version: 66.13
glider: 196
mission: 14
dive: 274
start: 9 7 117 17 12 6
data:
$ID,196
$MISSION,14
$DIVE,274
$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,24
$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,764.0
$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
$GPS1,070917,170249,7523.3232,-15119.4941,18,0.7,22,20.6,0.4,309.3,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.7
$GPS2,070917,171131,7523.3369,-15119.6348,5,0.9,27,20.6,0.7,261.1,10,8.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,351.1,36834,-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,-145.9,177,2207,502,487,0.0,0.0,0,144,0.00,0.00,-91.90,0.000,16386,0.000,0.000,175,2206,2182,2116,2249,0,0,0,0,0,0,14.56,28.83,14.58
$GC,147,-0.57,-145.9,175,2206,2120,2251,4.1,-6.0,9,200,12.93,2.80,-34.10,0.000,18724,0.456,2.142,2374,3604,3962,3946,3979,1,0,0,0,0,0,13.44,12.85,14.14
$GC,376,-0.72,-145.9,2376,3607,3953,3980,48.6,-13.1,54,382,0.00,2.40,0.00,0.000,1158,0.000,0.058,2375,2190,3965,3951,3979,0,0,0,0,0,0,14.35,14.22,14.39
$GC,683,-0.84,-145.9,2375,2190,3953,3981,88.1,-10.4,85,688,0.17,2.50,0.00,0.000,4484,0.117,0.084,2287,3616,3965,3952,3979,0,0,0,0,0,0,14.32,14.20,14.35
$GC,708,-0.87,-145.9,2288,3617,3953,3981,91.6,-13.7,90,714,0.00,2.40,0.00,0.000,1158,0.000,0.057,2287,2195,3966,3953,3980,0,0,0,0,0,0,14.40,14.26,14.45
$GC,1033,-0.90,-145.9,2288,2194,3954,3979,141.7,-14.3,105,1038,0.00,2.50,0.00,0.000,388,0.000,0.088,2279,3614,3966,3954,3979,0,0,0,0,0,0,14.74,14.09,14.76
$GC,1143,-1.02,-145.9,2279,3615,3953,3980,155.3,-11.8,127,1148,0.00,2.40,0.00,0.000,1158,0.000,0.058,2279,2192,3966,3953,3979,0,0,0,0,0,0,14.40,14.26,14.44
$GC,1454,-1.06,-145.9,2280,2190,3954,3979,195.9,-12.7,139,1459,0.12,2.50,0.00,0.000,4484,0.140,0.086,2222,3609,3967,3955,3979,0,0,0,0,0,0,14.33,14.13,14.35
$GC,1539,-1.06,-145.9,2222,3610,3953,3980,209.3,-15.6,156,1546,0.00,2.38,0.00,0.000,1030,0.000,0.058,2222,2201,3966,3953,3979,0,0,0,0,0,0,14.41,14.28,14.45
$GC,1844,-1.02,-145.9,2222,2201,3953,3981,260.3,-16.1,167,1849,0.12,2.47,0.00,0.000,2436,0.298,0.084,2241,3609,3966,3953,3979,0,0,0,0,0,0,13.93,14.13,14.10
$GC,1951,-1.12,-145.9,2242,3609,3954,3980,273.5,-11.3,188,1957,0.00,2.38,0.00,0.000,1158,0.000,0.058,2242,2201,3966,3953,3979,0,0,0,0,0,0,14.40,14.26,14.44
$GC,2267,-1.15,-145.9,2243,2199,3954,3980,311.9,-11.9,201,2272,0.00,2.47,0.00,0.000,388,0.000,0.089,2236,3609,3965,3952,3979,0,0,0,0,0,0,14.76,14.19,14.78
$GC,2342,-1.26,-145.9,2237,3610,3953,3980,320.5,-10.8,216,2349,0.20,2.38,0.00,0.000,5254,0.106,0.058,2160,2199,3966,3953,3979,0,0,0,0,0,0,14.33,14.26,14.42
$GC,2659,-1.13,-145.9,2161,2198,3951,3979,379.5,-18.8,229,2664,0.22,2.47,0.00,0.000,2436,0.311,0.083,2200,3610,3965,3952,3979,0,0,0,0,0,0,13.81,14.18,14.02
$GC,2761,-1.18,-145.9,2200,3613,3952,3980,393.8,-12.7,249,2766,0.00,2.38,0.00,0.000,1158,0.000,0.055,2201,2199,3965,3952,3979,0,0,0,0,0,0,14.40,14.26,14.43
$GC,3081,-1.15,-145.9,2201,2199,3953,3979,438.9,-14.2,263,3086,0.00,2.50,0.00,0.000,388,0.000,0.086,2192,3613,3965,3951,3979,0,0,0,0,0,0,14.76,14.18,14.78
$GC,3161,-1.15,-145.9,2192,3615,3952,3980,450.0,-13.2,279,3166,0.00,2.38,0.00,0.000,1030,0.000,0.057,2192,2199,3964,3950,3979,0,0,0,0,0,0,14.39,14.26,14.43
$STATE,3379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3379,begin apogee
$GC,3385,-0.13,0.0,2193,2052,3953,3979,482.3,-14.8,288,3609,1.35,0.10,220.62,1.429,10246,0.243,0.158,2530,2118,3367,3381,3353,0,0,0,0,0,0,13.80,13.50,12.50
$STATE,3657,end apogee,CONTROL_FINISHED_OK
$STATE,3657,begin climb
$GC,3660,0.57,145.9,2531,2120,3375,3345,494.4,0.0,295,4016,0.73,2.62,212.95,1.384,11012,0.061,0.072,2781,3493,2755,2784,2726,0,0,0,0,0,0,13.78,12.91,12.30
$GC,4252,0.09,145.9,2781,3494,2781,2726,454.9,15.5,341,4258,0.85,2.33,0.00,0.000,5254,0.348,0.058,2615,2131,2753,2781,2725,0,0,0,0,0,0,13.64,14.09,14.04
$GC,4563,0.02,200.5,2612,2131,2782,2725,429.8,7.5,353,4644,0.00,0.00,79.47,1.388,8614,0.000,0.000,2612,2130,2547,2594,2501,0,0,0,0,0,0,14.63,13.88,13.07
$GC,4923,-0.03,212.0,2611,2131,2588,2481,396.9,9.5,370,4939,0.12,0.00,13.68,1.575,12966,0.278,0.000,2582,2130,2498,2552,2445,0,0,0,0,0,0,13.87,14.11,13.19
$GC,5255,0.04,268.3,2582,2131,2546,2437,371.7,7.4,386,5351,0.00,2.58,88.10,1.363,8868,0.000,0.087,2588,685,2265,2312,2218,0,0,0,0,0,0,14.62,13.92,13.11
$GC,5406,0.19,313.1,2589,684,2306,2217,360.2,7.9,416,5482,0.17,2.50,68.30,1.330,11430,0.106,0.080,2664,2086,2086,2131,2042,0,0,0,0,0,0,14.09,14.01,13.00
$GC,5797,0.14,313.1,2665,2087,2122,2026,308.9,13.3,444,5803,0.12,2.45,0.00,0.000,4740,0.247,0.082,2644,696,2073,2120,2026,0,0,0,0,0,0,13.45,13.51,13.47
$GC,5838,0.19,313.1,2642,697,2118,2027,303.8,11.3,452,5844,0.00,2.40,0.00,0.000,1158,0.000,0.078,2643,2101,2072,2118,2027,0,0,0,0,0,0,14.26,14.12,14.31
$GC,6159,0.19,313.1,2644,2103,2119,2025,268.4,10.8,466,6164,0.00,2.47,0.00,0.000,516,0.000,0.087,2643,691,2071,2118,2024,0,0,0,0,0,0,14.64,14.21,14.65
$GC,6199,0.24,313.1,2644,692,2117,2024,264.3,10.1,474,6204,0.00,2.45,0.00,0.000,1158,0.000,0.079,2644,2100,2070,2116,2024,0,0,0,0,0,0,14.32,14.20,14.38
$GC,6519,0.26,338.5,2645,2102,2117,2023,234.3,8.8,488,6558,0.00,0.00,37.03,1.362,8230,0.000,0.000,2644,2102,1986,2031,1942,0,0,0,0,0,0,14.70,14.12,13.28
$GC,6850,0.34,382.4,2645,2102,2023,1927,206.7,8.0,499,6930,0.12,2.50,73.75,1.282,10916,0.127,0.086,2706,699,1804,1832,1776,0,0,0,0,0,0,14.32,13.94,13.19
$GC,6975,0.34,382.4,2706,701,1820,1776,192.6,11.5,524,6981,0.00,2.47,0.00,0.000,1030,0.000,0.078,2706,2105,1796,1819,1774,0,0,0,0,0,0,14.04,13.95,14.07
$GC,7301,0.34,382.4,2706,2106,1820,1765,155.2,11.4,539,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2106,1796,1819,1773,0,0,0,0,0,0,14.59,14.61,14.61
$GC,7601,0.34,382.4,2706,2107,1819,1765,122.8,10.7,549,7606,0.00,2.47,0.00,0.000,516,0.000,0.088,2706,698,1790,1817,1764,0,0,0,0,0,0,14.64,14.21,14.65
$GC,7696,0.41,398.6,2706,698,1815,1765,113.6,9.3,568,7723,0.00,2.47,19.27,1.372,9382,0.000,0.078,2702,2108,1736,1761,1712,0,0,0,0,0,0,14.36,14.22,13.31
$GC,8022,0.48,431.8,2707,2110,1758,1704,84.8,8.5,593,8042,0.00,0.00,18.60,0.454,8358,0.000,0.000,2706,2108,1602,1629,1576,0,0,0,0,0,0,14.59,14.10,13.63
$GC,8341,0.63,517.7,2706,2109,1633,1575,61.8,6.0,625,8393,0.20,0.00,48.65,0.381,10662,0.097,0.000,2792,2109,1254,1307,1201,0,0,0,0,0,0,14.29,14.08,13.68
$GC,8691,0.67,571.0,2792,2109,1306,1196,32.2,7.5,662,8723,0.00,0.00,30.33,0.295,8230,0.000,0.000,2792,2109,1036,1101,971,0,0,0,0,0,0,14.57,14.13,13.78
$GC,9021,0.91,715.8,2792,2109,1102,968,12.7,3.3,695,9103,0.22,0.00,76.47,0.234,11174,0.095,0.000,2885,2113,491,508,475,0,0,0,0,0,0,14.20,14.09,13.84
$STATE,9129,end climb,SURFACE_DEPTH_REACHED
$STATE,9129,begin surface coast
$FINISH,0.2,1.014694
$STATE,9141,end surface coast,CONTROL_FINISHED_OK
$STATE,9141,begin surface
$SM_CCo,9221,0.00,0.000,0,0,493,704.50
$SM_GC,1.27,8.18,0.17,0.00,0.063,0.127,0.000,199,2231,493,-7.38,-0.51,704.50,0,0,0,0,0,0,14.26,14.22,14.34
$RAFOS_CLK,420
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7522.72,-15116.58,070917,142947
$TT8_MAMPS,0.038948,1.3879
$HUMID,47.20
$INTERNAL_PRESSURE,7.73269
$TCM_TEMP,13.10
$XPDR_PINGS,25
$CP_FREE,15955263488.000000
$PM_FREEKB_00,49874432
$24V_AH,12.30,173.838
$10V_AH,12.17,0.000
$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,25.850,69.475,987.225,0.000,0.000,0.000,0.000,275.300,6.250,0.000,28.785,0.000,6480.168,857.085,2160.159,260.605,0.000,2097.537,0.000,1019.753,0.000,0.539,0.000
$DEVICE_MAMPS,455.940,2142.000,1575.135,0.000,0.000,0.000,0.000,166.005,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5161.000,9135.000,9114.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.764,20.000,9.844,0.000
$MEM,323436
$DATA_FILE_SIZE,23389,712
$CAP_FILE_SIZE,93370,0
$CFSIZE,2097872896,2007433216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$SOUNDSPEED,1445.8
$CURRENT,0.033,275.01,1
$GPS,070917,194702,7524.466,-15118.400,33,0.8,33,20.7,1.1,288.1,10,9.0