713,2099,1746,1686,86.2,8.5,616,7973,0.00,0.00,18.73,0.451,8230,0.000,0.000,2713,2099,1583,1609,1557,0,0,0,0,0,0,14.43,14.04,13.62
$GC,8272,0.62,517.4,2714,2099,1617,1553,61.4,6.3,648,8325,0.17,2.50,42.92,0.380,10916,0.104,0.087,2791,718,1254,1307,1201,0,0,0,0,0,0,14.12,14.04,13.64
$GC,8372,0.66,527.9,2794,719,1308,1207,52.3,9.5,667,8384,0.00,2.45,6.95,0.342,9382,0.000,0.078,2794,2099,1210,1268,1153,0,0,0,0,0,0,14.14,14.00,13.64
$GC,8689,0.76,609.3,2794,2101,1265,1160,26.6,6.2,700,8741,0.00,2.50,43.72,0.285,8868,0.000,0.086,2794,727,879,946,813,0,0,0,0,0,0,14.42,13.93,13.70
$GC,8836,0.94,677.8,2795,728,947,817,16.7,6.8,729,8879,0.28,2.42,37.62,0.255,11430,0.085,0.076,2894,2100,601,643,559,0,0,0,0,0,0,14.11,14.00,13.75
$STATE,8962,end climb,SURFACE_DEPTH_REACHED
$STATE,8962,begin surface coast
$FINISH,0.4,1.021339
$STATE,8972,end surface coast,CONTROL_FINISHED_OK
$STATE,8972,begin surface
$SM_CCo,8993,14.55,0.213,0,0,498,702.78
$SM_GC,0.98,8.32,0.17,14.55,0.067,0.126,0.213,200,2210,498,-7.38,-0.76,702.78,0,0,0,0,0,0,14.16,14.10,13.85
$RAFOS_CLK,100
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7511.50,-15129.42,060917,112229
$TT8_MAMPS,0.086135,1.03587
$HUMID,43.77
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.20
$XPDR_PINGS,20
$CP_FREE,15959621632.000000
$PM_FREEKB_00,50169984
$24V_AH,12.28,169.193
$10V_AH,12.15,0.000
$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,25.850,73.275,989.925,14.550,0.000,0.000,0.000,272.700,5.000,0.000,28.422,0.000,6369.348,867.915,2037.138,265.781,0.000,2007.684,0.000,1069.003,2212.000,0.540,0.000
$DEVICE_MAMPS,457.470,2139.705,1476.450,212.670,0.000,0.000,0.000,165.240,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5130.000,8964.000,8944.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.204,20.000,9.857,0.000
$MEM,323604
$DATA_FILE_SIZE,26672,747
$CAP_FILE_SIZE,96548,0
$CFSIZE,2097872896,2009726976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1438.9
$CURRENT,0.039,310.24,1
$GPS,060917,163456,7513.085,-15136.788,40,0.7,40,20.5,0.5,297.2,12,7.9